RudderServo Class Reference

This is the device driver for the EZServo that controls the vehicle's rudder. More...

#include <RudderServo.h>

Inheritance diagram for RudderServo:

Collaboration diagram for RudderServo:

Public Member Functions
	RudderServo (const Module *module)
virtual	~RudderServo ()
virtual void	run ()
	The actual "payload" of the component. More...
virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...
virtual RunState	starting ()
	Might follow a STOP...START sequence. More...
virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...
virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...
virtual RunState	resume ()
	Resume from PAUSE. More...
virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...
virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...
virtual RunState	resetting ()
	Might occur in case of Error. More...
virtual RunState	stop ()
	Initial state – can be later followed by START. More...
virtual RunState	stopping ()
	Might follow a STOP request. More...
virtual RunState	stopped ()
	Initial state – can be later followed by START. More...
void	uninitialize (void)
	Provide a space for uninitialization. More...
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...
Public Member Functions inherited from EZServoServo
	EZServoServo (const Str &name, const ConfigURI &uartCfg, const ConfigURI &baudCfg, const Module *module, EZServoServoType motorServoType, int divisor=1, int modulo=0)
virtual	~EZServoServo ()
Public Member Functions inherited from SyncComponent
CycleOrder	getCycleOrder (void)
	Getter function for controlThreadOrderPreference. More...
void	setRepeating (bool repeating)
int	getDivisor () const
int	getModulo () const
bool	isRepeater ()
bool	isRepeating ()
Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...
void	registerReader (DataReader *reader)
void	unregisterReader (DataReader *reader)
void	registerWriter (DataWriter *writer)
void	unregisterWriter (DataWriter *writer)
void	disableMetering (void)
FlexArray< DataReader * > &	getReaderList (void)
FlexArray< DataWriter * > &	getWriterList (void)
const Module *	getModule ()
virtual void	initialize ()
	Provide a space for initialization before being run. More...
virtual void	configure ()
	Read (or re-read!) configuration settings. More...
virtual void	execute (void)
bool	isActive () const
	Indicates if the component is active. More...
const CodedStr &	getName (void) const
	Returns the name. More...
const Timestamp &	getTimeOfLastRun (void) const
ComponentState	getState (void)
	Return the component's current state. More...
void	setState (ComponentState state)
RunState	getRunState (void)
	Return the component's run state. More...
bool	isUsingRunState ()
	Return true if using runState. More...
void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...
void	requestStart ()
	Tell the component to start runnning. More...
void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...
void	requestResume ()
	Tell the component resume from pause. More...
void	requestStop ()
	Tell the component to stop runnning. More...
virtual RunState	satisfied ()
	Possible return value of a Behavior. More...
virtual RunState	pausing ()
	Might follow a PAUSE request. More...
void	setCriticalFailureReported (bool boolVal)
void	setRecoveringFromCritical (bool boolVal)
void	setFailureReported (bool boolVal)
bool	isFailureUninitialized ()
void	setFailureUninitialized (bool boolVal)
void	setRetryTimeout (const Timespan &timeout)
virtual bool	isCompleted (void)
	Query if this component is completed. More...
void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...
const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...
ComponentType	getComponentType ()
	Getter function for ComponentType. More...
virtual bool	isFailed (void) const
virtual FailureMode::FailType	getFailureType (void) const
virtual bool	getCriticalFailureReported (void) const
virtual bool	getFailureReported (void) const
virtual Timespan	getRetryTimeout (void) const
virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)
virtual int	getFailCount (void) const
virtual bool	isFailureMissionCritical ()
virtual int	getAllowableFailures (void) const
virtual void	setAllowableFailures (int fails)
Logger &	getLogger (void)
virtual int	incrementFailCount (void)
virtual void	resetFailCount (void)
virtual int	getSkippedRunsSinceFail (void) const
virtual int	incrementSkippedRunsSinceFail (void)
virtual void	logVoltage (float voltage, float averageVoltage)
virtual void	logCurrent (float current, float averageCurrent)
const Timestamp &	getWriteTimestamp (void)
void	setWriteTimestamp (const Timestamp &writeTimestamp)
BlobReader *	newBlobReader (const BlobURI &blobURI)
BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)
BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
ConfigReader *	newConfigReader (const ConfigURI &configURI)
DataReader *	newDataReader (const DataURI &dataURI)
DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)
DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)
UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)
UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Private Types
enum	StartupSequence {   INITIALIZE, WAIT, HOME, EXECUTE,   VERIFY, DONE }

