BeoSubAction Class Reference

Helper base class for BeoSub motor actions. More...

#include <BeoSub/BeoSubAction.H>

Inheritance diagram for BeoSubAction:

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Collaboration diagram for BeoSubAction:

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List of all members.

Public Member Functions
	BeoSubAction (BeoSub *bs, const bool pulseWidthControl=false)
	Constructor.
virtual	~BeoSubAction ()
	Destructor.
virtual bool	execute (const float target, const bool stabil, const int itsMaxIter=100)
	Execute the action.
virtual bool	pulseWidthExecute (const float target, const bool stabil, const int itsMaxIter=100)
Protected Member Functions
virtual bool	activate (const bool incr)=0
	Activate the action for one step.
virtual bool	turnOnMotor (const bool incr)=0
virtual bool	turnOffMotor (const bool incr)=0
virtual float	getPosition () const =0
	Get a reading of the current position.
virtual bool	stabilize (const bool pulseWidthControl=false)=0
	Stabilize whatever is not being modified by the action.
virtual float	difference (float pos, float target)=0
	Calculate current and target value differences.
Protected Attributes
BeoSub *	itsBeoSub
float	itsDeadBand
	our BeoSub, which holds our actuators & instruments
bool	pulseWidthControl
	deadband
float	itsGainP
	true when using pulse width control, number of pusle control when false
float	itsGainD
	Gain for Propositional Control.
float	itsGainI
	Gain for Derivative Control.
int	turnOnTime
	Gain for Integral Control.
float	itsErrorHistory [20]
	Number of time steps (iterations) for the motor to turn on when going pule interval control.
int	itsErrIndex
	storing pass 20 iterations value
float	u
	index top iterate the history

Detailed Description

Helper base class for BeoSub motor actions.

The base class defines an interface that will then be used in various derived forms in order to perfom a variety of actions

Definition at line 47 of file BeoSubAction.H.

Constructor & Destructor Documentation

BeoSubAction::BeoSubAction	(	BeoSub *	bs,
		const bool	pulseWidthControl = `false`
	)

Constructor.

Definition at line 45 of file BeoSubAction.C.

BeoSubAction::~BeoSubAction ( ) [virtual]

Destructor.

Definition at line 50 of file BeoSubAction.C.

Member Function Documentation

virtual bool BeoSubAction::activate ( const bool incr ) [protected, pure virtual]

Activate the action for one step.

Parameters:

incr

if true, the one step of activation should tend to increase the value returned by getPosition(), otherwise it should tend to decrease it

Returns:: true on success

Implemented in BeoSubActionDive, and BeoSubActionTurn.

Referenced by execute().

virtual float BeoSubAction::difference	(	float	pos,
		float	target
	)			`[protected, pure virtual]`

Calculate current and target value differences.

Implemented in BeoSubActionDive, and BeoSubActionTurn.

Referenced by execute().

bool BeoSubAction::execute	(	const float	target,
		const bool	stabil,
		const int	itsMaxIter = `100`
	)			`[virtual]`

Execute the action.

This will attempt to reach the target reading by iteratively outputing motor commands and monitoring the instruments. If stabil is true, we will attempt to maintain the sub stable while executing the action. Returns true on success.

Definition at line 54 of file BeoSubAction.C.

References activate(), difference(), getPosition(), itsDeadBand, itsErrIndex, itsErrorHistory, itsGainD, itsGainI, itsGainP, pulseWidthControl, stabilize(), and u.