MomentumWheel Class Reference

#include <MomentumWheel.h>

Inheritance diagram for MomentumWheel:

[legend]Collaboration diagram for MomentumWheel:

[legend]List of all members.

Detailed Description

Class to interface with momentum wheels

Definition at line 32 of file MomentumWheel.h.

Public Types

enum StringValue { ON, OFF }

Value-Definitions of the different string values. More...

Public Member Functions

MomentumWheel ()

Default Constructor.

MomentumWheel (TiXmlHandle handle, string wheel)

Constructor that accepts a cfgBody variable sent from the cfgPars function.

virtual ~MomentumWheel ()

Deconstructor.

int Initialize (TiXmlHandle handle, string wheel)

Initialize the wheels.

int Deinitialize ()

Deinitialize the wheels.

int Stop ()

Stop the wheel Calls PhysicalMomentumWheel::Stop( ).

int TorqueCommand (double _power)

Enable torque mode for the wheel motor. Calls PhysicalMomentumWheel::TorqueCommand( int _power ).

void StartSpeedQuery ()

Start the speed reading routine of the motor in a separate thread. Calls PhysicalMomentumWheel::StartSpeedQuery( ).

void StopSpeedQuery ()

Stop the speed reading routine of the motor. This function does not need to be called a t the end of the program. Calls PhysicalMomentumWheel::StopSpeedQuery( ) The thread will be closed automatically when the program ends.

void SetWheelTorque (double wheelTorque)

Set the torque applied to the wheel Calls PhysicalMomentumWheel::CommandWheelTorque( double _wheelTorque ).

void SetWheelSpeed (double wheelOmega)

Set the desired wheel speed. The wheel controller is running in a thread and this function updates the desired wheel rate value passed to the wheel controller. Calls PhysicalMomentumWheel::CommandWheelSpeed( double wheelOmega ).

void StartPID ()

Start the PID Control Thread Calls PhysicalMomentumWheel::StartPID( ).

void StopPID ()

End the PID Control Thread (will be called by the deconstructor) Calls PhysicalMomentumWheel::StopPID( ).

void SetSystemTorque (double wheelTorque)

Set the old-style torque applied to the wheel Calls PhysicalMomentumWheel::CommandSystemTorque( double wheelTorque ).

void SetWheelSpeedCoefficients (Vector _Coefficients1, Vector _Coefficients2, Vector _Coefficients3, Vector _Coefficients4)

Set the wheel speed coefficients. The wheel speed coefficients are determined from the characterization of each wheel motor. Calls PhysicalMomentumWheel::SetWheelSpeedCoefficients( Vector _Coefficients1, Vector _Coefficients2, Vector _Coefficients3, Vector _Coefficients4 ).

void SetWheelAddress (int wheeladdress)

Set the address of the wheel on its daisy chain Calls PhysicalMomentumWheel::SetWheelAddress( int wheelAddress ).

void SetWheelAxis (const Vector &newWheelAxis)

Set the axis of rotation for the wheel.

void SetChainNumber (int daisyChain)

Set communications port Calls PhysicalMomentumWheel::SetDaisyChainNumber( int daisyChain ).

void SetPort (string Port)

Set communications port Calls PhysicalMomentumWheel::SetDaisyChainPort( string DaisyChainPort );.

void SetBiasSpeed (double BiasSpeed)

Set the bias wheel wheel speed for a Momentum wheel Calls PhysicalMomentumWheel::SetBiasSpeed( double BiasSpeed ).

void SetAxialInertia (double axialInertia)

Set the axial inertia for a Momentum wheel Calls PhysicalMomentumWheel::SetAxialInertia( double axialInertia ).

void SetWheelTorqueLimits (double torque_limit_low, double torque_limit_high)

Set the momentum wheel torque limits Calls PhysicalMomentumWheel::SetWheelTorqueLimits( const double& minWheelTorque, const double& maxWheelTorque ).

void SetWheelName (string _wheelName)

Set the momentum wheel string name Calls PhysicalMomentumWheel::SetWheelName( string _wheelName ).

void GetWheelSpeed (double &Speed, double &measTime)

Get the current angular speed of the wheel, returns the wheel speed in rad/sec. Calls PhysicalMomentumWheel::GetWheelSpeed( double& Speed, double& measTime ).

double GetWheelTorque ()

Get the current torque output to the wheel, returns the value in N-m. This is not necessarily the torque being applied to the system. This value is determined from the smart motors. Calls PhysicalMomentumWheel::QueryWheelTorque( ).

