execution.uuv.control

Class TargetController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.TargetController

public class TargetController
extends UuvController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	bearing bearing to target
protected double	bearingCommand commanded bearing to target
protected boolean	edgeTracking true if sonar is to scan edge of target (false for entire target)
protected double	range range to target
protected double	rangeCommand commanded range to target
protected boolean	targetPointing true if auv should always point directly at target
protected boolean	targetReset true if a new sonar target for station keeping has been specified

Fields inherited from class execution.uuv.control.UuvController

alongTrackRange, bowLateralThrusterCommand, bowVerticalThrusterCommand, correctToTrack, crossTrackError, depthError, depthErrorIntegral, depthPidTime, MAXDEPTHERROR, offTrackAngleDegrees, openLoopHeading, pdOnlyTime, portPropellerCommand, psiCommand, psiError, rudderCommand, speedControlReset, speedError, stbdPropellerCommand, sternLateralThrusterCommand, sternVerticalThrusterCommand, thetaCommand, THRUSTCONVERSION, turningRpm, uuvExecution, zCommand

Constructor Summary

Constructors

Constructor and Description
TargetController(UuvExecution execution) Creates a new instance of TargetController

Method Summary

Modifier and Type	Method and Description
void	computeControls() Computes control settings for target control

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeRudderCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, getThetaCommand, isClosedLoopSpeed, readControls, setCommandedSpeed, setControls, setPropellersRPM, unsetClosedLoopSpeed, updateCrossTrackError

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

targetReset

protected boolean targetReset

true if a new sonar target for station keeping has been specified

targetPointing

protected boolean targetPointing

true if auv should always point directly at target

edgeTracking

protected boolean edgeTracking

true if sonar is to scan edge of target (false for entire target)

range

protected double range

range to target

bearing

protected double bearing

bearing to target

rangeCommand

protected double rangeCommand

commanded range to target

bearingCommand

protected double bearingCommand

commanded bearing to target

Constructor Detail

TargetController

public TargetController(UuvExecution execution)

Creates a new instance of TargetController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for target control

Specified by:

computeControls in class UuvController