////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ServoModule parameters for Tethys.
//
// NOTES: All values (except "strings") must be followed by
// a unit abbreviation (or one of the unit-like
// abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////
BuoyancyServo.loadAtStartup = 1 bool;
BuoyancyServo.simulateHardware = 1 bool;
BuoyancyServo.accel = 800 n/a;
BuoyancyServo.currLimit = 100 %; // Percent of current allowed
BuoyancyServo.limitHi = 8200 count; // High physical limit for motor controllers
BuoyancyServo.limitLo = 475 count; // Low physical limit for motor controller
BuoyancyServo.overloadTimeout = 10000 ms; // ms until an overload is reported
BuoyancyServo.pidW = 1500 count;
BuoyancyServo.pidX = 0 count;
BuoyancyServo.pidY = 3000 count;
BuoyancyServo.powerOffTimeout = 1.5 second; // Time to allow system to completely close valve
BuoyancyServo.powerOnTimeout = 0.8 second; // Time to allow system to power up before commanding
BuoyancyServo.velocity = 800 n/a;
// BuoyancyServo-only settings
BuoyancyServo.checkingTimeout = 240.0 min; // If the buoyancy is idling, this is how often to check for actual position. If there's a leak, this is when we'll find it.
BuoyancyServo.countsPerCC = 7.446016 count/cc; // counts on the A/D per ml of fluid pumped
BuoyancyServo.deviationVolume = 10.0 cc; // Number of ml deviation allowed between expected and actual
BuoyancyServo.fastPumpCoefficient = 4 n/a; // Specifies how many times faster than normal the pump should operate in fast mode (e.g., 2 means twice as fast)
BuoyancyServo.fastPumpDepth = 1.5 meter; // Max depth for pumping at a fast rate
BuoyancyServo.offsetVolume = 98.452 cc; // Offset of position of motor controller
DockingServo.loadAtStartup = 0 bool;
DockingServo.simulateHardware = 1 bool;
DockingServo.countsPerDeg = 454.666 count/arcdeg; // motor "ticks" per degree of control surface motion
DockingServo.currLimit = 50 %; // Running higher than older rev H EZ servo cards due to new circuit
DockingServo.deviationAngle = .1 arcdeg; // Number of degrees deviation allowed between expected and actual
DockingServo.limitHi = 25000 count; // High physical limit for motor controller
DockingServo.limitLo = 0 count; // Low physical limit for motor controller
DockingServo.mtrCenter = 10 count; // 0 degrees closed control surface
DockingServo.offsetAngle = 0 degree;
DockingServo.pidW = 500 count; // Proportional gain
DockingServo.pidX = 100 count; // Integral gain
DockingServo.pidY = 400 count; // Differential gain
DockingServo.powerOnTimeout = 0.5 second; // Time to allow system to power up before commanding
// NOTE: For rudder/elevator velocity can currently be set as high as 2000000 with acceleration at 4000. 08/11/2009 - Kieft
DockingServo.openAngle = 30 degree;
DockingServo.closedAngle = 0 degree;
ElevatorServo.loadAtStartup = 1 bool;
ElevatorServo.simulateHardware = 1 bool;
ElevatorServo.countsPerDeg = 454.666 count/arcdeg; // motor "ticks" per degree of control surface motion
ElevatorServo.currLimit = 10 %; // Percent of current allowed
ElevatorServo.deviationAngle = .05 arcdeg; // Number of degrees deviation allowed between expected and actual
ElevatorServo.limitHi = 16369 count; // High physical limit for motor controller
ElevatorServo.limitLo = 0 count; // Low physical limit for motor controller
ElevatorServo.mtrCenter = 8184 count; // 0 degrees "centered" control surface
ElevatorServo.offsetAngle = 0 degree;
ElevatorServo.pidW = 1500 count; // Proportional gain
ElevatorServo.pidX = 100 count; // Integral gain
ElevatorServo.pidY = 400 count; // Differential gain
