ThrusterServo.h

Go to the documentation of this file.

#ifndef THRUSTERSERVO_H_
#define THRUSTERSERVO_H_

#include "EZServoServo.h"
#include "io/UartStream.h"

class UniversalDataWriter;

class ThrusterServo : public EZServoServo
{
public:

    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    ThrusterServo( const ThrusterServo& old ); // disallow copy constructor

    ThrusterServo( const Module* module );
    virtual ~ThrusterServo();

    virtual void run();

    virtual RunState start();

    virtual RunState starting();

    virtual RunState pause();

    virtual RunState paused();

    virtual RunState resume();

    virtual RunState resuming();

    virtual RunState runnable();

    virtual RunState resetting()
    {
        return stop();
    }

    virtual RunState stop();

    virtual RunState stopping();

    virtual RunState stopped();

    // Shuts down motor controllers
    void uninitialize( void );

    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

private:

    // Instance of load controller
    LoadControl loadControl_;

    // The outputs themselves
    UniversalDataWriter* propOmegaWriter_;

    // The inputs
    DataReader* propOmegaReader_;

    // Configuration readers
    ConfigReader* encoderTksCfgReader_;           // encoder tick/second multiplier
    ConfigReader* tksPerRevCfgReader_;            // encoder ticks/revolution as seen by the controller from HALL A&B
    ConfigReader* deviationCfgReader_;            // Number of encoder ticks deviation allowed between expected and actual
    ConfigReader* allowableBadVelocityCfgReader_; // Allowable Number of bad velocity reads


    // returns true if data is requested from one of the readers
    bool isDataRequested();

    // returns true if a new position has been commanded
    bool isNeeded();

    typedef enum
    {
        INITIALIZE,   // Program basic initialization into EEPROM
        WAIT,         // Wait for EEPROM write to finish
        HOME,         // Do any centering/homing, etc if needed
        EXECUTE,      // Execute any stored programs
        VERIFY,       // Confirm operable and no errors
        DONE,         // Ready to run
    } StartupSequence;

    StartupSequence startup_;

    // indicates whether things are ok to run
    bool ok_;

    // Debugging outputs
    bool debug_;

    // Stores the commanded propeller rotational velocity
    float cmdPropOmega_;

    // Stores the commanded motor velocity
    float motorPosCmd_;

    // Stores the commanded velocity
    float controllerVelocityCmd_;

    //------------------- vehicle parameters --------------------------*/
    // Thruster
    float encoderTksCfg_;         // encoder tick/second multiplier
    float tksPerRevCfg_;          // encoder ticks/revolution as seen by the controller from HALL A&B
    float deviationCfg_;          // Number of encoder ticks deviation allowed between expected and actual
    int allowableBadVelocityCfg_; // Allowable Number of bad velocity reads

    //-----------------------------------------------------------------*/

    // Number of bad velocity reads
    int badVelocityCount_;

    // read vehicle config variables
    bool readConfig( void );

    // the given motor controller is ready to receive commands
    bool thrustRdy_;

    // Current speed is within the bounds of what was commanded
    bool thrustSpdGood_;

    // Initialization routines. Returns true if initialization completed without error
    bool initThruster( void );

    // Velocity good after the command has been issues and the thruster is run this long without fault
    Timespan velocityTimeout_;

};

#endif /*THRUSTERSERVO_H_*/