PhysicalControlMomentGyro Class Reference

#include <PhysicalControlMomentGyro.h>

Inheritance diagram for PhysicalControlMomentGyro:

[legend]Collaboration diagram for PhysicalControlMomentGyro:

[legend]List of all members.

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Detailed Description

Class that provides interface to actual hardware CMGs

Definition at line 36 of file PhysicalControlMomentGyro.h.

Public Member Functions
	PhysicalControlMomentGyro ()
virtual	~PhysicalControlMomentGyro ()
void	CommandWheelSpeed (double wheelOmega)
void	CommandWheelTorque (double wheelTorque)
void	CommandAngle (double wheelAngle)
void	CommandGimbalRate (double gimbalRate)
int	Stop ()
int	Initialize ()
int	Deinitialize ()
void	SetWheelSpeedLimits (double minWheelSpeed, double maxWheelSpeed)
void	SetWheelTorqueLimits (double minWheelTorque, double maxWheelTorque)
void	SetMaxTorqueStep (double maxTorqueStep)
void	SetDaisyChainNumber (int DaisyChainNumber)
void	SetDaisyChainPort (string Port)
double	QueryWheelSpeed ()
double	QueryWheelTorque ()
double	QueryAngle ()
void	GetWheelSpeedLimits (double &minWheelSpeed, double &maxWheelSpeed)
void	GetWheelTorqueLimits (double &minWheelTorque, double &maxWheelTorque)
void	GetMaxTorqueStep (double &maxTorqueStep)
virtual int	GetWheelCount ()
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.
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 Member Functions
void	GoCommand (int Address)
void	FindLimits ()
Private Attributes
double	m_CurrentWheelSpeed
double	m_CurrentWheelTorque
double	m_CurrentAngle
double	m_CurrentLAVelocity
double	m_CurrentLAAcceleration
int	m_LAMax
int	m_LAMin
int	m_LAMid
int	m_WheelAddress
int	m_LAAddress
string	m_DaisyChainPort
int	m_DaisyChainNumber
double	m_MaxWheelSpeed
double	m_MinWheelSpeed
double	m_MaxWheelTorque
double	m_MinWheelTorque
double	m_MaxTorqueStep
Static Private Attributes
int	m_fd = -1

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Constructor & Destructor Documentation

PhysicalControlMomentGyro::PhysicalControlMomentGyro (   )

Default Constructor Definition at line 22 of file PhysicalControlMomentGyro.cpp.

PhysicalControlMomentGyro::~PhysicalControlMomentGyro (   )  [virtual]

Default Deconstructor Definition at line 26 of file PhysicalControlMomentGyro.cpp. References Stop().

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Member Function Documentation

void PhysicalControlMomentGyro::CommandAngle (  double  wheelAngle  )

Set the angle of the wheel axis with respect to its center position Parameters: wheelAngle  Desired wheel axis angle in radians Definition at line 73 of file PhysicalControlMomentGyro.cpp. References GoCommand(), m_CurrentAngle, m_fd, m_LAAddress, m_LAMid, and say(). Referenced by ControlMomentGyro::SetAngle().

void PhysicalControlMomentGyro::CommandGimbalRate (  double  gimbalRate  )

Set the gimbal angle rate of the CMG Parameters: gimbalRate  Desired gimbal angel rate of the CMG in rad/sec Definition at line 100 of file PhysicalControlMomentGyro.cpp. References GoCommand(), m_fd, m_LAAddress, and say(). Referenced by ControlMomentGyro::SetGimbalRate().

void PhysicalControlMomentGyro::CommandWheelSpeed (  double  wheelOmega  )

Set angular velocity of the CMG wheel Parameters: wheelOmega  Desired angular velocity of the CMG wheel in rad/sec Definition at line 37 of file PhysicalControlMomentGyro.cpp. References GoCommand(), m_fd, m_WheelAddress, and say(). Referenced by ControlMomentGyro::SetWheelSpeed(), and Stop().

void PhysicalControlMomentGyro::CommandWheelTorque (  double  wheelTorque  )

Set torque output to the CMG wheel Parameters: wheelTorque  Desired output torque in N-m Definition at line 53 of file PhysicalControlMomentGyro.cpp. References m_CurrentWheelTorque, m_fd, m_WheelAddress, and say(). Referenced by ControlMomentGyro::SetWheelTorque(), and Stop().

int PhysicalControlMomentGyro::Deinitialize (   )  [virtual]

Deinitialize all components of the CMG Reimplemented from Device. Definition at line 252 of file PhysicalControlMomentGyro.cpp. References m_fd. Referenced by ControlMomentGyro::Deinitialize().

void PhysicalControlMomentGyro::FindLimits (   )  [private]

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 Definition at line 444 of file PhysicalControlMomentGyro.cpp. References GoCommand(), hear(), m_fd, m_LAAddress, m_LAMax, m_LAMid, m_LAMin, and say(). Referenced by Initialize().

