tgSCASineControl.h

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef TG_SCA_SINE_CONTROL_H
#define TG_SCA_SINE_CONTROL_H

#include "core/tgSpringCableActuator.h"
#include "controllers/tgPIDController.h"

// Forward declarations
class btRigidBody;
class tgImpedanceController;

class tgSCASineControl : public tgObserver<tgSpringCableActuator>
{
public:
 
    tgSCASineControl(const double controlStep,
                                                                                                                tgImpedanceController* p_ipc,
                                                                                                                tgPIDController::Config pidConfig,
                                                                                                                const double amplitude,
                                                                                                                const double frequency,
                                                                                                                const double phase,
                                                                                                                const double offset,
                                                                                                                const double length);
    
    virtual ~tgSCASineControl();
    
    virtual void onAttach(tgSpringCableActuator& subject);
    
    virtual void onStep(tgSpringCableActuator& subject, double dt);
                
    void updateTensionSetpoint(double newTension);
    
    void updateControlLength(double newControlLength);
    
    const double getCommandedTension() const
    {
        return m_commandedTension;
    }
                
private:
    double m_controlTime;
    double m_totalTime;
    const double m_controlStep;
    
    double m_commandedTension;
    
    const double cpgAmplitude;
    const double cpgFrequency;
    const double phaseOffset;
    const double offsetSpeed;

    
    double cycle;
    double target;
    
    double  m_controlLength;
    
    tgPIDController::Config m_tempConfig;
    
    tgPIDController* m_PIDController;
    
    tgImpedanceController* m_pMotorControl;
};


#endif