execution.usv.control

Class UsvControlParameters

java.lang.Object

execution.ControlParameters

execution.usv.control.UsvControlParameters

public class UsvControlParameters
extends ControlParameters

Version:

$Id: UsvControlParameters.java 8668 2012-12-11 20:27:28Z brutzman $

Author:

dtdavis

Nested Class Summary

Nested classes/interfaces inherited from class execution.ControlParameters

ControlParameters.CommandParser

Field Summary

Fields

Modifier and Type	Field and Description
int	currentControlMode currently selected control mode (default is open loop)
static int	LOITERCONTROL
protected double	MAXRPM Maximum propeller RPM
protected double	MAXRUDDER Maximum plane deflection (degrees)
protected double	MAXSPEED Maximum USV Speed (m/s)
protected double	MINWAYPOINTRPM Minimum allowable propeller RPM when transiting to a waypoint
protected double	NOMINALWAYPOINTRPM Nominal (routine) propeller RPM when transiting to a waypoint
static int	OPENLOOPCONTROL
boolean	radianAngles Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
protected boolean	reportStable true if usvExecution needs to report completion of current command
static double	timeStep closed loop time interval goal (seconds)
static int	WAYPOINTCONTROL

Fields inherited from class execution.ControlParameters

commandCompleteMsgSent, continueRun, readyNextCommand, standoffDistance, vehicle, workbenchCommunicator, xCommand, xStart, yCommand, yStart

Constructor Summary

Constructors

Constructor and Description
UsvControlParameters(UsvExecution execution) Constructor

Method Summary

Methods

Modifier and Type	Method and Description
double	getMaxRpm()
double	getMaxRudder()
double	getMinWaypointRpm()
double	getNominalWaypointRpm()
double	getStandoffDistance()
double	getTimeStep() Compute simulation timestep interval for this vehicle
void	loadControlLimits(ExecutionDynamicsConfiguration config) Sets the control limit values based on the configuration file
boolean	parseCommand(Object commandElement) parses an XML (AVCL) script command and sets the control parameter values as required
boolean	parseCommand(String commandString) parseCommand parses a space-delimited text script command and sets the control parameter values as required
void	setMaxRpm(double newValue) returns the usvExecution maximum propeller rpm
void	setMaxRudder(double newValue) returns the usvExecution maximum rudder deflection (degrees)
void	setMinWaypointRpm(double newValue) returns the usvExecution minimum waypoint rpm
void	setMission(Mission mission) Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
void	setNominalWaypointRpm(double newValue) returns the usvExecution nominal waypoint rpm
void	setStandoffDistance(double newValue) sets the usvExecution standoff distance
void	setTimeStep(double newValue) sets the usvExecution time step
void	useMetricDistances(boolean newSetting) sets the distance units of measure to either meters or feet (default).
void	useRadianAngles(boolean newSetting) sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees

Methods inherited from class execution.ControlParameters

getStandoff, getXCommand, getXStart, getYCommand, getYStart, isTimedCommand, parseTelemetryPostCommon, readyForNextCommand, setReadyNextCommand, setTimedCommand, setWorkbenchCommunicator, unsetReadyNextCommand

Methods inherited from class java.lang.Object

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

Field Detail

WAYPOINTCONTROL

public static final int WAYPOINTCONTROL

See Also:

Constant Field Values

OPENLOOPCONTROL

public static final int OPENLOOPCONTROL

See Also:

Constant Field Values

LOITERCONTROL

public static final int LOITERCONTROL

See Also:

Constant Field Values

currentControlMode

public int currentControlMode

currently selected control mode (default is open loop)

reportStable

protected boolean reportStable

true if usvExecution needs to report completion of current command

timeStep

public static double timeStep

closed loop time interval goal (seconds)

MAXSPEED

protected double MAXSPEED

Maximum USV Speed (m/s)

MAXRPM

protected double MAXRPM

Maximum propeller RPM

MINWAYPOINTRPM

protected double MINWAYPOINTRPM

Minimum allowable propeller RPM when transiting to a waypoint

NOMINALWAYPOINTRPM

protected double NOMINALWAYPOINTRPM

Nominal (routine) propeller RPM when transiting to a waypoint

MAXRUDDER

protected double MAXRUDDER

Maximum plane deflection (degrees)

radianAngles

public boolean radianAngles

Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted

Constructor Detail

UsvControlParameters

public UsvControlParameters(UsvExecution execution)

Constructor

Parameters:

execution - UsvExecution reference to usvExecution to which this object applies

Method Detail

setMission

public void setMission(Mission mission)

Description copied from class: ControlParameters

Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)

Specified by:

setMission in class ControlParameters

Parameters:

mission - instance of execution.mission.Mission

getTimeStep

public double getTimeStep()

Description copied from class: ControlParameters

Compute simulation timestep interval for this vehicle

Specified by:

getTimeStep in class ControlParameters

Returns:

the usvExecution time step

getStandoffDistance

public double getStandoffDistance()

Returns:

the usvExecution standoff distance

getMaxRpm

public double getMaxRpm()

Returns:

the usvExecution maximum propeller rpm

getMinWaypointRpm

public double getMinWaypointRpm()

Returns:

the usvExecution minimum waypoint rpm

getNominalWaypointRpm

public double getNominalWaypointRpm()

Returns:

the usvExecution nominal waypoint rpm

getMaxRudder

public double getMaxRudder()

Returns:

the usvExecution maximum control plane deflection (degrees)

setTimeStep

public void setTimeStep(double newValue)

sets the usvExecution time step

Parameters:

newValue - new value

setStandoffDistance

public void setStandoffDistance(double newValue)

sets the usvExecution standoff distance

Parameters:

newValue - new value

setMaxRpm

public void setMaxRpm(double newValue)

returns the usvExecution maximum propeller rpm

Parameters:

newValue - new value

setMinWaypointRpm

public void setMinWaypointRpm(double newValue)

returns the usvExecution minimum waypoint rpm

Parameters:

newValue - new value

setNominalWaypointRpm

public void setNominalWaypointRpm(double newValue)

returns the usvExecution nominal waypoint rpm

Parameters:

newValue - new value

setMaxRudder

public void setMaxRudder(double newValue)

returns the usvExecution maximum rudder deflection (degrees)

Parameters:

newValue - new value

useMetricDistances

public void useMetricDistances(boolean newSetting)

sets the distance units of measure to either meters or feet (default). Only valid for AVCL missions--text will ALWAYS use feet

Specified by:

useMetricDistances in class ControlParameters

Parameters:

newSetting - true if mission command distance units will be meters (false for feet)

useRadianAngles

public void useRadianAngles(boolean newSetting)

sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees

Specified by:

useRadianAngles in class ControlParameters

Parameters:

newSetting - true if mission command angular units will be radians (false for degrees)

loadControlLimits

public void loadControlLimits(ExecutionDynamicsConfiguration config)

Sets the control limit values based on the configuration file

Parameters:

config - JAXB object containing all configuration data

parseCommand

public boolean parseCommand(Object commandElement)

Description copied from class: ControlParameters

parses an XML (AVCL) script command and sets the control parameter values as required

Specified by:

parseCommand in class ControlParameters

Parameters:

commandElement - AVCL command, sets control values accordingly

Returns:

true if good command for continued processing; false if another command should immediately be requested

parseCommand

public boolean parseCommand(String commandString)

parseCommand parses a space-delimited text script command and sets the control parameter values as required

Specified by:

parseCommand in class ControlParameters

Parameters:

commandString - is current text command to be parsed

Returns:

true if command is valid for continued processing, otherwise returns false if another command should immediately be requested