58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
/*
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* ActuatorCmd.h
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*
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* Created on: 4 Aug 2022
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* Author: Robin Marquardt
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*/
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#ifndef ACTUATORCMD_H_
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#define ACTUATORCMD_H_
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#include "AcsParameters.h"
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#include "SensorProcessing.h"
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#include "MultiplicativeKalmanFilter.h"
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#include "SensorValues.h"
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#include "OutputValues.h"
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class ActuatorCmd{
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public:
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ActuatorCmd(AcsParameters *acsParameters_); //Input mode ?
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virtual ~ActuatorCmd();
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/*
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* @brief: scalingTorqueRws() scales the torque via maximum part in case this part is higher
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* then the maximum torque
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* @param: rwTrq given torque for reaction wheels
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* rwTrqScaled possible scaled torque
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*/
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void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled);
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/*
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* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction wheels, also
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* will calculate the needed revolutions per minute for the RWs, which will be given
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* as Input to the RWs
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* @param: rwTrqIn given torque from pointing controller
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* rwTrqNS Nullspace torque
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* rwCmdSpeed output revolutions per minute for every reaction wheel
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*/
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void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
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const int32_t *speedRw2, const int32_t *speedRw3, const double *rwTorque,
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double *rwCmdSpeed);
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/*
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* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
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*
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* @param: dipolMoment given dipol moment in spacecraft frame
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* dipolMomentUnits resulting dipol moment for every unit
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*/
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void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
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protected:
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private:
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AcsParameters acsParameters;
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};
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#endif /* ACTUATORCMD_H_ */
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