Vehicle Command Manual

Typically the graphical simulation receives telemetry data from the vehicle or a simulation. This information is used to update the position of each vehicle within the graphics window. For many tests actual telemetry is not required. The vehCmd application uses shared memory to talk directly to the graphical simulation. A control panel is used to move each vehicle. This manual explains how to initiate and operate the window to move the vehicles within the graphical simulation without telemetry.

To run the program type

>vehCmd

After loading the following window will appear.

 
Vehicle Control Window Input Device Selection Menu

1- Vehicle Control Radio Buttons

These buttons are used to select which vehicle is currently under control. The following selections are available:

Ranger - This is the Neutral Buoyancy Ranger Vehicle
Scamp - The Supplementary Camera and Maneuvering Platform (SCAMP)
SSV - SCAMP Space Simulator Vehicle (SSV)

The vehicle and message selection combined designate the exact object being controlled. In the window figure the actual position of Ranger is being manipulated. The desired, commanded and trajectory position for Ranger remain unaffected. Also all SCAMP and SSV positions are unaffected.

2- Message Type Radio Buttons

These radio buttons are used to select which message type is coupled with the vehicle control object. The follwoing selections are available:

Act - Actual Position
Cmd - Command Positon
Des - Desired Position
Traj - Trajectory Position

The vehicle and message selection combined designate the exact object being controlled. In the window figure the actual position of Ranger is being manipulated. The desired, commanded and trajectory position for Ranger remain unaffected. Also all SCAMP and SSV positions are unaffected.

3- Vehicle Control Input Option Menu

This menu allows the user to choose which input device, shown in Input Device Selection Menu figure, can be used to move the vehicle. As the input device is used the Vehicle Manual Control input fields are updated giving the current position in global simulation coordinates.

4- Input Device Multiplier Control

This input field allows the multiplier for the input device to be changed. Therefore the hand controller can become more or less sensitive. For Cartesian position devices (6DOF Trackers), only the translation components are multiplied. The rotation remains at x1 multiplier.

5- Vehicle Initialization Button

This button returns the vehicle to its original position. It removes the offsets induced by the input device and manual control.

6- Vehicle Manual Control

These buttons and input fields can be used to move the vehicle to any position. The input fields can be used to directly move to a location. The translational inputs are in units of meters, rotational inputs in degrees. These input fields are automatically updated when an input device is used. Therefore, the input device can move the vehicle, and then that location could be recorded and used later by typing those values in later.

The buttons can be used to increment/decrement the current location depending on which mouse button is used.

Left mouse button = ±1 meter or ± 10 degrees
Middle mouse button = ±0.1 meters or ± 5 degrees
Right mouse button = ±0.01 meters or ± 1 degree

These changes are in the vehicle frame of reference, so hitting the up forward button will always move the vehicle toward its view.