eive-obsw/mission/controller/acs/ActuatorCmd.h

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#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
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#include <cmath>
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class ActuatorCmd {
public:
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ActuatorCmd();
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virtual ~ActuatorCmd();
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/*
* @brief: scalingTorqueRws() scales the torque via maximum part in case this part is
* higher then the maximum torque
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* @param: rwTrq given torque for reaction wheels which will be
* scaled if needed to be
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*/
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void scalingTorqueRws(double *rwTrq, double maxTorque);
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/*
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* @brief: cmdSpeedToRws() Calculates the RPM for the reaction wheel configuration,
* given the required torque calculated by the controller. Will also scale down the RPM of the
* wheels if they exceed the maximum possible RPM
* @param: rwTrq given torque from pointing controller
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* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
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void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, const double sampleTime, const double inertiaWheel,
const int32_t maxRwSpeed, const double *rwTorque, int32_t *rwCmdSpeed);
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/*
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* @brief: cmdDipoleMtq() gives the commanded dipole moment for the
* magnetorquer
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*
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* @param: dipoleMoment given dipole moment in spacecraft frame
* dipoleMomentActuator resulting dipole moment in actuator reference frame
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*/
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void cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
const double *dipoleMoment, int16_t *dipoleMomentActuator);
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protected:
private:
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static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
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};
#endif /* ACTUATORCMD_H_ */