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104 lines
3.3 KiB
104 lines
3.3 KiB
/* |
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* ControllerSailboat.h |
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* |
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* Created on: Jun 30, 2011 |
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* Author: jgoppert |
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*/ |
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#ifndef CONTROLLERSAILBOAT_H_ |
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#define CONTROLLERSAILBOAT_H_ |
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#include "../APO/AP_Controller.h" |
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namespace apo { |
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class ControllerSailboat: public AP_Controller { |
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public: |
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ControllerSailboat(AP_Navigator * nav, AP_Guide * guide, |
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AP_Board * board) : |
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AP_Controller(nav, guide, board,new AP_ArmingMechanism(board,this,ch_sail,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl), |
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pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP, |
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steeringI, steeringD, steeringIMax, steeringYMax), |
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pidSail(new AP_Var_group(k_pidSail, PSTR("SAIL_")), 1, throttleP, |
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throttleI, throttleD, throttleIMax, throttleYMax, |
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throttleDFCut), _strCmd(0), _sailCmd(0) |
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{ |
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_board->debug->println_P(PSTR("initializing sailboat controller")); |
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_board->rc.push_back( |
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new AP_RcChannel(k_chMode, PSTR("MODE_"), board->radio, 5, 1100, |
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1500, 1900, RC_MODE_IN, false)); |
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_board->rc.push_back( |
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new AP_RcChannel(k_chStr, PSTR("STR_"), board->radio, 3, 1100, 1500, |
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1900, RC_MODE_INOUT, false)); |
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_board->rc.push_back( |
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new AP_RcChannel(k_chSail, PSTR("SAIL_"), board->radio, 2, 1100, 1500, |
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1900, RC_MODE_INOUT, false)); |
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} |
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private: |
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// methods |
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void manualLoop(const float dt) { |
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_strCmd = -_board->rc[ch_str]->getRadioPosition(); |
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_sailCmd = _board->rc[ch_sail]->getRadioPosition(); |
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_board->debug->printf_P(PSTR("sail: %f, steering: %f\n"),_sailCmd,_strCmd); |
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} |
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void autoLoop(const float dt) { |
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//_board->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_board->rc[ch_sail]->getRadioPosition(), _board->rc[ch_str]->getRadioPosition()); |
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float windDir = -.339373*analogRead(1)+175.999; |
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// neglects heading command derivative |
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float steering = -pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt); |
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float sail = 0.00587302*fabs(windDir) - 0.05; |
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if (sail < 0.0) sail = 0.0; |
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//_board->debug->printf_P(PSTR("heading: %f\n"),heading); //Print Heading |
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//if(fabs(psi)<45) //Tacking Logic |
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//{ |
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//if(psi<-10) |
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//alpha = -45; |
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//else if(psi>10) |
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//alpha = 45; |
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//else |
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//{ |
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//if(psi==10) |
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//alpha = 45; |
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//else if(psi==-10) |
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//alpha = -45; |
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//else |
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//alpha = alpha; |
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//} |
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//}*/ |
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_strCmd = steering; |
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_sailCmd = sail; |
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} |
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void setMotors() { |
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_board->rc[ch_str]->setPosition(_strCmd); |
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_board->rc[ch_sail]->setPosition(_sailCmd); |
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} |
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void handleFailsafe() { |
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// turn off |
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setMode(MAV_MODE_LOCKED); |
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} |
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// attributes |
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enum { |
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ch_mode = 0, ch_str, ch_sail |
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}; |
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enum { |
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k_chMode = k_radioChannelsStart, k_chStr, k_chSail |
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}; |
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enum { |
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k_pidStr = k_controllersStart, k_pidSail |
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}; |
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BlockPIDDfb pidStr; |
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BlockPID pidSail; |
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float _strCmd, _sailCmd; |
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}; |
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} // namespace apo |
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#endif /* CONTROLLERSAILBOAT_H_ */ |
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// vim:ts=4:sw=4:expandtab
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