DemoWhorl1.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file DemoWhorl1.cpp 
*  \brief Runs momentum wheels, thrusters and cmg on Whorl-I.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.2 $
*  \date    $Date: 2007/07/24 09:43:46 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*!
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

// include control devices
        #include <Actuators/MomentumWheel.h>
        #include <Actuators/Thruster.h>
        #include <Actuators/ControlMomentGyro.h>
// include time
        #include <utils/Time.h>
// include math
        #include <matrix/Matrix.h>
// include standard output
        #include <iostream.h>
        #include <unistd.h>
        #include <string.h>
        #include <fstream.h>
        #include <fstream>

using namespace std; // shortcut for std::cout, std::endl, etc

// The main routine
int main()
{

cout << "start program" << endl;

        // Initialize CMG
        ControlMomentGyro CMG;
        
        CMG.Initialize();
        
        // Initialize Momentum Wheels
        MomentumWheel WheelX;
        MomentumWheel WheelY;
        MomentumWheel WheelZ;
        WheelX.SetPort("USB4");
        WheelY.SetPort("USB5");
        WheelZ.SetPort("USB6");
        WheelX.Initialize();
        WheelY.Initialize();
        WheelZ.Initialize();


/*      sleep(50); // pause for 50 seconds
        // Thrusters
        Thruster t1;
        Thruster t2;
        t1.StartFire(8); // fire thruster 1 for 8 seconds
        sleep(10); // pause for 10 seconds
        t2.StartFire(16); // fire thruster 2 for 16 seconds
        sleep(10); // pause for 10 seconds
        t1.StopFire();
        t2.StopFire();
*/

        // CMG Control                                                                                
        
        cout << "Start CMG" << endl;

        CMG.SetAngle(5);
        CMG.SetWheelSpeed(20);
                                                                                
        sleep(20);
                                                                                
        CMG.Stop();
        CMG.Deinitialize();

/*
        // Momentum Wheel Control
        WheelZ.SetWheelSpeed(40); // rates (deg/s)
        sleep(25);
        WheelX.SetWheelSpeed(30);
        sleep(10);
        WheelY.SetWheelSpeed(30);
        sleep(10);
        
        WheelZ.Stop();
        WheelX.Stop();
        WheelY.Stop();

*/
        WheelZ.Deinitialize();
        WheelX.Deinitialize();
        WheelY.Deinitialize();

        cout << "Whorl-I demo COMPLETE" << endl; // display to screen

        return 0; // terminate program
}

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: DemoWhorl1.cpp,v $
*       Revision 1.2  2007/07/24 09:43:46  jayhawk_hokie
*       Updated.
*
*       Revision 1.1  2005/09/18 17:14:30  jayhawk_hokie
*       Initial Addition of Test programs
*
*       Revision 1.1  2005/06/17 18:07:28  jayhawk_hokie
*       Initial submission.
*
*
******************************************************************************/

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