PhysicalControlMomentGyro.h

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/************************************************************************************************/
/*! \file PhysicalControlMomentGyro.h
*  \brief The ControlMomentGyro class provides the interface for h/w control moment gyros.
*  \author $Author: cakinli $
*  \version $Revision: 1.13 $
*  \date    $Date: 2005/02/25 18:40:52 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_PHYSICALCONTROLMOMENTGYRO_H__
#define __SSSL_PHYSICALCONTROLMOMENTGYRO_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>

extern "C"
{
#include <Hardware/satctl.h>
#include <Hardware/common.h>
}
using namespace std;
using namespace O_SESSAME;

/*! Class that provides interface to actual hardware CMGs */
class PhysicalControlMomentGyro : public Actuator 
{
public:
    // Contructors/Deconstructors
    
    /*! Default Constructor */
    PhysicalControlMomentGyro();

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

    // Facilitators

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

    /*! Set torque output to the CMG wheel
     * \param wheelTorque Desired output torque in N-m */
    void CommandWheelTorque(double wheelTorque); // will change wheelTorque if set different due to saturation

    /*! Set the angle of the wheel axis with respect to its center position
     * \param wheelAngle Desired wheel axis angle in radians */
    void CommandAngle(double wheelAngle);
        
        /*! Set the gimbal angle rate of the CMG 
        *       \param gimbalRate Desired gimbal angel rate of the CMG in rad/sec */
        void CommandGimbalRate(double gimbalRate);

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

    /*! Initialize all components of the CMG */
    int Initialize();

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

    // Mutators

    /*! Set the maximum and minimum angular speeds of the CMG wheel
     * \param minWheelSpeed Minimum allowable CMG wheel speed
     * \param maxWheelSpeed Maximum allowable CMG wheel speed */
    void SetWheelSpeedLimits(double minWheelSpeed, double maxWheelSpeed);
    
    /*! Set the maximum and minimum torque outputs to the CMG wheel
     * \param minWheelTorque Minimum allowable CMG torque output
     * \param maxWheelTorque Maximum allowable CMG torque output */
    void SetWheelTorqueLimits(double minWheelTorque,double maxWheelTorque);

    /*! Set the maximum change in torque outputs
     * \param maxTorqueStep The maximum allowable change between two consecutive torque outputs in N-m */
    void SetMaxTorqueStep(double maxTorqueStep);

    /*! Set which daisy chain the CMG is located on */
    void SetDaisyChainNumber(int DaisyChainNumber);
    
    /*! Set the port to which the CMG is plugged into
     * \param Port A string contaaining the name of the proper port, S0 for serial 1, USB1 for usb port 2, etc */
    void SetDaisyChainPort(string Port);

    // Inspectors
    
    /*! Get the angular velocity of the CMG wheel, returns a double in rad/sec */
    double QueryWheelSpeed();

    /*! Get the current torque output to the CMG wheel, returns a double in N-m */
    double QueryWheelTorque();

    /*! Get the current angle of the CMG wheel axis with respect ot its center position, returns a double in radians */
    double QueryAngle();

    /*! Get the angular velocity limts of the CMG wheel
     * \param minWheelSpeed Set to the minimum speed limit of the CMG wheel
     * \param maxWheelSpeed Set to the maximum speed limit of the CMG wheel */
    void GetWheelSpeedLimits(double& minWheelSpeed, double& maxWheelSpeed);
 
    /*! Get the torque output limts to the CMG wheel
     * \param minWheelTorque Set to the minimum torque output to the CMG wheel
     * \param maxWheelTorque Set to the maximum torque output to the CMG wheel */
    void GetWheelTorqueLimits(double& minWheelTorque, double& maxWheelTorque);
    
    /*! Sets maxTorqueStep to the maximun allowable chang in torque values */
    void GetMaxTorqueStep(double& maxTorqueStep);
        
        
protected: 
    
    
private:

    /*! Private member function to send a Go command to the smart motor
     * \param Address Is either the CMG wheel address of the lineasr actuator address */
    void GoCommand(int Address);

    /*! Private function used to initialize the the linear actuator by finding its upper and lower limits
     * and then repositioning itself to the center of its travel */
    void FindLimits();
    
    /*! Double for the current wheel speed in rad/sec */
    double m_CurrentWheelSpeed;

    /*! double for the current wheel torque output in N-m */
    double m_CurrentWheelTorque;

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

    /*! Double holding the current LA velocity */
    double m_CurrentLAVelocity;

    /*! Double holding the acceleration of the LA */
    double m_CurrentLAAcceleration;

    /*! the maximum position count of the LA */
    int m_LAMax;

    /*! the minimum position count of the LA */
    int m_LAMin;

    /*! The position count at mid-travel for the LA*/
    int m_LAMid;
    
    /*! THe integer address of the CMG wheel */
    int m_WheelAddress;

    /*! THe integer address of the LA */
    int m_LAAddress;

    /*! Static integer representing the file descriptor for talking to the CMG */
    static int m_fd;

    /*! String holding the port to which the CMG is connected */
    string m_DaisyChainPort;

    /*! THe number of the daisy chain that the CMG is on */
    int m_DaisyChainNumber;

    /*! MAximun allowable wheel speed in rad/sec */
    double m_MaxWheelSpeed;

    /*! Minimum allowable wheel speed in rad/sec */
    double m_MinWheelSpeed;

    /*! Maximum torque output to the wheel in N-m */
    double m_MaxWheelTorque;

    /*! Minimum torque output to the wheel in N-m */
    double m_MinWheelTorque;

    /*! MAximum allowable change in consecutive torque values */
    double m_MaxTorqueStep;

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: PhysicalControlMomentGyro.h,v $
*       Revision 1.13  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 1.12  2003/12/16 17:20:26  bstreetman
*       A bit o' fall cleaning.  Just look at how pretty it is.
*       
*       Revision 1.11  2003/09/15 21:42:46  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  2003/07/23 19:18:36  bstreetman
*       Added command and query angle functionality
*       
*       Revision 1.6  2003/07/22 21:40:14  bstreetman
*       Added FindLimits()
*       
*       Revision 1.5  2003/07/22 18:30:32  bstreetman
*       Added GoCommand() and fixed others
*       
*       Revision 1.4  2003/07/21 21:37:38  bstreetman
*       Added daisy chain port and number set functions
*       
*       Revision 1.3  2003/07/16 21:39:36  bstreetman
*       Updated headers and continued function implementation
*       
*       Revision 1.2  2003/07/15 20:43:39  bstreetman
*       Updated CMG headers and began impletation
*       
*       Revision 1.1  2003/06/19 21:31:55  simpliciter
*       Initial submission, upgrades from Andy's generic code.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

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