Private Member Functions
	RudderServo (const RudderServo &old)
bool	isDataRequested ()
bool	isNeeded ()
bool	readConfig (void)
bool	initRudder (void)

Private Attributes
LoadControl	loadControl_
UniversalDataWriter *	rudderAngleWriter_
DataReader *	rudderAngleReader_
StartupSequence	startup_
bool	ok_
float	actualRudderAngle_
float	cmdRudderAngle_
bool	debug_
float	ruddDeadbandCfg_
ConfigReader *	rudderDeadbandCfgReader_
bool	rudderRdy_

Additional Inherited Members
Public Types inherited from EZServoServo
enum	EZServoServoType {   BUOYANCY, ELEVATOR, MASS_SHIFTER, RUDDER,   THRUSTER, NUM_EZSERVO_SERVOS }
Public Types inherited from Component
enum	ComponentState {   BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED,   BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...
enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...
enum	RunState {   NO_RUN_STATE = 0, START, STARTING, RUNNABLE,   SATISFIED, PAUSE, PAUSING, PAUSED,   RESUME, RESUMING, RESETTING, STOP,   STOPPING, STOPPED }
Static Public Attributes inherited from SyncComponent
static const int	CYCLE_INCREMENT
static const int	CYCLE_REPEAT_OFFSET
static const CycleOrder	CYCLE_STARTER
static const CycleOrder	CYCLE_SIMULATOR
static const CycleOrder	CYCLE_SENSOR
static const CycleOrder	CYCLE_DERIVATION
static const CycleOrder	CYCLE_ESTIMATION
static const CycleOrder	CYCLE_NAVIGATION
static const CycleOrder	CYCLE_MISSION_MANAGER
static const CycleOrder	CYCLE_MISSION
static const CycleOrder	CYCLE_CONTROL
static const CycleOrder	CYCLE_SERVO
static const CycleOrder	CYCLE_TEST
static const CycleOrder	CYCLE_REPORTER
static const CycleOrder	CYCLE_LOGGER
Protected Types inherited from EZServoServo
enum	EZServoError {   NO_ERROR = 0x0, INIT_ERROR = 0x1, BAD_COMMAND_ERROR = 0x2, BAD_OPERAND_ERROR = 0x3,   COMM_ERROR = 0x5, NOT_INIT_ERROR = 0x7, OVERLOAD_ERROR = 0x9, NOT_ALLOWED_ERROR = 0xB,   COMMAND_OVERFLOW_ERROR = 0xF }
Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }
Protected Member Functions inherited from EZServoServo
void	initializeStart (void)
void	uninitializeStart (void)
void	uninitializeEnd ()
float	getPosition ()
float	isCommunicating (char *cmd)
float	getVelocityCmd ()
bool	checkPosition (float position)
virtual bool	checkResponse (bool checkForReady)
float	limit (float value)
Protected Member Functions inherited from SyncServoComponent
	SyncServoComponent (const Str &name, const Module *module, int divisor=1, int modulo=0)
Protected Member Functions inherited from SyncComponent
void	setRepeater (bool repeater)
Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...
virtual void	setDurationOfLastRun (const Timespan &span)
virtual void	setTimeOfRun (const Timestamp &time)
virtual void	setTimeOfLastRun (const Timestamp &time)
virtual void	setDt (const Timespan &dt)
virtual bool	setEnabled (bool enabled=true)
void	setRunState (const RunState runState)
const Timespan	getPauseTime () const
virtual void	setFailureMissionCritical (bool failureMissionCritical)
bool	simulateHardware ()
Protected Attributes inherited from EZServoServo
UartStream	uart_
int	controlAddress_
EZServoServoType	motorServoType_
EZServoError	ezServoError_
Timespan	eepromWriteTimeout_
Timestamp	startTime_
char	uartResponse_ [30]
float	powerOnTimeoutCfg_
float	powerOffTimeoutCfg_
float	currLimitCfg_
float	limitHiCfg_
float	limitLoCfg_
float	pidWCfg_
float	pidXCfg_
float	pidYCfg_
float	overloadTimeoutCfg_
float	accelCfg_
float	velocityCfg_
float	offsetAngleCfg_
float	countsPerDegCfg_
float	mtrCenterCfg_
float	deviationAngleCfg_
ConfigReader *	powerOnTimeoutCfgReader_
	Config settings shared by all Servos: More...
ConfigReader *	powerOffTimeoutCfgReader_
ConfigReader *	currLimitCfgReader_
ConfigReader *	limitHiCfgReader_
ConfigReader *	limitLoCfgReader_
ConfigReader *	pidWCfgReader_
ConfigReader *	pidXCfgReader_
ConfigReader *	pidYCfgReader_
ConfigReader *	overloadTimeoutCfgReader_
ConfigReader *	accelCfgReader_
ConfigReader *	velocityCfgReader_
ConfigReader *	offsetAngleCfgReader_
ConfigReader *	countsPerDegCfgReader_
ConfigReader *	mtrCenterCfgReader_
ConfigReader *	deviationAngleCfgReader_
Protected Attributes inherited from Component
Logger	logger_
Syslog::Severity	debugLevel_
ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...
Timespan	desiredPeriod_
CodedStr &	name_
	Store the component's name (used for logging purposes) More...
Timestamp	timeOfRun_
Timestamp	timeOfLastRun_
Timespan	durationOfLastRun_
Timespan	dt_
Timespan	retryTimeout_
bool	enabled_
bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...
bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...
bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...
bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...
int	failCount_
	Number of failures logged by PCaller. More...
bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...
int	allowableFailures_
	Number of failures allowed to occur. More...
int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...
FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...
Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...
Timestamp	writeTimestamp_
	Time of last write. More...
FlexArray< DataReader * >	readers_
FlexArray< DataWriter * >	writers_
const Module *	module_
Timespan	pauseTime_
bool	meteringEnabled_
	If true, metering is enabled. More...
DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...
DataWriter *	voltageWriter_
DataWriter *	avgVoltageWriter_
DataWriter *	currentWriter_
DataWriter *	avgCurrentWriter_
bool	persistentPause_
	True if data is persistent while component is paused. More...
Static Protected Attributes inherited from EZServoServo
static const int	RECEIVE_READY = 0x2