Vector GetWheelAxis () const

Get the axis of the wheel, returns a 3x1 vector.

int GetWheelCount ()

Returns an integer representing the total number of momentum wheels instantiated.

double GetAxialInertia ()

Returns a double representing the axial inertia of the wheel in kg-m^2 Calls PhysicalMomentumWheel::GetAxialInertia( ).

string GetWheelName ()

Returns a string representing the wheel name Calls PhysicalMomentumWheel::GetWheelName( ).

int GetWheelFD ()

Get the file desciptor of the wheel. Calls PhysicalMomentumWheel::GetWheelFD( ).

double GetAmps ()

Get the current used by the motor. Calls PhysicalMomentumWheel::GetAmps( ).

double GetVolts ()

Get the voltage at the motor. Calls PhysicalMomentumWheel::GetVolts( ).

void StartWheelSpeedDataLogging ()

Start the wheel speed data collection routine Each wheel's speed query needs to be started individually. The performance occurs when the spart calls for each wheel are spread evenly over sec (value subject to change).

void StopWheelSpeedDataLogging ()

Stop the speed reading routine of the motor. This function does not need to be called a t the end of the program. The thread will be closed automatically when the program ends.

virtual int Initialize ()

Initializes the device for use.

bool IsActive ()

Returns the current state of m_bActiveState.

Vector GetLocation () const

Returns the physical location of the device with respect to whorl body coordinates.

void SetLocation (const Vector &newDeviceLocation)

Specify the physical location of the device with respect to whorl body coordinates.

Public Attributes

map< string, StringValue > s_mapStringValues

Map to associate the strings with the enum values.

Static Public Attributes

const bool c_bNotActive = false

a constant bool that is equal to false.

const bool c_bActive = true

a constant bool that is equal to true.

Protected Attributes

char * name

Private Attributes

Vector m_WheelAxis

3x1 vector corresponding to the axis normal to the wheel

PhysicalMomentumWheel m_PhysicalMomentumWheel

Member PhysicalMomentumWheel object.

WheelHistory * m_WheelHistory

Member WheelHistory in MomentumWheel.h, saving time and wheel speed for for initialized wheel.

string m_LogData

Member string in MomentumWheel.h, ON or OFF for logging.

pthread_t m_DataSpeedThreadID

Member pthread for Wheel Speed Data Logging.

pthread_mutex_t m_DataMutex

Memeber mutex lock variable for Data.

int m_exitConditionData

Static Private Attributes

int m_WheelCount = 0

Static member integer representing the total number of wheels instantiated.

Friends

void * DataWheelSpeed (void *arg)

Friend function split in a new thread that queries the wheel speed repeatedly. It begins running in the StartSpeedQuery function. Velocity by Position: This function determines the velocity of the wheel by differentiating the position reported by the wheel. The function asks the wheel for its position and then gets the time of day at which the measurement is reported. The code then delays for a small time and asks for the position and gets the time again. The velocity is then calculated by dividing the change in position byt he change in time. The return value is the velocity in rev/sec.

Member Enumeration Documentation

enum MomentumWheel::StringValue

Value-Definitions of the different string values.

Enumeration values:

ON

OFF

Definition at line 249 of file MomentumWheel.h.

Constructor & Destructor Documentation

MomentumWheel::MomentumWheel ( )

Default Constructor.

Definition at line 21 of file MomentumWheel.cpp.

MomentumWheel::MomentumWheel ( TiXmlHandle handle,

string wheel

)

Constructor that accepts a cfgBody variable sent from the cfgPars function.

Parameters:

handle is a TiXmlHandle type that has the wheel configuration parameters.

wheel is a string that specifies the wheel.

Definition at line 27 of file MomentumWheel.cpp.
References Actuator::Initialize().

MomentumWheel::~MomentumWheel ( ) [virtual]

Deconstructor.

Definition at line 32 of file MomentumWheel.cpp.
References Deinitialize().

Member Function Documentation

int MomentumWheel::Deinitialize ( ) [virtual]

Deinitialize the wheels.

Reimplemented from Device.
Definition at line 147 of file MomentumWheel.cpp.
References OFF, ON, s_mapStringValues, and StopWheelSpeedDataLogging().
Referenced by main(), and ~MomentumWheel().

double MomentumWheel::GetAmps ( )

Get the current used by the motor. Calls PhysicalMomentumWheel::GetAmps( ).

Definition at line 313 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::GetAmps(), and m_PhysicalMomentumWheel.
Referenced by main().

double MomentumWheel::GetAxialInertia ( )

Returns a double representing the axial inertia of the wheel in kg-m^2 Calls PhysicalMomentumWheel::GetAxialInertia( ).

Definition at line 298 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::GetAxialInertia(), and m_PhysicalMomentumWheel.
Referenced by Controller::FindMOI_sw().

Vector Device::GetLocation ( ) const [inherited]

Returns the physical location of the device with respect to whorl body coordinates.

Returns:
Physical center of the device [x,y,z]^T (meters).

Definition at line 75 of file Device.cpp.
References O_SESSAME::Vector.

double MomentumWheel::GetVolts ( )

Get the voltage at the motor. Calls PhysicalMomentumWheel::GetVolts( ).

Definition at line 318 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::GetVolts(), and m_PhysicalMomentumWheel.
Referenced by main().

Vector MomentumWheel::GetWheelAxis ( ) const

Get the axis of the wheel, returns a 3x1 vector.

Definition at line 286 of file MomentumWheel.cpp.
References O_SESSAME::Vector.
Referenced by Controller::FindA().

int MomentumWheel::GetWheelCount ( ) [virtual]

Returns an integer representing the total number of momentum wheels instantiated.

Reimplemented from Actuator.
Definition at line 292 of file MomentumWheel.cpp.
Referenced by Controller::FindA(), Controller::FindMOI_sw(), and Controller::SetWheelTorque().

int MomentumWheel::GetWheelFD ( )

Get the file desciptor of the wheel. Calls PhysicalMomentumWheel::GetWheelFD( ).

Definition at line 308 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::GetWheelFD(), and m_PhysicalMomentumWheel.

string MomentumWheel::GetWheelName ( )

Returns a string representing the wheel name Calls PhysicalMomentumWheel::GetWheelName( ).

Definition at line 303 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::GetWheelName(), and m_PhysicalMomentumWheel.

void MomentumWheel::GetWheelSpeed ( double & Speed,

double & measTime

)

Get the current angular speed of the wheel, returns the wheel speed in rad/sec. Calls PhysicalMomentumWheel::GetWheelSpeed( double& Speed, double& measTime ).

Parameters:

Speed double set to the current wheel speed

measTime double set to the number of seconds since unix epoch when the velocity waas measured

Definition at line 275 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::GetWheelSpeed(), and m_PhysicalMomentumWheel.
Referenced by main(), testController::Run(), slidingModeControlMRPMW::Run(), MWCMGController::Run(), MRPTracking::Run(), DefaultController::Run(), and AngularRateController::Run().

double MomentumWheel::GetWheelTorque ( )

Get the current torque output to the wheel, returns the value in N-m. This is not necessarily the torque being applied to the system. This value is determined from the smart motors. Calls PhysicalMomentumWheel::QueryWheelTorque( ).

Definition at line 281 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::QueryWheelTorque().

int Actuator::Initialize ( ) [virtual, inherited]

Initializes the device for use.

