Class HRBTorqueMappingSoftware

Namespace

NominalSystems.Classes

Assembly

NominalSystems.Classes.dll

[Nominal] Calculates a motor torque to drive a hinged panel to a reference angle state. A sensed and reference hinged rigid body angle drives a simple PD control law.

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public class HRBTorqueMappingSoftware : Software

Inheritance

object

Simulation.Object

UniverseEvent

UniverseBehaviour

Software

HRBTorqueMappingSoftware

Constructors

HRBTorqueMappingSoftware()

Default constructor

protected HRBTorqueMappingSoftware()

Fields

In_HRBReferenceMsg

Reference HRB state (theta, thetaDot)

public HRBAngleMessage? In_HRBReferenceMsg

Field Value

HRBAngleMessage

In_HRBSensedMsg

Sensed HRB state (theta, thetaDot)

public HRBAngleMessage? In_HRBSensedMsg

Field Value

HRBAngleMessage

K

[rad] Theta gain parameter

[Unit(UnitType.RADIAN)]
public double K

Field Value

double

Out_MotorTorqueArrayMsg

Output motor torque message

public MotorTorqueArrayMessage? Out_MotorTorqueArrayMsg

Field Value

MotorTorqueArrayMessage

P

[rad/s] Theta Dot gain parameter

[Unit(UnitType.RADIAN_PER_SECOND)]
public double P

Field Value

double

Methods

OnCreate()

Called when the object is created from the controller and has been attached to the parent object. By this point, it has been registered to the simulation and will run after the constructor.

protected override void OnCreate()

OnUpdate(double, double)

Called when the object should update from the simulation tick. This will take in a time and a step, where the time is the time of the clock before updating the object.

protected override void OnUpdate(double time, double step)

Parameters

time double

[s] Current time of the simulation before the update

step double

[s] The time-step to update during this tick