Detailed Description

This is the device driver for the EZServo that controls the vehicle's rudder.

Since it shares the same RS-485 bus with the other EZServos, it is a child class of EZServoServo, which has a static instance of the StdUart class to interact with the bus.

RudderServo.h should only be included by RudderServo.cpp Other classes should include RudderServoIF.h

Constructor & Destructor Documentation

RudderServo::RudderServo

(

const Module *

module

)

References EZServoServo::countsPerDegCfgReader_, EZServoServo::currLimitCfgReader_, EZServoServo::deviationAngleCfgReader_, EZServoServo::limitHiCfgReader_, EZServoServo::limitLoCfgReader_, EZServoServo::mtrCenterCfgReader_, Component::newConfigReader(), Component::newDataReader(), Component::newUniversalWriter(), EZServoServo::offsetAngleCfgReader_, Component::persistentPause_, EZServoServo::pidWCfgReader_, EZServoServo::pidXCfgReader_, EZServoServo::pidYCfgReader_, UniversalURI::PLATFORM_RUDDER_ANGLE, EZServoServo::powerOnTimeoutCfgReader_, Units::RADIAN, rudderAngleReader_, rudderAngleWriter_, rudderDeadbandCfgReader_, DataReader::setImplementor(), Component::setRunState(), and Component::START.