ElevatorServo.powerOnTimeout = 0.8 second; // Time to allow system to power up before commanding
MassServo.loadAtStartup = 1 bool;
MassServo.simulateHardware = 1 bool;
MassServo.accel = 20000 n/a; // Encoder ticks / 32.768 per second squared
MassServo.currLimit = 100 %; // Percent of current allowed
MassServo.limitHi = 427054 count; // High physical limit for mass motor controller
MassServo.limitLo = -403367 count; // Low physical limit for mass motor controller
MassServo.overloadTimeout = 1000 ms; // ms until an overload is reported
MassServo.powerOnTimeout = 0.8 second; // Time to allow system to power up before commanding
MassServo.velocity = 280000 n/a; // Encoder ticks / 32.768 per second (should probably be in units of counts per second)
// MassServo-only settings
MassServo.deviationDistance = 0.05 mm; // Deviation allowed between expected and actual
MassServo.tksPerMM = 10901.811 count/mm; // Number of ticks for one rotation (1 mm of travel)
MassServo.totalTks = 1105329 count; // Total encoder ticks for full mass shift travel
RudderServo.loadAtStartup = 1 bool;
RudderServo.simulateHardware = 1 bool;
RudderServo.countsPerDeg = 454.666 count/arcdeg; // motor "ticks" per degree of control surface motion
RudderServo.currLimit = 10 %; // Percent of current allowed
RudderServo.deviationAngle = .05 arcdeg; // Number of degrees deviation allowed between expected and actual
RudderServo.limitHi = 16369 count; // High physical limit for motor controller
RudderServo.limitLo = 0 count; // Low physical limit for motor controller
RudderServo.mtrCenter = 8184 count; // 0 degrees "centered" control surface
RudderServo.offsetAngle = 0 degree;
RudderServo.pidW = 500 count; // Proportional gain
RudderServo.pidX = 100 count; // Integral gain
RudderServo.pidY = 400 count; // Differential gain
RudderServo.powerOnTimeout = 0.5 second; // Time to allow system to power up before commanding
// NOTE: For rudder/elevator velocity can currently be set as high as 2000000 with acceleration at 4000. 08/11/2009 - Kieft
ThrusterHE.loadAtStartup = 0 bool;
ThrusterHE.simulateHardware = 1 bool;
// ThrusterHE-only settings
ThrusterHE.deviation = 25 count; // Allowed between actual and commanded speed
ThrusterHE.allowableBadVelocity = 5 count; // Number of bad "getVelocity" readings allowed before throwing a fault.
ThrusterHE.ratedSpeed = 600 count; // Holds the rated speed set in the AMT49406
ThrusterHE.powerOnTimeout = 2 second; // Time to allow system to power up before commanding
ThrusterServo.loadAtStartup = 1 bool;
ThrusterServo.simulateHardware = 1 bool;
ThrusterServo.accel = 1 n/a; // Encoder ticks / 32.768 per second squared NOTE: this value is not valid from 0 - 65000 as
// noted in the spec. A value of 0 will return a bad operand error
ThrusterServo.currLimit = 50 %; // Percent of current allowed
ThrusterServo.overloadTimeout = 1000 ms; // Timeout in ms to wait before throwing overload error
ThrusterServo.pidW = 8000 count;
ThrusterServo.pidX = 100 count;
ThrusterServo.pidY = 60000 count;
ThrusterServo.powerOnTimeout = 0.5 second; // Time to allow system to power up before commanding
// ThrusterServo-only settings
ThrusterServo.allowableBadVelocity = 5 count; // Number of bad "getVelocity" readings allowed before throwing a fault.
ThrusterServo.deviation = 25 count; // Number of encoder ticks deviation allowed between expected and actual
ThrusterServo.encoderTks = 32.768 count/s; // encoder tick/second multiplier
ThrusterServo.tksPerRev = 32 count/rev; // encoder ticks/revolution as seen by the controller from HALL A&B
// NOTE: 10" prop = .187706 m per revolution in wake
// 300 rpm == 1m/sec and 150 rpm == .5m/sec. See propPitch