48 lines
1.6 KiB
C++
48 lines
1.6 KiB
C++
#ifndef ACTUATORCMD_H_
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#define ACTUATORCMD_H_
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#include <cmath>
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class ActuatorCmd {
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public:
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ActuatorCmd();
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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
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* higher then the maximum torque
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* @param: rwTrq given torque for reaction wheels which will be
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* 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,
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* given the required torque calculated by the controller. Will also scale down the RPM of the
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* wheels if they exceed the maximum possible RPM
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* @param: rwTrq given torque from pointing controller
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* rwCmdSpeed output revolutions per minute for every
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* reaction wheel
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*/
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void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
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const int32_t speedRw3, const double sampleTime, const double inertiaWheel,
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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
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* magnetorquer
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*
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* @param: dipoleMoment given dipole moment in spacecraft frame
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* dipoleMomentActuator resulting dipole moment in actuator reference frame
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*/
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void cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
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const double *dipoleMoment, int16_t *dipoleMomentActuator);
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protected:
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private:
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static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
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};
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#endif /* ACTUATORCMD_H_ */
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