You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
91 lines
3.2 KiB
91 lines
3.2 KiB
/* |
|
* ControllerTank.h |
|
* |
|
* Created on: Jun 30, 2011 |
|
* Author: jgoppert |
|
*/ |
|
|
|
#ifndef CONTROLLERTANK_H_ |
|
#define CONTROLLERTANK_H_ |
|
|
|
#include "../APO/AP_Controller.h" |
|
|
|
namespace apo { |
|
|
|
class ControllerTank: public AP_Controller { |
|
public: |
|
ControllerTank(AP_Navigator * nav, AP_Guide * guide, |
|
AP_HardwareAbstractionLayer * hal) : |
|
AP_Controller(nav, guide, hal, new AP_ArmingMechanism(hal,ch_thrust,ch_str,0.1,-0.9,0.9),ch_mode,k_cntrl), |
|
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP, |
|
steeringI, steeringD, steeringIMax, steeringYMax), |
|
pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP, |
|
throttleI, throttleD, throttleIMax, throttleYMax, |
|
throttleDFCut), _headingOutput(0), _throttleOutput(0) { |
|
_hal->debug->println_P(PSTR("initializing tank controller")); |
|
|
|
_hal->rc.push_back( |
|
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100, |
|
1500, 1900, RC_MODE_IN, false)); |
|
_hal->rc.push_back( |
|
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500, |
|
1900, RC_MODE_OUT, false)); |
|
_hal->rc.push_back( |
|
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500, |
|
1900, RC_MODE_OUT, false)); |
|
_hal->rc.push_back( |
|
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500, |
|
1900, RC_MODE_IN, false)); |
|
_hal->rc.push_back( |
|
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500, |
|
1900, RC_MODE_IN, false)); |
|
} |
|
|
|
private: |
|
// methods |
|
void manualLoop(const float dt) { |
|
setAllRadioChannelsManually(); |
|
_headingOutput = _hal->rc[ch_str]->getPosition(); |
|
_throttleOutput = _hal->rc[ch_thrust]->getPosition(); |
|
} |
|
void autoLoop(const float dt) { |
|
float headingError = _guide->getHeadingCommand() |
|
- _nav->getYaw(); |
|
if (headingError > 180 * deg2Rad) |
|
headingError -= 360 * deg2Rad; |
|
if (headingError < -180 * deg2Rad) |
|
headingError += 360 * deg2Rad; |
|
_headingOutput = pidStr.update(headingError, -_nav->getYawRate(), dt); |
|
_throttleOutput = pidThr.update(_guide->getGroundSpeedCommand() |
|
- _nav->getGroundSpeed(), dt); |
|
} |
|
void setMotorsActive() { |
|
// turn all motors off if below 0.1 throttle |
|
if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) { |
|
setAllRadioChannelsToNeutral(); |
|
} else { |
|
_hal->rc[ch_left]->setPosition(_throttleOutput + _headingOutput); |
|
_hal->rc[ch_right]->setPosition(_throttleOutput - _headingOutput); |
|
} |
|
} |
|
|
|
// attributes |
|
enum { |
|
k_chMode = k_radioChannelsStart, k_chLeft, k_chRight, k_chStr, k_chThr |
|
}; |
|
enum { |
|
k_pidStr = k_controllersStart, k_pidThr |
|
}; |
|
enum { |
|
ch_mode = 0, ch_left, ch_right, ch_str, ch_thrust |
|
}; |
|
BlockPIDDfb pidStr; |
|
BlockPID pidThr; |
|
float _headingOutput; |
|
float _throttleOutput; |
|
}; |
|
|
|
} // namespace apo |
|
|
|
#endif /* CONTROLLERTANK_H_ */ |
|
// vim:ts=4:sw=4:expandtab
|
|
|