Thruster.h

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/************************************************************************************************/
/*! \file Thruster.h
*  \brief The Thruster class provides the interface for h/w thrusters.
*  \author $Author: cakinli $
*  \version $Revision: 1.5 $
*  \date    $Date: 2005/02/25 18:40:52 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_THRUSTER_H__
#define __SSSL_THRUSTER_H__

#include <Base/Actuator.h>
#include <matrix/Matrix.h>
#include <Actuators/PhysicalThruster.h>
#include <Utils/CfgParse.h>
#include <Hardware/DAQCard.h>

using namespace std;

class Thruster : public Actuator  
{
public:
        // Contructors/Deconstructors
        /*! Default Constructor */ 
        Thruster();

        /*! Constructor which accepts config parsing info */
        Thruster(cfgBody& cfgdat);
        
        /*! Deconstructor */
//      virtual ~Thruster();
        ~Thruster();

        // Facilitators
        int Stop();

                /*! Fire the thruster */
                void StartFire(BYTE signal);
        /*! Default Const(); */

                void StopFire();

        // Mutators
        int Initialize();
//      virtual int Initialize();
//      virtual int Initialize(const string& _sInitString);
//      virtual int Deinitialize();

                /*! Set the desired thrust level (assumed steady state level with time > 600 ms) */
                void SetThrustLevel();

                /*! Set the unit vector which points in the direction of the applied external force */
                //void SetThrustVector(const Vector& ThrustVect);

                /*! Set the number used to reference the thruster */
                //void SetThrusterNumber(const int ThrusterNumber);

                /*! Set the position vector from the CG to the thruster */
                //void SetPositionVector(const Vector& PositionVect);
        
        // Inspectors

                /*! Get the unit vector which points in the direction of the applied external force */
                //Vector GetThrustVector() const;

                /*! Get the thruster position vector */
                //Vector GetPositionVector() const;

                /*! Get the thruster number */
                //int GetThrusterNumber() const;

                /*! Get the steady state thrust magnitude */
                double GetThrustLevel() const;

                /* Get the air pressure setting */
                double GetCurrentPressure() const;
    
protected: 
    
    
private:

        /*! The physical thruster object */
        PhysicalThruster m_PhysicalThruster;

        /*! The unit vector which points in the direction of the applied external force */
        //Vector m_ThrustVector;
        
        /*! The vector indicating the position of the thruster */
        //Vector m_PositionVector;

        /*! The current pressure level of the air supply */
        double m_CurrentAirPressure;

        /*! The current thrust magnitude, determined by the air pressure */
        double m_CurrentThrustMagnitude;

        /*! The index number used to reference the thruster */
        int m_ThrusterNumber;

        /*! Pointer to an instance of the DAQ card */
        DAQCard* m_DAQCard;

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: Thruster.h,v $
*       Revision 1.5  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 1.4  2004/06/15 14:58:45  shaigunjoe
*       Added changes for digital signal
*       
*       Revision 1.3  2004/05/27 19:59:06  shoemaker
*       Made changes for analog output thruster control
*       
*       Revision 1.2  2003/07/04 14:06:43  simpliciter
*       Added newline at end of file.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

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