ardupilot/ArduRover/ControllerCar.h

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/*
* ControllerCar.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERCAR_H_
#define CONTROLLERCAR_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerCar: public AP_Controller {
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public:
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ControllerCar(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),
pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _strCmd(0), _thrustCmd(0)
{
_hal->debug->println_P(PSTR("initializing car 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_chStr, PSTR("STR_"), APM_RC, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThrust, PSTR("THR_"), APM_RC, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
}
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private:
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// methods
void manualLoop(const float dt) {
setAllRadioChannelsManually();
_strCmd = _hal->rc[ch_str]->getRadioPosition();
_thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
}
void autoLoop(const float dt) {
_strCmd = pidStr.update(_guide->getHeadingError(), _nav->getYawRate(), dt);
_thrustCmd = pidThrust.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt);
}
void setMotorsActive() {
// turn all motors off if below 0.1 throttle
if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
setAllRadioChannelsToNeutral();
} else {
_hal->rc[ch_thrust]->setPosition(_thrustCmd);
_hal->rc[ch_str]->setPosition(_strCmd);
}
}
// attributes
enum {
ch_mode = 0, ch_str, ch_thrust
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThrust
};
enum {
k_pidStr = k_controllersStart, k_pidThrust
};
BlockPIDDfb pidStr;
BlockPID pidThrust;
float _strCmd, _thrustCmd;
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};
} // namespace apo
#endif /* CONTROLLERCAR_H_ */
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// vim:ts=4:sw=4:expandtab