RudderServo::~RudderServo ( )

virtual

RudderServo::RudderServo ( const RudderServo &  old )

private

Member Function Documentation

ConfigURI RudderServo::getConfigURI ( ConfigOption  configOption ) const

virtual

Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc.

Reimplemented from Component.

References Component::CONFIG_SIMULATE_HARDWARE, and ConfigURI::NO_CONFIG_URI.

bool RudderServo::initRudder ( void  )

private

References EZServoServo::controlAddress_, EZServoServo::currLimitCfg_, Syslog::ERROR, UartStream::errorString(), UartStream::flushCRLF(), UartStream::hasError(), Component::logger_, EZServoServo::pidWCfg_, EZServoServo::pidXCfg_, EZServoServo::pidYCfg_, UartStream::readLine(), Component::simulateHardware(), Logger::syslog(), EZServoServo::uart_, and EZServoServo::uartResponse_.

Referenced by starting().

bool RudderServo::isDataRequested ( void  )

private

References DataWriter::isDataRequested(), and rudderAngleWriter_.

bool RudderServo::isNeeded ( )

private

References actualRudderAngle_, cmdRudderAngle_, Units::DEGREE, EZServoServo::deviationAngleCfg_, DataReader::isActive(), EZServoServo::offsetAngleCfg_, DataReader::read(), and rudderAngleReader_.

Referenced by paused(), runnable(), and stopped().

Component::RunState RudderServo::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Pause for a short period.

Reimplemented from Component.

References UartStream::close(), debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, loadControl_, Component::logger_, Component::PAUSED, LoadControl::powerDown(), Component::setFailure(), Component::STOP, Logger::syslog(), and EZServoServo::uart_.

Component::RunState RudderServo::paused ( )

virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

References debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, isNeeded(), loadControl_, Component::logger_, Component::PAUSED, LoadControl::powerUp(), Component::RESUME, Component::setFailure(), Component::STOP, and Logger::syslog().

bool RudderServo::readConfig ( void  )

privatevirtual

Reimplemented from EZServoServo.

References Units::ANGULAR_DEGREE, EZServoServo::deviationAngleCfg_, DataReader::read(), EZServoServo::readConfig(), ruddDeadbandCfg_, and rudderDeadbandCfgReader_.

Referenced by runnable(), and start().

virtual RunState RudderServo::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References stop().

Component::RunState RudderServo::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References debug_, UartStream::errorString(), UartStream::hasError(), Syslog::INFO, Component::logger_, UartStream::open(), Component::RESUMING, Component::simulateHardware(), Logger::syslog(), and EZServoServo::uart_.

Component::RunState RudderServo::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::RUNNABLE, and Logger::syslog().

void RudderServo::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState RudderServo::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References actualRudderAngle_, EZServoServo::checkResponse(), cmdRudderAngle_, FailureMode::COMMUNICATIONS, EZServoServo::controlAddress_, EZServoServo::countsPerDegCfg_, D2R, debug_, Units::DEGREE, EZServoServo::deviationAngleCfg_, Syslog::ERROR, LoadControl::errorString(), UartStream::errorString(), Syslog::FAULT, Str::find(), UartStream::flushCRLF(), EZServoServo::getPosition(), FailureMode::HARDWARE, LoadControl::hasError(), UartStream::hasError(), Syslog::INFO, DataReader::isActive(), isNeeded(), EZServoServo::limit(), loadControl_, Component::logger_, EZServoServo::mtrCenterCfg_, EZServoServo::offsetAngleCfg_, Component::PAUSE, R2D, Units::RADIAN, DataReader::read(), SimSlate::Read(), UartStream::read(), readConfig(), UartStream::readLine(), LoadControl::requestVoltageAndCurrent(), Component::resetFailCount(), SimSlate::RUDDER_ANGLE_RADIAN, rudderAngleReader_, rudderAngleWriter_, rudderRdy_, Component::RUNNABLE, Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), EZServoServo::uart_, EZServoServo::uartResponse_, and DataWriter::write().

