Application: iKFController

Function:

The iKFController app is a MOOS process that taps the Clearpath Robotics C++ API to control the Kingfisher unmanned surface vehicle. It subscribes for the MOOS variables DESIRED_RUDDER and DESIRED_THRUST, converting them them to the proper signals to the two Kinfisher thrusters. It also publishes COMPASS_* information from the compass, and CP_VOLTAGE_* and CP_CURRENT_* information regarding the voltage and current presently detected from the Kingfisher batteries.


Author(s):

  • Hordur, Johannsson, MIT.

Dependencies:

  • MOOSLIB, MOOSGenLib, mbutil, clearpath.

Distribution:

Documentation:

  • None currently

Function Keywords:

  • Payload-Vehicle Interface.