ControlMomentGyro.h

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/************************************************************************************************/
/*! \file ControlMomentGyro.h
*  \brief The ControlMomentGyro class provides the interface for h/w control moment gyros.
*  \author $Author: cakinli $
*  \version $Revision: 1.14 $
*  \date    $Date: 2005/02/25 18:40:52 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_CONTROLMOMENTGYRO_H__
#define __SSSL_CONTROLMOMENTGYRO_H__

#include <Base/Actuator.h>
#include <matrix/Matrix.h>
#include <string>
#include <sstream>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/fcntl.h>
#include <sys/ioctl.h>
#include <asm/ioctls.h>
#include <bits/types.h>
#include "PhysicalControlMomentGyro.h"

using namespace std;
using namespace O_SESSAME;

/*! Class to interface with control moment gyros */
class ControlMomentGyro : public Actuator  
{
public:
    // Contructors/Deconstructors
    
    /*! Default Constructor */
    ControlMomentGyro();

    /*! Constructor accepting a cfg object */
    ControlMomentGyro(cfgBody& cfgdat);

    /*! Default Deconstructor */
    virtual ~ControlMomentGyro();

    // Facilitators

    /*! Set the speed of the CMG wheel
     * \param wheelOmega Desired speed of the wheel in rad/sec */
    void SetWheelSpeed(double wheelOmega);   // will change wheelOmega if set different due to saturation

    /*! Set the torque output to the wheel of the CMG
     * \param wheelTorque Desired torque put on the wheel in N-m */
    void SetWheelTorque(double wheelTorque); // will change wheelTorque if set different due to saturation
    
    /*! Set the angle of the wheel axis with respect to the center of its travel
     * \param wheelAngle The desired angle og the wjheel axis with respect to the center of the CMG's motion in radians */
    void SetAngle(double wheelAngle);
        
        /*! Set the gimbal angle rate of the CMG
        *       \param gimbalrate The deisred gimbal angle rate in rad/sec */
        void SetGimbalRate(double gimbalRate);

    /*! Stop the CMG wheel */
    int Stop();

    /*! Initialize the both the linear actuator and wheel on the CMG chain */
    int Initialize();

    /*! Deinitialize all CMG components */
    int Deinitialize();

    // Mutators
    
    /*! Set the axis of the CMG with a 3x1 vector */
    void SetWheelAxis(const Vector& newWheelAxis);
        
    /*! Set communications port */
    void SetPort(string Port);
        
    // Inspectors

    /*! Returns the current angular velocity of the CMG wheel in rad/sec */
    double GetWheelSpeed();

    /*! Returns the current torque output to the CMG wheel in N-m */
    double GetWheelTorque();

    /*! Returns the current angle of the wheel axis with respect to its center line in radians */
    double GetAngle();

    /*! Returns a 3x1 vector of the CMG axis */
    Vector GetCMGAxis() const;

    /*! Returns the total number of CMGs instantiated */
    int getGyroCount() const;   

        
protected: 
    
    
private:

    /*! Static integer that holds the total number of CMGs instantiated */
    static int gyroCount;

    /*! Double that holds the current angular velocity of the CMG wheel in rad/sec */
    double m_CurrentWheelSpeed;

    /*! Double that holds the current torque output to the wheel in N-m */
    double m_CurrentWheelTorque;

    /*! Double that holds the current angle of the wheel axis with respect to its center point in radians */
    double m_CurrentAngle;

    /*! 3x1 Vector that holds axis of the CMG */
    Vector m_CMGAxis;

    /*! Double that holds the velocity setting for the linear actuator */
    double m_CurrentLAVelocity;

    /*! Double that holds the accelerations setting for the linear actuator */
    double m_CurrentLAAcceleration;

    /*! Memeber PhysicalControlMomentGyro object */
    PhysicalControlMomentGyro m_PhysicalCMG;

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: ControlMomentGyro.h,v $
*       Revision 1.14  2005/02/25 18:40:52  cakinli
*       Created Makefiles and organized include directives to reduce the number of
*       include paths.  Reorganized libraries so that there is now one per source
*       directory.  Each directory is self-contained in terms of its Makefile.
*       The local Makefile in each directory includes src/config.mk, which has all
*       the definitions and general and pattern rules.  So at most, to see what
*       goes into building a target, a person needs to examine the Makefile in
*       that directory, and ../config.mk.
*       
*       Revision 1.13  2003/12/16 17:20:26  bstreetman
*       A bit o' fall cleaning.  Just look at how pretty it is.
*       
*       Revision 1.12  2003/10/27 17:04:16  bstreetman
*       Added manual wat to set the communications port in SetPort()
*       
*       Revision 1.11  2003/09/15 21:42:45  bstreetman
*       Added Config Parsing ability, removed extraneous construction/initialization functions, removed hardcoded parameters
*       
*       Revision 1.10  2003/08/22 18:18:03  bstreetman
*       Added the ability to set gimbal rate
*       
*       Revision 1.9  2003/08/04 21:25:23  bstreetman
*       Now with doxygen-style comments
*       
*       Revision 1.8  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 1.7  2003/07/16 21:39:35  bstreetman
*       Updated headers and continued function implementation
*       
*       Revision 1.6  2003/07/15 20:43:39  bstreetman
*       Updated CMG headers and began impletation
*       
*       Revision 1.5  2003/07/04 15:54:52  simpliciter
*       Fixed capitalization.
*       
*       Revision 1.4  2003/07/04 15:28:59  simpliciter
*       Fixed typo.
*       
*       Revision 1.3  2003/07/03 19:48:31  nicmcp
*       Added an Instance counter
*       
*       Revision 1.2  2003/06/19 21:30:23  simpliciter
*       Updated from Andy's generic layout.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

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