ControlHardware (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

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

```
public class ControlHardware
extends Object
```
File: Hardware.java Author(s): Duane Davis and David Gassier Date: 24 April 2004 Revised: 03 October 2006
Description: Class to facilitate interface with control (fin, thruster, propeller) hardware

Version:

$Id: ControlHardware.java 8020 2012-07-03 01:37:06Z brutzman $

Author:

Duane Davis and David Gassier

Constructor Summary

Constructors
Constructor and Description

ControlHardware(UuvExecution execution)
Creates a new instance of ControlHardware

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

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`setBallast(double setting)` Sets the ballast command for the SeaGlider
`void`	`setBowLateralThruster(double setting)` Sets the auv bow lateral thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setBowPlanes(double setting)` Sets the auv bow planes NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setBowVerticalThruster(double setting)` Sets the auv bow vertical thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setPortProp(double setting)` Sets the auv port propeller NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setRudder(double setting)` Sets the auv rudder NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setStbdProp(double setting)` Sets the auv port propeller NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setSternLateralThruster(double setting)` Sets the auv stern lateral thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setSternPlanes(double setting)` Sets the auv stern planes NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
`void`	`setSternVerticalThruster(double setting)` Sets the auv stern vertical thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file

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

- Constructor Detail
  - ControlHardware
```
public ControlHardware(UuvExecution execution)
```
    Creates a new instance of ControlHardware
    
    Parameters:
    execution - UuvExecution instance
- Method Detail
  - setBowVerticalThruster
```
public void setBowVerticalThruster(double setting)
```
    Sets the auv bow vertical thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setSternVerticalThruster
```
public void setSternVerticalThruster(double setting)
```
    Sets the auv stern vertical thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setBowLateralThruster
```
public void setBowLateralThruster(double setting)
```
    Sets the auv bow lateral thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setSternLateralThruster
```
public void setSternLateralThruster(double setting)
```
    Sets the auv stern lateral thruster NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setBowPlanes
```
public void setBowPlanes(double setting)
```
    Sets the auv bow planes NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setSternPlanes
```
public void setSternPlanes(double setting)
```
    Sets the auv stern planes NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setRudder
```
public void setRudder(double setting)
```
    Sets the auv rudder NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setPortProp
```
public void setPortProp(double setting)
```
    Sets the auv port propeller NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setStbdProp
```
public void setStbdProp(double setting)
```
    Sets the auv port propeller NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
    
    Parameters:
    setting - requested setting
  - setBallast
```
public void setBallast(double setting)
```
    Sets the ballast command for the SeaGlider
    
    Parameters:
    setting - the ballast command setting

Class ControlHardware

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

ControlHardware

Method Detail

setBowVerticalThruster

setSternVerticalThruster

setBowLateralThruster

setSternLateralThruster

setBowPlanes

setSternPlanes

setRudder

setPortProp

setStbdProp

setBallast