/*****************************************************************/ /* NAME: Michael Benjamin */ /* ORGN: Dept of Mechanical Engineering, MIT, Cambridge MA */ /* FILE: MarinePID_Info.cpp */ /* DATE: July 6th 2011 */ /* */ /* This is unreleased BETA code. No permission is granted or */ /* implied to use, copy, modify, and distribute this software */ /* except by the author(s), or those designated by the author. */ /*****************************************************************/ #include #include #include "ColorParse.h" #include "ReleaseInfo.h" #include "MarinePID_Info.h" using namespace std; //---------------------------------------------------------------- // Procedure: showSynopsis void showSynopsis() { blk("SYNOPSIS: "); blk("------------------------------------ "); blk(" Provides a basic PID controller interface to control heading "); blk(" speed and depth based on incoming desired heading, speed and "); blk(" depth objectives and output on rudder, thrust and elevator "); blk(" fed through three PID controllers. "); } //---------------------------------------------------------------- // Procedure: showHelpAndExit void showHelpAndExit() { blk(" "); blu("========================================================== "); blu("Usage: pMarinePIDV22 file.moos [OPTIONS] "); blu("========================================================== "); blk(" "); showSynopsis(); blk(" "); blk("Options: "); mag(" --alias","= "); blk(" Launch pMarinePIDV22 with the given process name "); blk(" rather than pMarinePIDV22 . "); mag(" --example, -e "); blk(" Display example MOOS configuration block. "); mag(" --help, -h "); blk(" Display this help message. "); mag(" --interface, -i "); blk(" Display MOOS publications and subscriptions. "); mag(" --version,-v "); blk(" Display release version of pMarinePIDV22. "); blk(" "); blk("Note: If argv[2] does not otherwise match a known option, "); blk(" then it will be interpreted as a run alias. This is "); blk(" to support pAntler launching conventions. "); blk(" "); exit(0); } //---------------------------------------------------------------- // Procedure: showExampleConfigAndExit void showExampleConfigAndExit() { blk(" "); blu("=============================================================== "); blu("pMarinePIDV22 Example MOOS Configuration "); blu("=============================================================== "); blu("Blue lines: ","Default configuration, i.e., the below blue "); blu(" lines, as configured, could be ommitted with no net effect. "); blk(" "); blk("ProcessConfig = pMarinePIDV22 "); blk("{ "); blk(" AppTick = 20 "," // Default MOOS AppTick=4 "); blk(" CommsTick = 20 "," // Default MOOS CommsTick=4 "); blk(" "); blk(" speed_factor = 20 "," // Range [0,inf) "); blu(" sim_instability = 0 "," // Range [0,inf) "); blk(" "); blu(" max_sat_hdg_debug = false "); blu(" max_sat_spd_debug = false "); blu(" max_sat_dep_debug = false "); blk(" "); blu(" tardy_helm_threshold = 2.0 "); blu(" tardy_nav_threshold = 2.0 "); blu(" active_start = false "," // or {true} "); blu(" verbose = terse "," // or {verbose, quiet} "); blk(" "); blk(" // Yaw control configuration "); blk(" yaw_pid_kp = 0.5 "); blk(" yaw_pid_kd = 0.1 "); blk(" yaw_pid_ki = 0.012 "); blk(" yaw_pid_integral_limit = 0.07 "); blk(" yaw_pid_ki_limit = 0.2 "); blk(" maxrudder = 100 "); blk(" "); blk(" // Speed control configuration "); blk(" speed_pid_kp = 0.8 "); blk(" speed_pid_kd = 0.1 "); blk(" speed_pid_ki = 0.11 "); blk(" speed_pid_ki_limit = 0.07 "); blk(" maxthrust = 100 "); blk(" "); blk(" // Depth control configuration "); blk(" depth_control = true "," // or {false} "); blk(" z_to_pitch_pid_kp = 0.12 "); blk(" z_to_pitch_pid_kd = 1.0 "); blk(" z_to_pitch_pid_ki = 0.004 "); blk(" z_to_pitch_pid_integral_limit = 0.05 "); blk(" maxpitch = 15 "); blk(" "); blk(" // Depth control configuration "); blk(" pitch_pid_kp = 0.5 "); blk(" pitch_pid_kd = 1.0 "); blk(" pitch_pid_ki = 0 "); blk(" pitch_pid_integral_limit = 0 "); blk(" maxelevator = 13 "); blk("} "); blk(" "); exit(0); } //---------------------------------------------------------------- // Procedure: showInterfaceAndExit void showInterfaceAndExit() { blk(" "); blu("=============================================================== "); blu("pMarinePIDV22 INTERFACE "); blu("=============================================================== "); blk(" "); showSynopsis(); blk(" "); blk("SUBSCRIPTIONS: "); blk("------------------------------------ "); blk(" DESIRED_HEADING = 189 "); blk(" DESIRED_SPEED = 3.2 "); blk(" DESIRED_DEPTH = 15 "); blk(" NAV_HEADING = 182 "); blk(" NAV_YAW = 0.12 "); blk(" NAV_SPEED = 3.4 "); blk(" NAV_DEPTH = 22 "); blk(" NAV_PITCH = -1.9 "); blk(" SPEED_FACTOR = 20 "); blk(" PID_VERBOSE = verbose/quiet/terse "); blk(" MOOS_MANUAL_OVERIDE = false "); blk(" MOOS_MANUAL_OVERRIDE = false "); blk(" "); blk(" "); blk("PUBLICATIONS: "); blk("------------------------------------ "); blk(" DESIRED_RUDDER = -22 "); blk(" DESIRED_THRUST = 60 "); blk(" DESIRED_ELEVATOR = -1.2 "); blk(" "); blk(" PID_MAX_SAT_HDG = true "); blk(" PID_MAX_SAT_SPD = true "); blk(" PID_MAX_SAT_DEP = true "); blk(" "); blk(" PID_MAX_SAT_HDG_DEBUG = dfeIn=0.00000, "); blk(" dfErrorTime=18677697.28731, m_dfDT=0.05311, "); blk(" dfDiffNow=0.00000, DiffHistSize=9, mdfeDiff(1)=0.00000, "); blk(" mdfeDiff(2)=0.00000, m_dfOut(1)0 "); blk(" PID_MAX_SAT_SPD_DEBUG = dfeIn=0.00000, ... "); blk(" PID_MAX_SAT_DEP_DEBUG = dfeIn=0.00000, ... "); blk(" "); exit(0); } //---------------------------------------------------------------- // Procedure: showReleaseInfoAndExit void showReleaseInfoAndExit() { showReleaseInfo("pMarinePIDV22", "gpl"); exit(0); }