ControlMomentGyro.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file ControlMomentGyro.cpp
*  \brief Implementation of the ControlMomentGyro class
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.11 $
*  \date    $Date: 2005/09/18 16:12:54 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////


#include "ControlMomentGyro.h"

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
int ControlMomentGyro::gyroCount = 0;
ControlMomentGyro::ControlMomentGyro()
{
        ++gyroCount;
}

ControlMomentGyro::~ControlMomentGyro()
{
    Stop();
    --gyroCount;
        if (gyroCount == 0)
        {
                Deinitialize();
        }
}


///////////////////////////////////////////////////////////////////
//  Facilitators
///////////////////////////////////////////////////////////////////

void ControlMomentGyro::SetWheelSpeed(double wheelOmega)
{
        m_PhysicalCMG.CommandWheelSpeed(wheelOmega);
}

void ControlMomentGyro::SetWheelTorque(double wheelTorque)
{
        m_PhysicalCMG.CommandWheelTorque(wheelTorque);
}

void ControlMomentGyro::SetAngle(double wheelAngle)
{
        m_PhysicalCMG.CommandAngle(wheelAngle);
}

void ControlMomentGyro::SetGimbalRate(double gimbalRate)
{
        m_PhysicalCMG.CommandGimbalRate(gimbalRate);
}

int ControlMomentGyro::Stop()
{
        m_PhysicalCMG.Stop();
        return 0;
}

int ControlMomentGyro::Initialize()
{
        string port;
        port = "USB7";
        m_PhysicalCMG.SetDaisyChainPort(port);
        m_PhysicalCMG.Initialize();
        return 0;
}

ControlMomentGyro::ControlMomentGyro(cfgBody& cfgdat) {


  ++gyroCount;

  cout << "In construction\n";
        
  const char *myCommands[20] = {"Name", "DaisyChain", "DCPort",
    "Limits"};

  for (int i = 0; cfgdat.keys[i][0]; i++) {
          cout << "in loop\n";
    switch(getCmdIndex(myCommands, cfgdat.keys[i])) {
      case 0:
        name = cfgdat.vals[i][0];
        break;
      case 1:
        m_PhysicalCMG.SetDaisyChainNumber(atoi(cfgdat.vals[i][0]));
        break;
      case 2:
        m_PhysicalCMG.SetDaisyChainPort(string(cfgdat.vals[i][0]));
        break;
      case 3:
        m_PhysicalCMG.SetWheelTorqueLimits(atoi(cfgdat.vals[i][0]),
          atoi(cfgdat.vals[i][1]));
        break;
      default:
        break;
        
    }
  }
  cout << "end of const\n";
}
  
int ControlMomentGyro::Deinitialize()
{
    
    m_PhysicalCMG.Deinitialize();
        return 0;
}


/////////////////////////////////////////////////////////////////////////
// Mutators
/////////////////////////////////////////////////////////////////////////

void ControlMomentGyro::SetWheelAxis(const Vector& newWheelAxis)
{
        m_CMGAxis = newWheelAxis;
}

void ControlMomentGyro::SetPort(string Port)
{
        m_PhysicalCMG.SetDaisyChainPort(Port);
}

//////////////////////////////////////////////////////////////////////////
// Inspectors
//////////////////////////////////////////////////////////////////////////

double ControlMomentGyro::GetWheelSpeed() 
{
        m_CurrentWheelSpeed = m_PhysicalCMG.QueryWheelSpeed();
        return m_CurrentWheelSpeed;
}
        
double ControlMomentGyro::GetWheelTorque()
{
        m_CurrentWheelTorque = m_PhysicalCMG.QueryWheelTorque();
        return m_CurrentWheelTorque;
}


double ControlMomentGyro::GetAngle()
{
        m_CurrentAngle = m_PhysicalCMG.QueryAngle();
        return m_CurrentAngle;
}


Vector ControlMomentGyro::GetCMGAxis() const
{
        return m_CMGAxis;
}


int ControlMomentGyro::getGyroCount() const
{
        return gyroCount;
}       

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: ControlMomentGyro.cpp,v $
*       Revision 1.11  2005/09/18 16:12:54  jayhawk_hokie
*       Remove Jamfiles and unnecessary programs
*       
*       Revision 1.10  2003/10/27 17:04:16  bstreetman
*       Added manual wat to set the communications port in SetPort()
*       
*       Revision 1.9  2003/09/15 21:42:45  bstreetman
*       Added Config Parsing ability, removed extraneous construction/initialization functions, removed hardcoded parameters
*       
*       Revision 1.8  2003/08/22 18:18:03  bstreetman
*       Added the ability to set gimbal rate
*       
*       Revision 1.7  2003/08/04 18:11:35  bstreetman
*       Updated port locations
*       
*       Revision 1.6  2003/08/01 20:21:20  bstreetman
*       Cleaned and streamlined all code. Reduced warning and outputs. CMG and Momentum Wheels now no longer accept a global integer in initialization.  The file descriptor is now set and held internally.
*       
*       Revision 1.5  2003/07/16 21:39:36  bstreetman
*       Updated headers and continued function implementation
*       
*       Revision 1.4  2003/07/15 20:43:39  bstreetman
*       Updated CMG headers and began impletation
*       
*       Revision 1.3  2003/07/04 15:54:53  simpliciter
*       Fixed capitalization.
*       
*       Revision 1.2  2003/07/03 19:48:47  nicmcp
*       Added an instance counter
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

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