PhysicalMomentumWheel.cpp File Reference

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Detailed Description

Implementation of the PhysicalMomentumWheel class.

Author:

Author

jayhawk_hokie

Version:

Revision

1.44

Date:

Date

2007/08/31 15:48:03

Definition in file PhysicalMomentumWheel.cpp.

#include "PhysicalMomentumWheel.h"

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Functions
void *	QueryWheelSpeed (void *arg)
void *	RunTorqueControllerRev (void *arg)
void *	RunTorqueController (void *arg)
	Determine reaction wheel speed to provide the desired torque requested from controller.
void *	RunPIDController (void *arg)

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Function Documentation

void* QueryWheelSpeed (  void *  arg  )

Parameters: arg  the argument is set to be a "this" pointer cast as a void pointer Definition at line 249 of file PhysicalMomentumWheel.cpp. References hear(), PhysicalMomentumWheel::m_CurrentWheelSpeed, PhysicalMomentumWheel::m_exitConditionSpeed, PhysicalMomentumWheel::m_fd, PhysicalMomentumWheel::m_Mutex, PhysicalMomentumWheel::m_VelocityTime, and say().

void* RunPIDController (  void *  arg  )

This controller has gain scheduling based on the magnitude of the velocity change desired. It also places limits on large changes in torque and limits the upper value of torque in order to protect the motor and its components. Parameters: arg  the argument is set to be a "this" pointer cast as a void pointer Definition at line 876 of file PhysicalMomentumWheel.cpp. References abs, PhysicalMomentumWheel::LAST_ERR, PhysicalMomentumWheel::LAST_TOR, PhysicalMomentumWheel::LAST_VEL, PhysicalMomentumWheel::m_CurrentWheelSpeed, PhysicalMomentumWheel::m_DesiredWheelSpeed, PhysicalMomentumWheel::m_MaxTorqueStep, PhysicalMomentumWheel::m_MaxWheelTorque, PhysicalMomentumWheel::m_Mutex, pi(), and PhysicalMomentumWheel::TorqueCommand().

void* RunTorqueController (  void *  arg  )

Determine reaction wheel speed to provide the desired torque requested from controller. Parameters: void*  arg Definition at line 630 of file PhysicalMomentumWheel.cpp. References C, PhysicalMomentumWheel::CommandWheelSpeed(), PhysicalMomentumWheel::GetAxialInertia(), PhysicalMomentumWheel::LAST_VEL, PhysicalMomentumWheel::m_CurrentWheelSpeed, PhysicalMomentumWheel::m_DesiredWheelTorque, PhysicalMomentumWheel::m_Mutex, and PhysicalMomentumWheel::SetWheelSpeed().

void* RunTorqueControllerRev (  void *  arg  )

Friend function split in a new thread that controls the torque applied. It begins running in the StartTorqueController function. Determine reaction wheel speed to provide the desired torque requested from controller. Parameters: arg  the argument is set to be a "this" pointer cast as a void pointer Definition at line 396 of file PhysicalMomentumWheel.cpp. References PhysicalMomentumWheel::CommandWheelSpeed(), PhysicalMomentumWheel::m_AxialInertia, PhysicalMomentumWheel::m_CurrentWheelSpeed, PhysicalMomentumWheel::m_DesiredWheelSpeed, PhysicalMomentumWheel::m_DesiredWheelTorque, PhysicalMomentumWheel::m_exitConditionTorque, PhysicalMomentumWheel::m_Mutex, PhysicalMomentumWheel::m_TorqueControllerDeltaTime, PhysicalMomentumWheel::m_TorqueControllerDesiredWheelSpeedFlag, PhysicalMomentumWheel::m_TorqueControllerSteadyStateGain, and PhysicalMomentumWheel::m_TorqueControllerTorqueGain.

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