execution.uuv.control

Class WaypointController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.WaypointController

Direct Known Subclasses:

LQRWaypointController, SlidingModeWaypointController

public class WaypointController
extends UuvController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	cumulativeTurn cumulative amount of turn in attempt to reach this waypoint (360 would mean a full circle
protected double	MAXSPDTURNRADIUS turn-radius-based factor used to determine whether the uuv can make the turn to achieve a waypoint given its current position, heading, and rpm
boolean	newWaypoint reset death spiral detection variables (true when waypoint initially commanded)
protected double	previousPsi vehicle heading on previous closed loop iteration

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
WaypointController(UuvExecution execution) Creates a new instance of WaypointController

Method Summary

Methods

Modifier and Type	Method and Description
void	computeControls() Computes control settings for waypoint control
void	readControls() read uuv controls from an external source, default implementation is to compute them

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeRudderCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, getThetaCommand, isClosedLoopSpeed, 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

MAXSPDTURNRADIUS

protected final double MAXSPDTURNRADIUS

turn-radius-based factor used to determine whether the uuv can make the turn to achieve a waypoint given its current position, heading, and rpm

See Also:

Constant Field Values

newWaypoint

public boolean newWaypoint

reset death spiral detection variables (true when waypoint initially commanded)

cumulativeTurn

protected double cumulativeTurn

cumulative amount of turn in attempt to reach this waypoint (360 would mean a full circle

previousPsi

protected double previousPsi

vehicle heading on previous closed loop iteration

Constructor Detail

WaypointController

public WaypointController(UuvExecution execution)

Creates a new instance of WaypointController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

readControls

public void readControls()

Description copied from class: UuvController

read uuv controls from an external source, default implementation is to compute them

Overrides:

readControls in class UuvController

computeControls

public void computeControls()

Computes control settings for waypoint control

Specified by:

computeControls in class UuvController