private void EvaluateVehicleFacingAngle()
{
// Get direction from sensors
double degreesToCorrect;
// Get roll speed from sensors
double rollToCorrect = GetRollRate();
// First we correct the roll
RollThrusterGroup.correctCurrentSpin(rollToCorrect);
// Now we assess attitude
degreesToCorrect = GetAttitudeSensorData();
// Now correct any spin needed
RollThrusterGroup.applyRollCorrection(degreesToCorrect);
}
public bool SelfTest()
{
/* Test cases to test against:
* RollCorrection
* - 0 roll delta = 0 total corrective duration, and no firing
* - 1 roll delta = turn on engines, apply .2 seconds of corrective wait
* - -1 roll deltr = turn on engines to -1, apply .2 seconds of corrective wait
* - 10 roll delta = turn engines on to 1, apply 2 seconds of corrective wait
* - -10 roll delta = turn engines on to -1, apply 2 seconds of corrective wait
*
* correctSpin
* - 0 roll = 0 total corrective duration, and no firing
* - 1 rpm = turn on engines, apply .1 seconds of corrective wait
* - -1 rpm = turn on engines to -1, apply .1 seconds of corrective wait
* - 10 rpm = turn engines on to 1, apply 1 seconds of corrective wait
* - -10 rpm = turn engines on to -1, apply 1 seconds of corrective wait
*/
bool returnVal = true;
RollThruster testThruster = new RollThruster();
if (returnVal == true)
{
returnVal = (testThruster.applyRollCorrection(0) == 0);
}
if (returnVal == true)
{
returnVal = (testThruster.applyRollCorrection(1) == .2);
}
if (returnVal == true)
{
returnVal = (testThruster.applyRollCorrection(-1) == .2);
}
if (returnVal == true)
{
returnVal = (testThruster.applyRollCorrection(10) == 2);
}
if (returnVal == true)
{
returnVal = (testThruster.applyRollCorrection(-10) == 2);
}
if (returnVal == true)
{
returnVal = (testThruster.correctCurrentSpin(0) == 0);
}
if (returnVal == true)
{
returnVal = (testThruster.correctCurrentSpin(1) == .1);
}
if (returnVal == true)
{
returnVal = (testThruster.correctCurrentSpin(-1) == .1);
}
if (returnVal == true)
{
returnVal = (testThruster.correctCurrentSpin(10) == 1);
}
if (returnVal == true)
{
returnVal = (testThruster.correctCurrentSpin(-10) == 1);
}
return(returnVal);
}
