This page documents some of the key applications available in the Hovergroup svn.
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iAcommsDriver
iAcommsDriver provides our standard interface between MOOS and the WHOI uModem. It implements the GOBY uModem driver class and allows other MOOS applications to make use of the modem through several MOOS variables.
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Similar to the normal uPokeDB, but pokes binary strings instead of normal strings using a hex representation.
Usage
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uPokeDBHex ACOMMS_TRANSMIT_DATA_BINARY="68:65:6c:6c:6f"
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- VOLTAGE
- CPU_BOX_TEMP
- ROBOTEQ_HEATSINK_TEMP
- ROBOTEQ_INTERNAL_TEMP
- ROBOTEQ_BATTERY_CURRENT
- ROBOTEQ_MOTOR_CURRENTCPU
- THRUST_BOX_CURRENTLIMIT
- ARDUINO_THRUST
- ARDUINO_RUDDER
- RADIO_POWER - "freewave_locked" or "bullet_locked"
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A slightly modified version of the pMarinePID application included with MOOS-IvP. Differential control is properly implemented by the following equation:
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Diff = (dTheta*Tau*OldDiff)/(Tau+dT)
Differential portion of rudder output = Kd*Diff
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