Author:
Andrew Turner

Date:
March 25, 1999 Allows the device to be used now that it is Active External Methods Called: SetActive(bool) Assumptions: None

Reimplemented from Device.
Reimplemented in ControlMomentGyro, PhysicalControlMomentGyro, PhysicalMomentumWheel, Thruster, and Relay.
Definition at line 28 of file Actuator.cpp.
References Device::Initialize().
Referenced by MomentumWheel().

int MomentumWheel::Initialize ( TiXmlHandle handle,

string wheel

)

Initialize the wheels.

Definition at line 41 of file MomentumWheel.cpp.
References checkResponse(), TiXmlHandle::Child(), TiXmlHandle::Element(), TiXmlHandle::FirstChild(), PhysicalMomentumWheel::Initialize(), CAMdoubleVector::initialize(), m_DataMutex, m_exitConditionData, m_LogData, m_PhysicalMomentumWheel, m_WheelAxis, m_WheelHistory, OFF, ON, s_mapStringValues, SetAxialInertia(), SetBiasSpeed(), SetChainNumber(), SetPort(), SetWheelAddress(), SetWheelAxis(), SetWheelName(), SetWheelSpeedCoefficients(), SetWheelTorqueLimits(), StartWheelSpeedDataLogging(), and O_SESSAME::Vector.
Referenced by main().

bool Device::IsActive ( ) [inherited]

Returns the current state of m_bActiveState.

Author:
Andrew Turner

Date:
March 25, 1999 This member function is used to inspect the state of the device External Methods Called: None Assumptions: None

Definition at line 59 of file Device.cpp.
Referenced by Device::Device().

void MomentumWheel::SetAxialInertia ( double axialInertia )

Set the axial inertia for a Momentum wheel Calls PhysicalMomentumWheel::SetAxialInertia( double axialInertia ).

Parameters:

axialInertia A double specifying the axial inertia kg-m^2

Definition at line 249 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetAxialInertia().
Referenced by Initialize().

void MomentumWheel::SetBiasSpeed ( double BiasSpeed )

Set the bias wheel wheel speed for a Momentum wheel Calls PhysicalMomentumWheel::SetBiasSpeed( double BiasSpeed ).

Parameters:

BiasSpeed A double specifying the bias speed

Definition at line 244 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetBiasSpeed().
Referenced by Initialize().

void MomentumWheel::SetChainNumber ( int daisyChain )

Set communications port Calls PhysicalMomentumWheel::SetDaisyChainNumber( int daisyChain ).

Parameters:

daisyChain A int specifying the daisy chain number

Definition at line 234 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetDaisyChainNumber().
Referenced by Initialize().

void Device::SetLocation ( const Vector & newDeviceLocation ) [inherited]

Specify the physical location of the device with respect to whorl body coordinates.

Parameters:

newDeviceLocation Physical center of the device [x,y,z]^T (meters).

Definition at line 67 of file Device.cpp.
References Device::m_Location, and O_SESSAME::Vector.

void MomentumWheel::SetPort ( string Port )

Set communications port Calls PhysicalMomentumWheel::SetDaisyChainPort( string DaisyChainPort );.

Parameters:

Port A string specifying the RS232 port ex. /dev/ttyUSB0

Definition at line 239 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetDaisyChainPort().
Referenced by Initialize(), and main().

void MomentumWheel::SetSystemTorque ( double wheelTorque )

Set the old-style torque applied to the wheel Calls PhysicalMomentumWheel::CommandSystemTorque( double wheelTorque ).

Parameters:

wheelTorque The desired wheel torque in N-m

Definition at line 214 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::CommandSystemTorque(), and m_PhysicalMomentumWheel.

void MomentumWheel::SetWheelAddress ( int wheeladdress )

Set the address of the wheel on its daisy chain Calls PhysicalMomentumWheel::SetWheelAddress( int wheelAddress ).

Parameters:

wheeladdress an integer describing the address of the wheel

Definition at line 224 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetWheelAddress().
Referenced by Initialize().

void MomentumWheel::SetWheelAxis ( const Vector & newWheelAxis )

Set the axis of rotation for the wheel.

Parameters:

newWheelAxis a 3x1 vector describing the wheel axis

Definition at line 229 of file MomentumWheel.cpp.
References m_WheelAxis, and O_SESSAME::Vector.
Referenced by Initialize().

void MomentumWheel::SetWheelName ( string _wheelName )

Set the momentum wheel string name Calls PhysicalMomentumWheel::SetWheelName( string _wheelName ).

