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simulator for yaw and depth #60

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simulator for yaw and depth #60

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3 changes: 3 additions & 0 deletions SubZero/src/settings/settings.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -47,5 +47,8 @@ SIMSUB_START_X = 50.0
SIMSUB_START_Y = 50.0
SIMSUB_START_Z = 50.0
SIMSUB_START_YAW = 30.0
SIMSUB_START_SPEED = 2
SIMSUB_START_DEPTH_SPEED = 1
SIMSUB_START_ANGULAR_SPEED = 1

SIMSUB_UPDATE_FREQ = 20.0
39 changes: 31 additions & 8 deletions SubZero/src/simulator/SimFPGA.cpp
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Expand Up @@ -14,9 +14,9 @@ SimFPGA::SimFPGA(Properties* properties) {
position.y = std::stod(properties->getProperty("SIMSUB_START_Y"));
position.z = std::stod(properties->getProperty("SIMSUB_START_Z"));
yaw = std::stod(properties->getProperty("SIMSUB_START_YAW"));
speed = 0;
depth_speed = 0;
angular_speed = 0;
speed = std::stoi(properties->getProperty("SIMSUB_START_SPEED"));;
depth_speed = std::stoi(properties->getProperty("SIMSUB_START_DEPTH_SPEED"));;
angular_speed = std::stoi(properties->getProperty("SIMSUB_START_ANGULAR_SPEED"));;
accel = 0;
depth_accel = 0;
angular_accel = 0;
Expand Down Expand Up @@ -44,7 +44,8 @@ void SimFPGA::updateLoop() {
if (timeElapsed > update_period) {
timer.start();
if(power && motors) {
update(timeElapsed);
//update(timeElapsed);
update2(timeElapsed);
}
}
}
Expand Down Expand Up @@ -99,6 +100,32 @@ void SimFPGA::update(double period) {
//TODO call code to update simulator engine's sub's position and yaw
}

void SimFPGA::update2(double timeElapsed) {
//assume all speed in per second units

//updating z
if (position.z > target_depth)
position.z -= depth_speed * timeElapsed;
else if (position.z < target_depth)
position.z += depth_speed * timeElapsed;
else
continue;

//updating x
position.x += speed;

//updating y
//we don't care :D atm

//updating yaw
target_yaw=target_yaw%360;
if (yaw < target_yaw)
yaw += angular_speed * timeElapsed;
else if (yaw > target_yaw)
yaw -= angular_speed * timeElapsed;
else
continue;
}

void SimFPGA::power_on() {
power = true;
Expand Down Expand Up @@ -142,7 +169,3 @@ int SimFPGA::get_yaw() {
int SimFPGA::get_depth() {
return -(int)position.z;
}




10 changes: 8 additions & 2 deletions SubZero/src/simulator/SimFPGA.h
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Expand Up @@ -17,6 +17,12 @@ typedef struct {
double z;
} sim_position;

enum dir {
X,
Y,
Z
};

#define ACCEL 5
#define DEPTH_ACCEL 5
#define ANGULAR_ACCEL 3
Expand Down Expand Up @@ -54,7 +60,7 @@ class SimFPGA {

void updateLoop();
void update(double period);

void update2(double period);

public:

Expand Down Expand Up @@ -83,7 +89,7 @@ class SimFPGA {
void power_off();
int get_power();

void set_target_speed(int);
void set_target_speed(int speed);
void set_target_depth(int);
void set_target_yaw(int);

Expand Down