SonarController (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.uuv.hardware.SonarController

public class SonarController
extends Object

Author:: dtdavis

Field Summary

Fields
Modifier and Type	Field and Description
`int`	`bearingType` bearing basis (true, magnetic, relative)
`double`	`commandedBearing` currently commanded bearing
`int`	`controlMode` current control mode for this sonar
`static double`	`DEFAULTSONARSCANSECTOR` sonar scan sweep width
`static double`	`DEFAULTSONARSTEPSIZE` default steerable sonar step size
`static int`	`MAGNETICBEARING` enumeration for magnetic bearing
`static int`	`OTHERSONAR` enumeration for other sonar
`static int`	`RELATIVEBEARING` enumeration for relative bearing
`int`	`scanDirection` direction that the sonar is currently being scanned
`double`	`scanSector` width (degrees) of the normal forward scan
`static int`	`SONARNOSCAN` enumeration for sonar to remain in same position
`static int`	`SONARSCANEDGE` enumeration for sonar tracking the edge of a target
`static int`	`SONARSCANLEFT` enumeration for left used in the step method
`static int`	`SONARSCANLOCATE` enumeration for sonar searching for a target
`static int`	`SONARSCANMANUAL` enumeration for sonar being directly positioned
`static int`	`SONARSCANRIGHT` enumeration for left used in the step method
`static int`	`SONARSCANSWATH` enumeration for normal forward scan
`static int`	`SONARSCANTRACK` enumeration for sonar tracking a target
`static int`	`ST1000SONAR` enumeration for ST1000 sonar type
`static int`	`ST725SONAR` enumeration for ST725 sonar type
`static int`	`TRUEBEARING` enumeration for true bearing

Constructor Summary

Constructors
Constructor and Description
`SonarController(UuvExecution execution, SteerableSonar sonar)` Creates a new instance of SonarController
`SonarController(UuvExecution execution, SteerableSonar sonar, int direction)` Creates a new instance of SonarController

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getBearing()` Returns the current bearing of the sonar
`double`	`getRange()` Returns the current range of the sonar
`double`	`getStrength()` Returns the current strength of the sonar return
`double`	`ping()` Pings the controlled sonar and returns the range
`void`	`step()` Steps the controlled sonar in the direction specified by the scanDirection variable
`void`	`updateStep()` Conducts one iteration of sonar control based on the type of control that is current NOTE: This method does not ping the sonar.

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

- Field Detail
  - SONARSCANRIGHT
```
public static final int SONARSCANRIGHT
```
    enumeration for left used in the step method
    
    See Also:
    
    Constant Field Values
  - SONARNOSCAN
```
public static final int SONARNOSCAN
```
    enumeration for sonar to remain in same position
    
    See Also:
    
    Constant Field Values
  - SONARSCANLEFT
```
public static final int SONARSCANLEFT
```
    enumeration for left used in the step method
    
    See Also:
    
    Constant Field Values
  - ST725SONAR
```
public static final int ST725SONAR
```
    enumeration for ST725 sonar type
    
    See Also:
    
    Constant Field Values
  - ST1000SONAR
```
public static final int ST1000SONAR
```
    enumeration for ST1000 sonar type
    
    See Also:
    
    Constant Field Values
  - OTHERSONAR
```
public static final int OTHERSONAR
```
    enumeration for other sonar
    
    See Also:
    
    Constant Field Values
  - SONARSCANSWATH
```
public static final int SONARSCANSWATH
```
    enumeration for normal forward scan
    
    See Also:
    
    Constant Field Values
  - SONARSCANEDGE
```
public static final int SONARSCANEDGE
```
    enumeration for sonar tracking the edge of a target
    
    See Also:
    
    Constant Field Values
  - SONARSCANTRACK
```
public static final int SONARSCANTRACK
```
    enumeration for sonar tracking a target
    
    See Also:
    
    Constant Field Values
  - SONARSCANLOCATE
```
public static final int SONARSCANLOCATE
```
    enumeration for sonar searching for a target
    
    See Also:
    
    Constant Field Values
  - SONARSCANMANUAL
```
public static final int SONARSCANMANUAL
```
    enumeration for sonar being directly positioned
    
    See Also:
    
    Constant Field Values
  - RELATIVEBEARING
```
public static final int RELATIVEBEARING
```
    enumeration for relative bearing
    
    See Also:
    
    Constant Field Values
  - TRUEBEARING
```
public static final int TRUEBEARING
```
    enumeration for true bearing
    
    See Also:
    
    Constant Field Values
  - MAGNETICBEARING
```
public static final int MAGNETICBEARING
```
    enumeration for magnetic bearing
    
    See Also:
    
    Constant Field Values
  - DEFAULTSONARSCANSECTOR
```
public static double DEFAULTSONARSCANSECTOR
```
    sonar scan sweep width
  - DEFAULTSONARSTEPSIZE
```
public static double DEFAULTSONARSTEPSIZE
```
    default steerable sonar step size
  - controlMode
```
public int controlMode
```
    current control mode for this sonar
  - scanSector
```
public double scanSector
```
    width (degrees) of the normal forward scan
  - scanDirection
```
public int scanDirection
```
    direction that the sonar is currently being scanned
  - commandedBearing
```
public double commandedBearing
```
    currently commanded bearing
  - bearingType
```
public int bearingType
```
    bearing basis (true, magnetic, relative)
- Constructor Detail
  - SonarController
```
public SonarController(UuvExecution execution,
                       SteerableSonar sonar)
```
    Creates a new instance of SonarController
    
    Parameters:
    
    execution - UuvExecution reference to main class of AUV
    
    sonar - SteerableSonar to be controlled by this controller
  - SonarController
```
public SonarController(UuvExecution execution,
                       SteerableSonar sonar,
                       int direction)
```
    Creates a new instance of SonarController
    
    Parameters:
    
    execution - UuvExecution reference to main class of AUV
    
    sonar - SteerableSonar to be controlled by this controller
    
    direction - initial scan direction
- Method Detail
  - updateStep
```
public void updateStep()
```
    Conducts one iteration of sonar control based on the type of control that is current NOTE: This method does not ping the sonar. This should be done after the update from the virtual world (VIRTUAL is true) to get accurate ranges for the updated bearing
  - getBearing
```
public double getBearing()
```
    Returns the current bearing of the sonar
    
    Returns:
    
    double sonar bearing
  - getRange
```
public double getRange()
```
    Returns the current range of the sonar
    
    Returns:
    
    double sonar range
  - getStrength
```
public double getStrength()
```
    Returns the current strength of the sonar return
    
    Returns:
    
    double sonar strength
  - step
```
public void step()
```
    Steps the controlled sonar in the direction specified by the scanDirection variable
  - ping
```
public double ping()
```
    Pings the controlled sonar and returns the range
    
    Returns:
    
    double sonar range

Class SonarController

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

SONARSCANRIGHT

SONARNOSCAN

SONARSCANLEFT

ST725SONAR

ST1000SONAR

OTHERSONAR

SONARSCANSWATH

SONARSCANEDGE

SONARSCANTRACK

SONARSCANLOCATE

SONARSCANMANUAL

RELATIVEBEARING

TRUEBEARING

MAGNETICBEARING

DEFAULTSONARSCANSECTOR

DEFAULTSONARSTEPSIZE

controlMode

scanSector

scanDirection

commandedBearing

bearingType

Constructor Detail

SonarController

SonarController

Method Detail

updateStep

getBearing

getRange

getStrength

step

ping