Parameters:

_wheelName A string naming the wheel

Definition at line 259 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetWheelName().
Referenced by Initialize().

void MomentumWheel::SetWheelSpeed ( double wheelOmega )

Set the desired wheel speed. The wheel controller is running in a thread and this function updates the desired wheel rate value passed to the wheel controller. Calls PhysicalMomentumWheel::CommandWheelSpeed( double wheelOmega ).

Parameters:

wheelOmega The desired wheel angular velocity in rad/sec

Definition at line 198 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::CommandWheelSpeed(), m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetWheelSpeed().
Referenced by main().

void MomentumWheel::SetWheelSpeedCoefficients ( Vector _Coefficients1,

Vector _Coefficients2,

Vector _Coefficients3,

Vector _Coefficients4

)

Set the wheel speed coefficients. The wheel speed coefficients are determined from the characterization of each wheel motor. Calls PhysicalMomentumWheel::SetWheelSpeedCoefficients( Vector _Coefficients1, Vector _Coefficients2, Vector _Coefficients3, Vector _Coefficients4 ).

Parameters:

_Coefficients1 a 4x1 vector of constants

_Coefficients2 a 3x1 vector of constants

_Coefficients3 a 3x1 vector of constants

_Coefficients4 a 4x1 vector of constants

Definition at line 264 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, PhysicalMomentumWheel::SetWheelSpeedCoefficients(), and O_SESSAME::Vector.
Referenced by Initialize().

void MomentumWheel::SetWheelTorque ( double wheelTorque )

Set the torque applied to the wheel Calls PhysicalMomentumWheel::CommandWheelTorque( double _wheelTorque ).

Parameters:

wheelTorque The desired wheel torque in N-m

Definition at line 193 of file MomentumWheel.cpp.
References PhysicalMomentumWheel::CommandWheelTorque(), and m_PhysicalMomentumWheel.
Referenced by main(), and Controller::SetWheelTorque().

void MomentumWheel::SetWheelTorqueLimits ( double torque_limit_low,

double torque_limit_high

)

Set the momentum wheel torque limits Calls PhysicalMomentumWheel::SetWheelTorqueLimits( const double& minWheelTorque, const double& maxWheelTorque ).

Parameters:

torque_limit_low A double specifying low torque limit N-m

torque_limit_high A double specifying high torque limit N-m

Definition at line 254 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::SetWheelTorqueLimits().
Referenced by Initialize().

void MomentumWheel::StartPID ( )

Start the PID Control Thread Calls PhysicalMomentumWheel::StartPID( ).

Definition at line 204 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::StartPID().

void MomentumWheel::StartSpeedQuery ( )

Start the speed reading routine of the motor in a separate thread. Calls PhysicalMomentumWheel::StartSpeedQuery( ).

Definition at line 183 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::StartSpeedQuery().
Referenced by main().

void MomentumWheel::StartWheelSpeedDataLogging ( )

Start the wheel speed data collection routine Each wheel's speed query needs to be started individually. The performance occurs when the spart calls for each wheel are spread evenly over sec (value subject to change).

Definition at line 328 of file MomentumWheel.cpp.
References DataWheelSpeed, and m_DataSpeedThreadID.
Referenced by Initialize().

int MomentumWheel::Stop ( ) [virtual]

Stop the wheel Calls PhysicalMomentumWheel::Stop( ).

Implements Actuator.
Definition at line 170 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::Stop().
Referenced by main().

void MomentumWheel::StopPID ( )

End the PID Control Thread (will be called by the deconstructor) Calls PhysicalMomentumWheel::StopPID( ).

Definition at line 209 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::StopPID().

void MomentumWheel::StopSpeedQuery ( )

Stop the speed reading routine of the motor. This function does not need to be called a t the end of the program. Calls PhysicalMomentumWheel::StopSpeedQuery( ) The thread will be closed automatically when the program ends.

