SingleAxisController.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file SingleAxisController.cpp
*  \brief Implementation of the SingleAxisController class.
*  \author $Author: mavandyk $
*  \version $Revision: 1.2 $
*  \date    $Date: 2003/08/06 21:47:54 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#include "SingleAxisController.h"

int SingleAxisController::Initialize() {

        Matrix K(3,3);
        K(1,1) = 10;
        K(2,2) = 10;
        K(3,3) = 10;
        m_gainMatrix = K;
        
        return 0;       
}

int SingleAxisController::Run()
{
        /** Grabs current information for the whrol object */
        GrabInfo();
        
        /** Get the current state */
        Vector states = PateraSilk->GetState();
        Vector z(3), w(3);
        z = states(_(1,3));
        w = states(_(4,6));
        
        /** Get the desired state */
        Vector wd(3), zd(3);
        zd = m_desiredState(_(1,3));
        wd = m_desiredState(_(4,6));
        Vector dz = z - zd,     dw = w - wd;

        /** Calculate the desired control torque */
        m_controlTorque = skew(w) * recentMOI * w - recentMOI * skew(z) * dz - m_gainMatrix * dw;
        
        /** Set the desired control torque in whorl object */
        PateraSilk->SetControl(m_controlTorque);
        
        /** Command the momentum wheels to produce the control torque if it's not too large */
        Vector zeroVector(3);
        if (norm2(m_controlTorque) < 300)
                SetWheelTorque(m_controlTorque);
        else
                SetWheelTorque(zeroVector);

        return 0;
}

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: SingleAxisController.cpp,v $
*       Revision 1.2  2003/08/06 21:47:54  mavandyk
*       Updated comments and notation and fixed class structure.
*       
*       Revision 1.1  2003/07/31 21:01:50  mavandyk
*       A single axis attitude controller.
*       
*       Revision 1.3  2003/07/07 14:11:24  simpliciter
*       Removed GetWhorlObject() calls following Whorl pointers.
*       
*       
*
******************************************************************************/

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