UuvController (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.VehicleController
- - execution.uuv.control.UuvController

Direct Known Subclasses:

DepthController, DockingController, HomingController, HoverController, LateralController, LoiterController, OpenLoopController, RecoveryController, RotateController, TargetController, WaypointController
```
public abstract class UuvController
extends VehicleController
```
Author:

dtdavis

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`alongTrackRange` along track range remaining to reach goal point
`protected double`	`bowLateralThrusterCommand` commanded bow lateral thruster setting.
`protected double`	`bowVerticalThrusterCommand` commanded bow vertical thruster setting.
`protected boolean`	`correctToTrack` set to true if vehicle will try to follow a specified track between waypoints (false is point continuously towards waypoint, or no track applicable)
`protected double`	`crossTrackError` lateral displacement from a commanded track
`protected double`	`depthError` depth error (difference between actual and commanded depth or altitude
`protected double`	`depthErrorIntegral` depth error integral used in PID control
`protected double`	`depthPidTime` vehicle time (absolute) to switch from PD to PID control
`protected double`	`MAXDEPTHERROR` maximum value to allow depth error integral to reach
`protected double`	`offTrackAngleDegrees` angle computed from arc tangent of alongTrackRange and crossTrackError
`protected boolean`	`openLoopHeading` whether to automatically adjust heading
`protected double`	`pdOnlyTime` time after changing speed or depth commands to use PD control before switching to PID
`protected double`	`portPropellerCommand` commanded port propeller command
`protected double`	`psiCommand` commanded heading -- may or may not be relevant for individual inheriting control modes
`protected double`	`psiError` angular offset in degrees from a commanded track
`protected double`	`rudderCommand` commanded rudder setting
`protected boolean`	`speedControlReset` true if a new speed was specified this loop
`protected double`	`speedError` speed error (difference between actual and commanded speed in meters per second)
`protected double`	`stbdPropellerCommand` commanded starboard propeller command
`protected double`	`sternLateralThrusterCommand` commanded stern lateral thruster setting.
`protected double`	`sternVerticalThrusterCommand` commanded stern vertical thruster setting.
`protected double`	`thetaCommand` commanded pitch -- may or may not be relevant for individual inheriting control modes
`protected double`	`THRUSTCONVERSION` TODO what is this?
`protected double`	`turningRpm` rpm propellers turn at when adjusting without rudder
`protected UuvExecution`	`uuvExecution` reference to main class of this uuv
`protected double`	`zCommand` commanded z position

Constructor Summary

Constructors
Constructor and Description

UuvController(UuvExecution execution)
Creates a new instance of Controller

Constructors
Constructor and Description
`UuvController(UuvExecution execution)` Creates a new instance of Controller

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`protected void`	`adjustPropellersForSteeringIfNoRudders()` Adjusts the required propeller settings if needed
`protected boolean`	`checkRudderAvailable()` Checks control coefficients to determine if rudder is available.
`abstract void`	`computeControls()` computes auv controls based on type of controller and current state/command
`protected void`	`computeLateralThrusterCommands()` Computes the fin settings to maintain commanded heading
`protected void`	`computePropellerCommands()` Computes the required propeller settings
`protected void`	`computeRudderCommands()` Computes the rudder setting to maintain a commanded heading, can be overridden by inheriting classes if different behavior is desired.
`protected void`	`computeVerticalThrusterCommands()` Computes and applies vertical thruster settings for depth control
`double`	`getBowLateralThrusterCommand()`
`double`	`getCrossTrackError()`
`double`	`getPortPropellerCommand()`
`double`	`getPsiCommand()`
`double`	`getRudderCommand()`
`double`	`getSpeedCommand()`
`double`	`getStbdPropellerCommand()`
`double`	`getSternLateralThrusterCommand()`
`double`	`getThetaCommand()`
`boolean`	`isClosedLoopSpeed()`
`void`	`readControls()` read uuv controls from an external source, default implementation is to compute them
`void`	`setCommandedSpeed(double speed)`
`void`	`setControls()` applies the computed control settings for the rudder, propellers, and lateral body thrusters
`protected void`	`setPropellersRPM(double portCommand, double stbdCommand)` Set propellers RPM (will automatically clamp to allowed limits)
`void`	`unsetClosedLoopSpeed()` Turns off closed loop speed control and uses fixed-speed prop control
`protected void`	`updateCrossTrackError()` Computes the current crossTrackError and alongTrackRange in order to steer towards goal destination, also computes psierror

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - THRUSTCONVERSION
```
protected final double THRUSTCONVERSION
```
    TODO what is this? value probably comes from Aries?
    