Definition at line 188 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::StopSpeedQuery().

void MomentumWheel::StopWheelSpeedDataLogging ( )

Stop the speed reading routine of the motor. This function does not need to be called a t the end of the program. The thread will be closed automatically when the program ends.

Definition at line 372 of file MomentumWheel.cpp.
References m_DataMutex, m_DataSpeedThreadID, and m_exitConditionData.
Referenced by Deinitialize().

int MomentumWheel::TorqueCommand ( double _power )

Enable torque mode for the wheel motor. Calls PhysicalMomentumWheel::TorqueCommand( int _power ).

Parameters:

_power is the voltage to be commanded in Torque Mode

Definition at line 176 of file MomentumWheel.cpp.
References m_PhysicalMomentumWheel, and PhysicalMomentumWheel::TorqueCommand().

Friends And Related Function Documentation

void* DataWheelSpeed ( void * arg ) [friend]

Friend function split in a new thread that queries the wheel speed repeatedly. It begins running in the StartSpeedQuery function. Velocity by Position: This function determines the velocity of the wheel by differentiating the position reported by the wheel. The function asks the wheel for its position and then gets the time of day at which the measurement is reported. The code then delays for a small time and asks for the position and gets the time again. The velocity is then calculated by dividing the change in position byt he change in time. The return value is the velocity in rev/sec.

Parameters:

arg the argument is set to be a "this" pointer cast as a void pointer

Definition at line 334 of file MomentumWheel.cpp.
Referenced by StartWheelSpeedDataLogging().

Member Data Documentation

const bool Device::c_bActive = true [static, inherited]

a constant bool that is equal to true.
Used for setting the active state
Definition at line 50 of file Device.h.
Referenced by Device::Initialize().

const bool Device::c_bNotActive = false [static, inherited]

a constant bool that is equal to false.
Used for setting the active state.
Definition at line 48 of file Device.h.
Referenced by Device::Deinitialize(), and Device::Device().

pthread_mutex_t MomentumWheel::m_DataMutex [private]

Memeber mutex lock variable for Data.

Definition at line 280 of file MomentumWheel.h.
Referenced by DataWheelSpeed(), Initialize(), and StopWheelSpeedDataLogging().

pthread_t MomentumWheel::m_DataSpeedThreadID [private]

Member pthread for Wheel Speed Data Logging.

Definition at line 277 of file MomentumWheel.h.
Referenced by StartWheelSpeedDataLogging(), and StopWheelSpeedDataLogging().

int MomentumWheel::m_exitConditionData [private]

Definition at line 282 of file MomentumWheel.h.
Referenced by DataWheelSpeed(), Initialize(), and StopWheelSpeedDataLogging().

string MomentumWheel::m_LogData [private]

Member string in MomentumWheel.h, ON or OFF for logging.

Definition at line 274 of file MomentumWheel.h.
Referenced by Initialize().

PhysicalMomentumWheel MomentumWheel::m_PhysicalMomentumWheel [private]

Member PhysicalMomentumWheel object.

Definition at line 267 of file MomentumWheel.h.
Referenced by GetAmps(), GetAxialInertia(), GetVolts(), GetWheelFD(), GetWheelName(), GetWheelSpeed(), GetWheelTorque(), Initialize(), SetAxialInertia(), SetBiasSpeed(), SetChainNumber(), SetPort(), SetSystemTorque(), SetWheelAddress(), SetWheelName(), SetWheelSpeed(), SetWheelSpeedCoefficients(), SetWheelTorque(), SetWheelTorqueLimits(), StartPID(), StartSpeedQuery(), Stop(), StopPID(), StopSpeedQuery(), and TorqueCommand().

Vector MomentumWheel::m_WheelAxis [private]

3x1 vector corresponding to the axis normal to the wheel

Definition at line 264 of file MomentumWheel.h.
Referenced by Initialize(), and SetWheelAxis().

int MomentumWheel::m_WheelCount = 0 [static, private]

Static member integer representing the total number of wheels instantiated.

Definition at line 15 of file MomentumWheel.cpp.

