Servo.h

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/*
Servo model header file
 
Author: James Tabony
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Servo",
          "exclude" : False,
          "category" : "Actuators"
}
aliases = {"max_angle" : "Maximum Servo Angle",
           "min_angle" : "Minimum Servo Angle",
           "servo_noise_std" : "Noise",
           "seed_value" : "EXCLUDE",
           "latency" : "EXCLUDE",
           "misalignment_angle" : "Misalignment Angle",
           "initial_servo_angle" : "Initial Servo Angle",
           "servo_speed" : "Servo Speed",
           "servo_angle_command" : "Command Servo Angle [rad]",
           "servo_angle_actual" : "Actual Servo Angle [rad]"
}
*/
 
#ifndef MODELS_ACTUATORS_SERVO_MODEL_H
#define MODELS_ACTUATORS_SERVO_MODEL_H
 
#include "simulation/Model.h"
#include "core/CartesianVector.hpp"
#include "models/support/BiasNoiseModel.h"
#include "utils/LatencyUtil.hpp"
 
namespace warptwin {
    MODEL(Servo)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(max_angle,               double,                 2.0*M_PI)
            SIGNAL(min_angle,               double,                 -2.0*M_PI)
            SIGNAL(servo_noise_std,         double,                 0.0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(latency,                 int,                    0)
            SIGNAL(misalignment_angle,      double,                 0.0)
            SIGNAL(initial_servo_angle,     double,                 0.0)
            SIGNAL(servo_speed,             double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS 
            SIGNAL(servo_angle_command,     double,                 0.0)
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(servo_angle_actual,      double,                 0.0)
        END_OUTPUTS
 
        int16 activate() override;
        int16 deactivate() override;
 
    protected:
        int16 start() override;
        int16 execute() override; 

        BiasNoiseModel _noise_model;

        LatencyUtil<double> _latency_model;

        double _servo_angle_actual;

        double _latency_return;

        double _turn_direction;

        double _max_turn_amount;
    };
 
}
 
#endif