    See Also:
    
    Constant Field Values
  - uuvExecution
```
protected UuvExecution uuvExecution
```
    reference to main class of this uuv
  - speedControlReset
```
protected boolean speedControlReset
```
    true if a new speed was specified this loop
  - pdOnlyTime
```
protected final double pdOnlyTime
```
    time after changing speed or depth commands to use PD control before switching to PID
    
    See Also:
    
    Constant Field Values
  - speedError
```
protected double speedError
```
    speed error (difference between actual and commanded speed in meters per second)
  - bowLateralThrusterCommand
```
protected double bowLateralThrusterCommand
```
    commanded bow lateral thruster setting. NOTE: this is thrust, not volts; must be converted to volts before clamping and application
  - sternLateralThrusterCommand
```
protected double sternLateralThrusterCommand
```
    commanded stern lateral thruster setting. NOTE: this is thrust, not volts; must be converted to volts before clamping and application
  - rudderCommand
```
protected double rudderCommand
```
    commanded rudder setting
  - portPropellerCommand
```
protected double portPropellerCommand
```
    commanded port propeller command
  - stbdPropellerCommand
```
protected double stbdPropellerCommand
```
    commanded starboard propeller command
  - psiCommand
```
protected double psiCommand
```
    commanded heading -- may or may not be relevant for individual inheriting control modes
  - thetaCommand
```
protected double thetaCommand
```
    commanded pitch -- may or may not be relevant for individual inheriting control modes
  - crossTrackError
```
protected double crossTrackError
```
    lateral displacement from a commanded track
  - alongTrackRange
```
protected double alongTrackRange
```
    along track range remaining to reach goal point
  - offTrackAngleDegrees
```
protected double offTrackAngleDegrees
```
    angle computed from arc tangent of alongTrackRange and crossTrackError
  - psiError
```
protected double psiError
```
    angular offset in degrees from a commanded track
  - correctToTrack
```
protected boolean correctToTrack
```
    set to true if vehicle will try to follow a specified track between waypoints (false is point continuously towards waypoint, or no track applicable)
  - depthPidTime
```
protected double depthPidTime
```
    vehicle time (absolute) to switch from PD to PID control
  - depthError
```
protected double depthError
```
    depth error (difference between actual and commanded depth or altitude
  - depthErrorIntegral
```
protected double depthErrorIntegral
```
    depth error integral used in PID control
  - MAXDEPTHERROR
```
protected final double MAXDEPTHERROR
```
    maximum value to allow depth error integral to reach
    
    See Also:
    
    Constant Field Values
  - bowVerticalThrusterCommand
```
protected double bowVerticalThrusterCommand
```
    commanded bow vertical thruster setting. NOTE: this is thrust, not volts; must be converted to volts before clamping and application
  - sternVerticalThrusterCommand
```
protected double sternVerticalThrusterCommand
```
    commanded stern vertical thruster setting. NOTE: this is thrust, not volts; must be converted to volts before clamping and application
  - zCommand
```
protected double zCommand
```
    commanded z position
  - turningRpm
```
protected double turningRpm
```
    rpm propellers turn at when adjusting without rudder
  - openLoopHeading
```
protected boolean openLoopHeading
```
    whether to automatically adjust heading
- Constructor Detail
  - UuvController
```
public UuvController(UuvExecution execution)
```
    Creates a new instance of Controller
    
    Parameters:
    
    execution - UuvExecution instance
- Method Detail
  - getBowLateralThrusterCommand
```
public double getBowLateralThrusterCommand()
```
    Returns:
    
    Returns the bowLateralThrusterCommand.
  - getCrossTrackError
```
public double getCrossTrackError()
```
    Returns:
    