Component::RunState RudderServo::start ( )

virtual

Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence.

Reimplemented from Component.

References Syslog::CRITICAL, debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, EZServoServo::initializeStart(), loadControl_, Component::logger_, Timestamp::Now(), ok_, LoadControl::powerUp(), readConfig(), Component::setAllowableFailures(), Component::setFailure(), Component::simulateHardware(), Component::START, Component::STARTING, EZServoServo::startTime_, and Logger::syslog().

Referenced by stopped().

Component::RunState RudderServo::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References EZServoServo::checkResponse(), FailureMode::COMMUNICATIONS, EZServoServo::controlAddress_, debug_, DONE, EZServoServo::eepromWriteTimeout_, Timestamp::elapsed(), UartStream::errorString(), EXECUTE, Syslog::FAULT, UartStream::flushCRLF(), UartStream::hasError(), HOME, Syslog::INFO, INITIALIZE, initRudder(), Component::logger_, Timestamp::Now(), EZServoServo::powerOnTimeoutCfg_, UartStream::readLine(), Component::RUNNABLE, Component::setFailure(), Component::simulateHardware(), Component::STARTING, EZServoServo::startTime_, startup_, Component::STOP, Logger::syslog(), EZServoServo::uart_, EZServoServo::uartResponse_, VERIFY, and WAIT.

Component::RunState RudderServo::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::simulateHardware(), Component::STOPPING, Logger::syslog(), and uninitialize().

Referenced by resetting(), and stopped().

Component::RunState RudderServo::stopped ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References UartStream::close(), debug_, LoadControl::getPowerState(), Syslog::INFO, isNeeded(), UartStream::isReadable(), loadControl_, Component::logger_, LoadControl::OFF, LoadControl::POWER_DOWN, start(), stop(), Component::STOPPED, Logger::syslog(), and EZServoServo::uart_.

Component::RunState RudderServo::stopping ( )

virtual

Might follow a STOP request.

Reimplemented from Component.

References debug_, LoadControl::errorString(), Syslog::FAULT, FailureMode::HARDWARE, LoadControl::hasError(), Syslog::INFO, loadControl_, Component::logger_, LoadControl::readFaults(), Component::setFailure(), Component::simulateHardware(), Component::STOPPED, and Logger::syslog().

void RudderServo::uninitialize ( void  )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

References Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, INITIALIZE, loadControl_, Component::logger_, LoadControl::powerDown(), Component::setFailure(), Component::simulateHardware(), startup_, Logger::syslog(), EZServoServo::uninitializeEnd(), and EZServoServo::uninitializeStart().

Referenced by stop().

Member Data Documentation

float RudderServo::actualRudderAngle_

private

Referenced by isNeeded(), and runnable().

float RudderServo::cmdRudderAngle_

private

Referenced by isNeeded(), and runnable().

bool RudderServo::debug_

private

Referenced by pause(), paused(), resume(), resuming(), runnable(), start(), starting(), stop(), stopped(), and stopping().

LoadControl RudderServo::loadControl_

private

Referenced by pause(), paused(), runnable(), start(), stopped(), stopping(), and uninitialize().

bool RudderServo::ok_

private

Referenced by start().

float RudderServo::ruddDeadbandCfg_

private

Referenced by readConfig().

DataReader* RudderServo::rudderAngleReader_

private

Referenced by isNeeded(), RudderServo(), and runnable().

UniversalDataWriter* RudderServo::rudderAngleWriter_

private

Referenced by isDataRequested(), RudderServo(), and runnable().

ConfigReader* RudderServo::rudderDeadbandCfgReader_

private

Referenced by readConfig(), and RudderServo().

bool RudderServo::rudderRdy_

private

Referenced by runnable().

StartupSequence RudderServo::startup_

private

Referenced by starting(), and uninitialize().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/servoModule/RudderServo.h
• /Volumes/ubuntu_share/lrauv-application/Source/servoModule/RudderServo.cpp