WheelHistory* MomentumWheel::m_WheelHistory [private]

Member WheelHistory in MomentumWheel.h, saving time and wheel speed for for initialized wheel.

Definition at line 271 of file MomentumWheel.h.
Referenced by Initialize().

char* Device::name [protected, inherited]

Definition at line 56 of file Device.h.

map<string, StringValue> MomentumWheel::s_mapStringValues

Map to associate the strings with the enum values.

Definition at line 253 of file MomentumWheel.h.
Referenced by Deinitialize(), and Initialize().

The documentation for this class was generated from the following files:

Generated on Wed Sep 5 12:54:40 2007 for DSACSS Operational Code by

1.3.9.1


Public Types
enum	StringValue { ON, OFF }
	Value-Definitions of the different string values. More...
Public Member Functions
	MomentumWheel ()
	Default Constructor.
	MomentumWheel (TiXmlHandle handle, string wheel)
	Constructor that accepts a cfgBody variable sent from the cfgPars function.
virtual	~MomentumWheel ()
	Deconstructor.
int	Initialize (TiXmlHandle handle, string wheel)
	Initialize the wheels.
int	Deinitialize ()
	Deinitialize the wheels.
int	Stop ()
	Stop the wheel Calls PhysicalMomentumWheel::Stop( ).
int	TorqueCommand (double _power)
	Enable torque mode for the wheel motor. Calls PhysicalMomentumWheel::TorqueCommand( int _power ).
void	StartSpeedQuery ()
	Start the speed reading routine of the motor in a separate thread. Calls PhysicalMomentumWheel::StartSpeedQuery( ).
void	StopSpeedQuery ()
	Stop the speed reading routine of the motor. This function does not need to be called a t the end of the program. Calls PhysicalMomentumWheel::StopSpeedQuery( ) The thread will be closed automatically when the program ends.
void	SetWheelTorque (double wheelTorque)
	Set the torque applied to the wheel Calls PhysicalMomentumWheel::CommandWheelTorque( double _wheelTorque ).
void	SetWheelSpeed (double wheelOmega)
	Set the desired wheel speed. The wheel controller is running in a thread and this function updates the desired wheel rate value passed to the wheel controller. Calls PhysicalMomentumWheel::CommandWheelSpeed( double wheelOmega ).
void	StartPID ()
	Start the PID Control Thread Calls PhysicalMomentumWheel::StartPID( ).
void	StopPID ()
	End the PID Control Thread (will be called by the deconstructor) Calls PhysicalMomentumWheel::StopPID( ).
void	SetSystemTorque (double wheelTorque)
	Set the old-style torque applied to the wheel Calls PhysicalMomentumWheel::CommandSystemTorque( double wheelTorque ).
void	SetWheelSpeedCoefficients (Vector _Coefficients1, Vector _Coefficients2, Vector _Coefficients3, Vector _Coefficients4)
	Set the wheel speed coefficients. The wheel speed coefficients are determined from the characterization of each wheel motor. Calls PhysicalMomentumWheel::SetWheelSpeedCoefficients( Vector _Coefficients1, Vector _Coefficients2, Vector _Coefficients3, Vector _Coefficients4 ).
void	SetWheelAddress (int wheeladdress)
	Set the address of the wheel on its daisy chain Calls PhysicalMomentumWheel::SetWheelAddress( int wheelAddress ).
void	SetWheelAxis (const Vector &newWheelAxis)
	Set the axis of rotation for the wheel.
void	SetChainNumber (int daisyChain)
	Set communications port Calls PhysicalMomentumWheel::SetDaisyChainNumber( int daisyChain ).
void	SetPort (string Port)
	Set communications port Calls PhysicalMomentumWheel::SetDaisyChainPort( string DaisyChainPort );.
void	SetBiasSpeed (double BiasSpeed)
	Set the bias wheel wheel speed for a Momentum wheel Calls PhysicalMomentumWheel::SetBiasSpeed( double BiasSpeed ).
void	SetAxialInertia (double axialInertia)
	Set the axial inertia for a Momentum wheel Calls PhysicalMomentumWheel::SetAxialInertia( double axialInertia ).
void	SetWheelTorqueLimits (double torque_limit_low, double torque_limit_high)
	Set the momentum wheel torque limits Calls PhysicalMomentumWheel::SetWheelTorqueLimits( const double& minWheelTorque, const double& maxWheelTorque ).
