Dynamics Controller Programmer Notes

 Application Name:

 DynCont

 Development Path:

 ACS/SimControl/

 Wm_appl =

 12

 Wm_winNum =

1

Contents

Form Information
Dynamics Controller = DynCont
Dynamic Simulation Code Designation Table

Form Infomation


Wm_form[1] = DynCont
Label = "Dynamics Controller"
 
Objects
 
DynContSysObj
[0] File Menu Button -> wm_fileMenuButtonCB(0)
[2] Display Menu Button -> wm_displayMenuButtonCB(0)
 
DynContChoiceObj
None
 
DynContLabelObj
None
 
DynContCmdObj
[1] DmsSim Button -> dc_DmsSimCB(0)
 
DynContTel1Obj
[1-19] Active Buttons - Use codes designated below
 
DynContTel2Obj
[1-19] Run Buttons -> dc_loadSimCB(1-19) - Use codes designated below
 
DynContTel3Obj
[1-19] Init Buttons -> dc_resetSimCB(1-19) - Use codes designated below
 

Dynamic Simulation Code Designation Table

 
Legend
L = Left Arm
R = Right Arm
G = Grapple Arm
V = Video Arm
F = Flight
JJ = Joint by Joint
RR = Resolved Rate
CP = Cartesian Position
 SIM L R G V F
 JJ 1 2 3 4 5
RR 11 12 13 14  
PLAN          
 JJ 6 7 8 9  
 RR 16 17 18 19  
 
 
Code Algorithm
 x10  x5  x1
 JJ = 0  Sim = 0  L = 1
 RR = 1  Plan = 1  R = 2
     G = 3
     V = 4
     F = 5
 
Examples:
The Grapple Arm Joint by Joint Simulation =
(JJ = 0)x10 + (Sim = 0)x5 + (Grapple = 3)x1
= 0 + 0 + 3 = 3.
 
The Right Arm Resolved Rate Planner =
(RR = 1)x10 + (Plan = 1)x5 + (Right = 2)x1
= 10 + 5 + 2 = 17