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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 "MultiplicativeKalmanFilter.h"
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#include "SensorProcessing.h"
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#include "SensorValues.h"
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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() will set the maximum possible torque for the reaction
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* wheels, also 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
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* reaction wheel
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*/
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void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
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const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
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int32_t maxRwSpeed, double inertiaWheel);
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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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* dipolMomentActuator resulting dipol moment in actuator reference frame
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*/
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void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
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const double *inverseAlignment, double maxDipol);
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protected:
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private:
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};
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#endif /* ACTUATORCMD_H_ */
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