void	SetWheelName (string _wheelName)
	Set the momentum wheel string name Calls PhysicalMomentumWheel::SetWheelName( string _wheelName ).
void	GetWheelSpeed (double &Speed, double &measTime)
	Get the current angular speed of the wheel, returns the wheel speed in rad/sec. Calls PhysicalMomentumWheel::GetWheelSpeed( double& Speed, double& measTime ).
double	GetWheelTorque ()
	Get the current torque output to the wheel, returns the value in N-m. This is not necessarily the torque being applied to the system. This value is determined from the smart motors. Calls PhysicalMomentumWheel::QueryWheelTorque( ).
Vector	GetWheelAxis () const
	Get the axis of the wheel, returns a 3x1 vector.
int	GetWheelCount ()
	Returns an integer representing the total number of momentum wheels instantiated.
double	GetAxialInertia ()
	Returns a double representing the axial inertia of the wheel in kg-m^2 Calls PhysicalMomentumWheel::GetAxialInertia( ).
string	GetWheelName ()
	Returns a string representing the wheel name Calls PhysicalMomentumWheel::GetWheelName( ).
int	GetWheelFD ()
	Get the file desciptor of the wheel. Calls PhysicalMomentumWheel::GetWheelFD( ).
double	GetAmps ()
	Get the current used by the motor. Calls PhysicalMomentumWheel::GetAmps( ).
double	GetVolts ()
	Get the voltage at the motor. Calls PhysicalMomentumWheel::GetVolts( ).
void	StartWheelSpeedDataLogging ()
	Start the wheel speed data collection routine Each wheel's speed query needs to be started individually. The performance occurs when the spart calls for each wheel are spread evenly over sec (value subject to change).
void	StopWheelSpeedDataLogging ()
	Stop the speed reading routine of the motor. This function does not need to be called a t the end of the program. The thread will be closed automatically when the program ends.
virtual int	Initialize ()
	Initializes the device for use.
bool	IsActive ()
	Returns the current state of m_bActiveState.
Vector	GetLocation () const
	Returns the physical location of the device with respect to whorl body coordinates.
void	SetLocation (const Vector &newDeviceLocation)
	Specify the physical location of the device with respect to whorl body coordinates.
Public Attributes
map< string, StringValue >	s_mapStringValues
	Map to associate the strings with the enum values.
Static Public Attributes
const bool	c_bNotActive = false
	a constant bool that is equal to false.
const bool	c_bActive = true
	a constant bool that is equal to true.
Protected Attributes
char *	name
Private Attributes
Vector	m_WheelAxis
	3x1 vector corresponding to the axis normal to the wheel
PhysicalMomentumWheel	m_PhysicalMomentumWheel
	Member PhysicalMomentumWheel object.
WheelHistory *	m_WheelHistory
	Member WheelHistory in MomentumWheel.h, saving time and wheel speed for for initialized wheel.
string	m_LogData
	Member string in MomentumWheel.h, ON or OFF for logging.
pthread_t	m_DataSpeedThreadID
	Member pthread for Wheel Speed Data Logging.
pthread_mutex_t	m_DataMutex
	Memeber mutex lock variable for Data.
int	m_exitConditionData
Static Private Attributes
int	m_WheelCount = 0
	Static member integer representing the total number of wheels instantiated.
Friends
void *	DataWheelSpeed (void *arg)
	Friend function split in a new thread that queries the wheel speed repeatedly. It begins running in the StartSpeedQuery function. Velocity by Position: This function determines the velocity of the wheel by differentiating the position reported by the wheel. The function asks the wheel for its position and then gets the time of day at which the measurement is reported. The code then delays for a small time and asks for the position and gets the time again. The velocity is then calculated by dividing the change in position byt he change in time. The return value is the velocity in rev/sec.