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Implement controllers for rudder and sail actuation mechanisms #78

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Implement controllers for rudder and sail actuation mechanisms #78

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stevenxu27
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Description

  • Having issues with pytest, so test cases are written but functions weren't able to be tested. Hopefully will be resolved during the meeting tomorrow. I wanted you to have a chance to see my logic in case any big restructuring was needed.

Verification

  • The tests in tests/unit/nodes/low_level_control under the TestRudderController test the functions of the controller implementation for the rudder and sail simulation controller.

Resources

stevenxu27 and others added 21 commits December 1, 2023 11:33
@stevenxu27
Initial PID Controller Class implementation and testing
766efb3
@stevenxu27
step function testing
b2fba8d
@DFriend01
Add TODO comments
ce69ed4
@stevenxu27
Properties Change
3ab326b
@stevenxu27
Derivative and last_error changes
4e573e1
@stevenxu27
integral, list changes
b0ae91f
@stevenxu27
Final implementation changes
8543ac2
@DFriend01
Reformatting and adding types
c6600ec
@DFriend01
Change error computation to target - current for consistency
e43ed0e
@stevenxu27
PID Controller testing
0da3a27
@DFriend01
Set integral sum to zero in reset
b5ad5b6
@DFriend01
Update notebook with new template robot arm
6ee15d9
@stevenxu27
PID Notebook Implementation
392c138
@DFriend01
Move import statement
8f5eb24
@DFriend01
Achieved a steady state error
b612f70
@stevenxu27
Deleted concurrency code
e508d2d
@stevenxu27
Wrong branch
26c9aac
@stevenxu27
Deleted concurrency code that cancels in progress jobs
09246b0
@stevenxu27
In-progress controller implementation
1107d82
@stevenxu27
Finished implementation of Controllers, need to complete testing
537e355
@stevenxu27
Basic tests and controller fixes - test software not working
2d83ab3
DFriend01
DFriend01 suggested changes Mar 9, 2024
View reviewed changes
.github/workflows/tests.yml Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/control.py Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/controller.py Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/controller.py Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/controller.py Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/controller.py Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/controller.py Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/controller.py Outdated Show resolved Hide resolved
boat_simulator/nodes/low_level_control/controller.py Outdated Show resolved Hide resolved
tests/unit/nodes/low_level_control/test_controller.py Outdated Show resolved Hide resolved
@stevenxu27 stevenxu27 self-assigned this Mar 11, 2024
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@DFriend01 DFriend01 DFriend01 requested changes

@ubcsailbotsoftware ubcsailbotsoftware Awaiting requested review from ubcsailbotsoftware ubcsailbotsoftware is a code owner

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Implement controllers for rudder and sail actuation mechanisms
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@stevenxu27 @DFriend01 @eomielan