    Returns the crossTrackError.
  - getPortPropellerCommand
```
public double getPortPropellerCommand()
```
    Returns:
    
    Returns the portPropCommand.
  - getSpeedCommand
```
public double getSpeedCommand()
```
    Returns:
    
    Returns the fwdSpeedCommand.
  - isClosedLoopSpeed
```
public boolean isClosedLoopSpeed()
```
    Returns:
    
    Returns the psiCommand.
  - getPsiCommand
```
public double getPsiCommand()
```
    Returns:
    
    Returns the psiCommand.
  - getRudderCommand
```
public double getRudderCommand()
```
    Returns:
    
    Returns the rudderCommand.
  - getStbdPropellerCommand
```
public double getStbdPropellerCommand()
```
    Returns:
    
    Returns the stbdPropCommand.
  - getSternLateralThrusterCommand
```
public double getSternLateralThrusterCommand()
```
    Returns:
    
    Returns the sternLateralThrusterCommand.
  - getThetaCommand
```
public double getThetaCommand()
```
    Returns:
    
    Returns the thetaCommand.
  - setCommandedSpeed
```
public void setCommandedSpeed(double speed)
```
    Parameters:
    
    speed - meters per second being commanded
  - unsetClosedLoopSpeed
```
public void unsetClosedLoopSpeed()
```
    Turns off closed loop speed control and uses fixed-speed prop control
  - computeControls
```
public abstract void computeControls()
```
    computes auv controls based on type of controller and current state/command
  - readControls
```
public void readControls()
```
    read uuv controls from an external source, default implementation is to compute them
  - updateCrossTrackError
```
protected void updateCrossTrackError()
```
    Computes the current crossTrackError and alongTrackRange in order to steer towards goal destination, also computes psierror
  - checkRudderAvailable
```
protected boolean checkRudderAvailable()
```
    Checks control coefficients to determine if rudder is available.
  - computeRudderCommands
```
protected void computeRudderCommands()
```
    Computes the rudder setting to maintain a commanded heading, can be overridden by inheriting classes if different behavior is desired.
  - computeLateralThrusterCommands
```
protected void computeLateralThrusterCommands()
```
    Computes the fin settings to maintain commanded heading
  - computeVerticalThrusterCommands
```
protected void computeVerticalThrusterCommands()
```
    Computes and applies vertical thruster settings for depth control
  - computePropellerCommands
```
protected void computePropellerCommands()
```
    Computes the required propeller settings
  - adjustPropellersForSteeringIfNoRudders
```
protected void adjustPropellersForSteeringIfNoRudders()
```
    Adjusts the required propeller settings if needed
  - setPropellersRPM
```
protected void setPropellersRPM(double portCommand,
                                double stbdCommand)
```
    Set propellers RPM (will automatically clamp to allowed limits)
    
    Parameters:
    
    portCommand - RPM
    
    stbdCommand - RPM
  - setControls
```
public void setControls()
```
    applies the computed control settings for the rudder, propellers, and lateral body thrusters

Class UuvController

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

THRUSTCONVERSION

uuvExecution

speedControlReset

pdOnlyTime

speedError

bowLateralThrusterCommand

sternLateralThrusterCommand

rudderCommand

portPropellerCommand

stbdPropellerCommand

psiCommand

thetaCommand

crossTrackError

alongTrackRange

offTrackAngleDegrees

psiError

correctToTrack

depthPidTime

depthError

depthErrorIntegral

MAXDEPTHERROR

bowVerticalThrusterCommand

sternVerticalThrusterCommand

zCommand

turningRpm

openLoopHeading

Constructor Detail

UuvController

Method Detail

getBowLateralThrusterCommand

getCrossTrackError

getPortPropellerCommand

getSpeedCommand

isClosedLoopSpeed

getPsiCommand

getRudderCommand

getStbdPropellerCommand

getSternLateralThrusterCommand

getThetaCommand

setCommandedSpeed

unsetClosedLoopSpeed

computeControls

readControls

updateCrossTrackError

checkRudderAvailable

computeRudderCommands

computeLateralThrusterCommands

computeVerticalThrusterCommands

computePropellerCommands

adjustPropellersForSteeringIfNoRudders

setPropellersRPM

setControls