execution.uuv.control

Class UuvControllers

java.lang.Object

execution.ControllerGroup

execution.uuv.control.UuvControllers

All Implemented Interfaces:

Iterable<VehicleController>

public class UuvControllers
extends ControllerGroup

An object which holds a list of public controller fields, and maintains a "current" one. Because it subclasses ControllerGroup, it is usable in a for-each loop.

Field Summary

Fields

Modifier and Type	Field and Description
DepthController	depthController
DockingController	dockingController
HomingController	homingController
HoverController	hoverController
LateralController	lateralController
LoiterController	loiterController
OpenLoopController	openloopController
RecoveryController	recoveryController
RotateController	rotateController
TargetController	targetController
WaypointController	waypointController

Constructor Summary

Constructors

Constructor and Description
UuvControllers()

Method Summary

Modifier and Type	Method and Description
UuvController	getCurrentManeuveringController() Provide current primary controller for maneuvering forward/backward/laterally.
UuvControlType	getCurrentMode()
boolean	isClosedLoopSpeed()
void	setClosedLoopSpeed(double newSpeed) Sets a new closed loop speed (M/sec or knots)
void	setCurrentManeuveringController(ControllerType typ) Set in-use controller instance and mode enum
void	setOpenLoopSpeed(double newPortRPM, double newStbdRPM) Sets propeller command to an open-loop speed (RPM)

Methods inherited from class execution.ControllerGroup

iterator

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.lang.Iterable

forEach, spliterator

Field Detail

waypointController

public WaypointController waypointController

hoverController

public HoverController hoverController

recoveryController

public RecoveryController recoveryController

dockingController

public DockingController dockingController

homingController

public HomingController homingController

targetController

public TargetController targetController

lateralController

public LateralController lateralController

rotateController

public RotateController rotateController

openloopController

public OpenLoopController openloopController

depthController

public DepthController depthController

loiterController

public LoiterController loiterController

Constructor Detail

UuvControllers

public UuvControllers()

Method Detail

setCurrentManeuveringController

public void setCurrentManeuveringController(ControllerType typ)

Set in-use controller instance and mode enum

Specified by:

setCurrentManeuveringController in class ControllerGroup

Parameters:

typ - controller type

getCurrentManeuveringController

public UuvController getCurrentManeuveringController()

Description copied from class: ControllerGroup

Provide current primary controller for maneuvering forward/backward/laterally. Vertical depth/altitude controllers are usually not included in this selection.

Specified by:

getCurrentManeuveringController in class ControllerGroup

getCurrentMode

public UuvControlType getCurrentMode()

setClosedLoopSpeed

public void setClosedLoopSpeed(double newSpeed)

Sets a new closed loop speed (M/sec or knots)

Parameters:

newSpeed -

setOpenLoopSpeed

public void setOpenLoopSpeed(double newPortRPM,
                             double newStbdRPM)

Sets propeller command to an open-loop speed (RPM)

Parameters:

newPortRPM -

newStbdRPM -

isClosedLoopSpeed

public boolean isClosedLoopSpeed()