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changed antistiction

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This commit is contained in:
Marius Eggert
2023-03-10 17:21:52 +01:00
parent 555e0ce49d
commit bce8df376a
4 changed files with 29 additions and 42 deletions
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25
mission/controller/acs/control/PtgCtrl.h
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@ -1,16 +1,3 @@
/*
* PtgCtrl.h
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
#ifndef PTGCTRL_H_
#define PTGCTRL_H_
@ -23,6 +10,13 @@
#include "eive/resultClassIds.h"
class PtgCtrl {
/*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
@ -50,13 +44,10 @@ class PtgCtrl {
/* @brief: Commands the stiction torque in case wheel speed is to low
* torqueCommand modified torque after antistiction
*/
void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);
void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);
private:
const AcsParameters *acsParameters;
double torqueMemory[4] = {0, 0, 0, 0};
double omegaMemory[4] = {0, 0, 0, 0};
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */