ardupilot/ArduRover/ControllerTank.h

/*
 * ControllerTank.h
 *
 *  Created on: Jun 30, 2011
 *      Author: jgoppert
 */

#ifndef CONTROLLERTANK_H_
#define CONTROLLERTANK_H_

#include "../APO/AP_Controller.h"

namespace apo {

class ControllerTank: public AP_Controller {
public:
	enum {
		k_chMode = k_radioChannelsStart, k_chLeft, k_chRight, k_chStr, k_chThr
	};
	enum {
		k_pidStr = k_controllersStart, k_pidThr
	};
	enum {
		ch_mode = 0, ch_left, ch_right, ch_str, ch_thrust
	};

	ControllerTank(AP_Navigator * nav, AP_Guide * guide,
		AP_HardwareAbstractionLayer * hal) :
			AP_Controller(nav, guide, hal, new AP_ArmingMechanism(hal,ch_thrust,ch_str,0.1,-0.9,0.9),ch_mode),
			pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
					steeringI, steeringD, steeringIMax, steeringYMax, steeringDFCut),
			pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
					throttleI, throttleD, throttleIMax, throttleYMax,
					throttleDFCut), _headingOutput(0), _throttleOutput(0) {
		_hal->debug->println_P(PSTR("initializing tank controller"));

		_hal->rc.push_back(
				new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
						1500, 1900, RC_MODE_IN, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500,
						1900, RC_MODE_OUT, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500,
						1900, RC_MODE_OUT, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500,
						1900, RC_MODE_IN, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
						1900, RC_MODE_IN, false));
	}

	void manualLoop(const float dt) {
		setAllRadioChannelsManually();
		_headingOutput = _hal->rc[ch_str]->getPosition();
		_throttleOutput = _hal->rc[ch_thrust]->getPosition();
	}

	void autoLoop(const float dt) {
		float headingError = _guide->getHeadingCommand()
				- _nav->getYaw();
		if (headingError > 180 * deg2Rad)
			headingError -= 360 * deg2Rad;
		if (headingError < -180 * deg2Rad)
			headingError += 360 * deg2Rad;
		_headingOutput = pidStr.update(headingError, _nav->getYawRate(), dt);
		_throttleOutput = pidThr.update(_guide->getGroundSpeedCommand()
				- _nav->getGroundSpeed(), dt);
	}

	void setMotors() {

		switch (_hal->getState()) {

			case MAV_STATE_ACTIVE: {
				digitalWrite(_hal->aLedPin, HIGH);
				// turn all motors off if below 0.1 throttle
				if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
					setAllRadioChannelsToNeutral();
				} else {
					_hal->rc[ch_left]->setPosition(_throttleOutput + _headingOutput);
					_hal->rc[ch_right]->setPosition(_throttleOutput - _headingOutput);
				}
				break;
			}
			case MAV_STATE_EMERGENCY: {
				digitalWrite(_hal->aLedPin, LOW);
				setAllRadioChannelsToNeutral();
				break;
			}
			case MAV_STATE_STANDBY: {
				digitalWrite(_hal->aLedPin,LOW);
				setAllRadioChannelsToNeutral();
				break;
			}
			default: {
				digitalWrite(_hal->aLedPin, LOW);
				setAllRadioChannelsToNeutral();
			}

		}
	}

private:
	BlockPIDDfb pidStr;
	BlockPID pidThr;
	float _headingOutput;
	float _throttleOutput;
};

} // namespace apo

#endif /* CONTROLLERTANK_H_ */