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:
- This module is part of the moos-ivp-kfish? tree.
Documentation:
- None currently
Function Keywords:
- Payload-Vehicle Interface.