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.

void PhysicalControlMomentGyro::GetMaxTorqueStep (  double &  maxTorqueStep  )

Sets maxTorqueStep to the maximun allowable chang in torque values Definition at line 428 of file PhysicalControlMomentGyro.cpp.

virtual int Actuator::GetWheelCount (   )  [inline, virtual, inherited]

Reimplemented in MomentumWheel. Definition at line 27 of file Actuator.h.

void PhysicalControlMomentGyro::GetWheelSpeedLimits (  double &  minWheelSpeed, double &  maxWheelSpeed )

Get the angular velocity limts of the CMG wheel Parameters: minWheelSpeed  Set to the minimum speed limit of the CMG wheel maxWheelSpeed  Set to the maximum speed limit of the CMG wheel Definition at line 414 of file PhysicalControlMomentGyro.cpp.

void PhysicalControlMomentGyro::GetWheelTorqueLimits (  double &  minWheelTorque, double &  maxWheelTorque )

Get the torque output limts to the CMG wheel Parameters: minWheelTorque  Set to the minimum torque output to the CMG wheel maxWheelTorque  Set to the maximum torque output to the CMG wheel Definition at line 421 of file PhysicalControlMomentGyro.cpp.

void PhysicalControlMomentGyro::GoCommand (  int  Address  )  [private]

Private member function to send a Go command to the smart motor Parameters: Address  Is either the CMG wheel address of the lineasr actuator address Definition at line 434 of file PhysicalControlMomentGyro.cpp. References m_fd, and say(). Referenced by CommandAngle(), CommandGimbalRate(), CommandWheelSpeed(), FindLimits(), and Initialize().

int PhysicalControlMomentGyro::Initialize (   )  [virtual]

Initialize all components of the CMG Reimplemented from Actuator. Definition at line 139 of file PhysicalControlMomentGyro.cpp. References FindLimits(), GoCommand(), init_serial(), m_DaisyChainPort, m_fd, m_LAAddress, m_WheelAddress, and say(). Referenced by ControlMomentGyro::Initialize().

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().

double PhysicalControlMomentGyro::QueryAngle (   )

Get the current angle of the CMG wheel axis with respect ot its center position, returns a double in radians Definition at line 389 of file PhysicalControlMomentGyro.cpp. References hear(), m_CurrentAngle, m_fd, m_LAAddress, and say(). Referenced by ControlMomentGyro::GetAngle().

double PhysicalControlMomentGyro::QueryWheelSpeed (   )

Get the angular velocity of the CMG wheel, returns a double in rad/sec Definition at line 298 of file PhysicalControlMomentGyro.cpp. References hear(), m_CurrentWheelSpeed, m_fd, m_WheelAddress, and say(). Referenced by ControlMomentGyro::GetWheelSpeed().

double PhysicalControlMomentGyro::QueryWheelTorque (   )

Get the current torque output to the CMG wheel, returns a double in N-m Definition at line 363 of file PhysicalControlMomentGyro.cpp. References hear(), m_CurrentWheelTorque, m_fd, m_WheelAddress, and say(). Referenced by ControlMomentGyro::GetWheelTorque().

void PhysicalControlMomentGyro::SetDaisyChainNumber (  int  DaisyChainNumber  )

Set which daisy chain the CMG is located on Definition at line 284 of file PhysicalControlMomentGyro.cpp. References m_DaisyChainNumber. Referenced by ControlMomentGyro::ControlMomentGyro().

void PhysicalControlMomentGyro::SetDaisyChainPort (  string  Port  )

Set the port to which the CMG is plugged into Parameters: Port  A string contaaining the name of the proper port, S0 for serial 1, USB1 for usb port 2, etc Definition at line 289 of file PhysicalControlMomentGyro.cpp. References m_DaisyChainPort. Referenced by ControlMomentGyro::ControlMomentGyro(), ControlMomentGyro::Initialize(), and ControlMomentGyro::SetPort().

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 PhysicalControlMomentGyro::SetMaxTorqueStep (  double  maxTorqueStep  )

Set the maximum change in torque outputs Parameters: maxTorqueStep  The maximum allowable change between two consecutive torque outputs in N-m Definition at line 279 of file PhysicalControlMomentGyro.cpp. References m_MaxTorqueStep.

void PhysicalControlMomentGyro::SetWheelSpeedLimits (  double  minWheelSpeed, double  maxWheelSpeed )

Set the maximum and minimum angular speeds of the CMG wheel Parameters: minWheelSpeed  Minimum allowable CMG wheel speed maxWheelSpeed  Maximum allowable CMG wheel speed Definition at line 265 of file PhysicalControlMomentGyro.cpp. References m_MaxWheelSpeed, and m_MinWheelSpeed.

void PhysicalControlMomentGyro::SetWheelTorqueLimits (  double  minWheelTorque, double  maxWheelTorque )

Set the maximum and minimum torque outputs to the CMG wheel Parameters: minWheelTorque  Minimum allowable CMG torque output maxWheelTorque  Maximum allowable CMG torque output Definition at line 272 of file PhysicalControlMomentGyro.cpp. References m_MaxWheelTorque, and m_MinWheelTorque. Referenced by ControlMomentGyro::ControlMomentGyro().

int PhysicalControlMomentGyro::Stop (   )  [virtual]

Stop the CMG wheel Implements Actuator. Definition at line 131 of file PhysicalControlMomentGyro.cpp. References CommandWheelSpeed(), and CommandWheelTorque(). Referenced by ControlMomentGyro::Stop(), and ~PhysicalControlMomentGyro().

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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().

double PhysicalControlMomentGyro::m_CurrentAngle [private]

Double for the current angle of the wheel axis with respect to its center position in radians Definition at line 142 of file PhysicalControlMomentGyro.h. Referenced by CommandAngle(), and QueryAngle().

double PhysicalControlMomentGyro::m_CurrentLAAcceleration [private]

Double holding the acceleration of the LA Definition at line 148 of file PhysicalControlMomentGyro.h.

double PhysicalControlMomentGyro::m_CurrentLAVelocity [private]

Double holding the current LA velocity Definition at line 145 of file PhysicalControlMomentGyro.h.

double PhysicalControlMomentGyro::m_CurrentWheelSpeed [private]

Double for the current wheel speed in rad/sec Definition at line 136 of file PhysicalControlMomentGyro.h. Referenced by QueryWheelSpeed().

double PhysicalControlMomentGyro::m_CurrentWheelTorque [private]

double for the current wheel torque output in N-m Definition at line 139 of file PhysicalControlMomentGyro.h. Referenced by CommandWheelTorque(), and QueryWheelTorque().

int PhysicalControlMomentGyro::m_DaisyChainNumber [private]

THe number of the daisy chain that the CMG is on Definition at line 172 of file PhysicalControlMomentGyro.h. Referenced by SetDaisyChainNumber().

string PhysicalControlMomentGyro::m_DaisyChainPort [private]

String holding the port to which the CMG is connected Definition at line 169 of file PhysicalControlMomentGyro.h. Referenced by Initialize(), and SetDaisyChainPort().

int PhysicalControlMomentGyro::m_fd = -1 [static, private]

Static integer representing the file descriptor for talking to the CMG Definition at line 16 of file PhysicalControlMomentGyro.cpp. Referenced by CommandAngle(), CommandGimbalRate(), CommandWheelSpeed(), CommandWheelTorque(), Deinitialize(), FindLimits(), GoCommand(), Initialize(), QueryAngle(), QueryWheelSpeed(), and QueryWheelTorque().

int PhysicalControlMomentGyro::m_LAAddress [private]

THe integer address of the LA Definition at line 163 of file PhysicalControlMomentGyro.h. Referenced by CommandAngle(), CommandGimbalRate(), FindLimits(), Initialize(), and QueryAngle().

int PhysicalControlMomentGyro::m_LAMax [private]

the maximum position count of the LA Definition at line 151 of file PhysicalControlMomentGyro.h. Referenced by FindLimits().

int PhysicalControlMomentGyro::m_LAMid [private]

The position count at mid-travel for the LA Definition at line 157 of file PhysicalControlMomentGyro.h. Referenced by CommandAngle(), and FindLimits().

int PhysicalControlMomentGyro::m_LAMin [private]

the minimum position count of the LA Definition at line 154 of file PhysicalControlMomentGyro.h. Referenced by FindLimits().

double PhysicalControlMomentGyro::m_MaxTorqueStep [private]

MAximum allowable change in consecutive torque values Definition at line 187 of file PhysicalControlMomentGyro.h. Referenced by SetMaxTorqueStep().

double PhysicalControlMomentGyro::m_MaxWheelSpeed [private]

MAximun allowable wheel speed in rad/sec Definition at line 175 of file PhysicalControlMomentGyro.h. Referenced by SetWheelSpeedLimits().

double PhysicalControlMomentGyro::m_MaxWheelTorque [private]

Maximum torque output to the wheel in N-m Definition at line 181 of file PhysicalControlMomentGyro.h. Referenced by SetWheelTorqueLimits().

double PhysicalControlMomentGyro::m_MinWheelSpeed [private]

Minimum allowable wheel speed in rad/sec Definition at line 178 of file PhysicalControlMomentGyro.h. Referenced by SetWheelSpeedLimits().

double PhysicalControlMomentGyro::m_MinWheelTorque [private]

Minimum torque output to the wheel in N-m Definition at line 184 of file PhysicalControlMomentGyro.h. Referenced by SetWheelTorqueLimits().

int PhysicalControlMomentGyro::m_WheelAddress [private]

THe integer address of the CMG wheel Definition at line 160 of file PhysicalControlMomentGyro.h. Referenced by CommandWheelSpeed(), CommandWheelTorque(), Initialize(), QueryWheelSpeed(), and QueryWheelTorque().

char* Device::name [protected, inherited]

Definition at line 56 of file Device.h.

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

• PhysicalControlMomentGyro.h
• PhysicalControlMomentGyro.cpp

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