Thruster 2025

include/thruster_info.hpp

@@ -1,4 +1,6 @@
 #ifndef SENSIING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_INFO_HPP
 #define SENSIING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_INFO_HPP
 const int kThrusterCount = 6;
-#endif // SENSIING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_INFO_HPP
+const int kThrusterNeutralPWM = 1500;
+const int kThrusterPins[]={2,3,4,5,6,7};
+#endif // SENSIING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_INFO_HPP

src/communication/communication.hpp

@@ -1,5 +1,5 @@
-#ifndef SENSING_AND_CONTROL_UNIT_SRC_COMMUNICATION_COMMUNICATION_HPP
-#define SENSING_AND_CONTROL_UNIT_SRC_COMMUNICATION_COMMUNICATION_HPP
+#ifndef SENSIING_AND_CONTROL_UNIT_SRC_COMMUNICATION_COMMUNICATION_HPP
+#define SENSIING_AND_CONTROL_UNIT_SRC_COMMUNICATION_COMMUNICATION_HPP
 #include "error.hpp"
 #include "vec3.hpp"
 #include "thruster_info.hpp"
@@ -38,4 +38,4 @@ class Communication {
   void recieveCommands();
 };
 }  // namespace sensing_and_control_unit
-#endif  // SENSING_AND_CONTROL_UNIT_SRC_COMMUNICATION_COMMUNICATION_HPP
+#endif  // SENSING_AND_CONTROL_UNIT_SRC_COMMUNICATION_COMMUNICATION_HPP

src/thruster/thruster.cpp

@@ -2,11 +2,26 @@
 
 namespace sensing_and_control_unit {
 Thrusters::Thrusters() {}
-
 Thrusters::~Thrusters() {}
 
-void Thrusters::initialize() {}
+void Thrusters::initialize()
+{
+    for(int thruster_index=0;thruster_index<kThrusterCount;thruster_index++)
+    {
+        thrusters_[thruster_index].attach(kThrusterPins[thruster_index]);
+        thrusters_[thruster_index].writeMicroseconds(kThrusterNeutralPWM);
+    }
+}
+
+void Thrusters::setPWMs(int pwm_values[kThrusterCount])
+{
+    int pwm_value;
+    for(int thruster_index=0;thruster_index<kThrusterCount;thruster_index++)
+    {
+        pwm_value = pwm_values[thruster_index];
+        thrusters_[thruster_index].writeMicroseconds(pwm_value);
+    }
 
-void Thrusters::setPWMs(int pwm_values[kThrusterCount]) {}
+}
 
 }  // namespace sensing_and_control_unit

src/thruster/thruster.hpp

@@ -1,18 +1,27 @@
 #ifndef SENSING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_HPP
 #define SENSING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_HPP
+
 #include "thruster_info.hpp"
 #include <Servo.h>
+#include <std_msgs/Int32MultiArray.h>
+#include <ros.h>
+#include "Arduino.h"
+
 namespace sensing_and_control_unit
 {    
     class Thrusters
     {
     private:
         Servo thrusters_[kThrusterCount];
+        ros::Subscriber<std_msgs::Int32MultiArray> pwm_sub_;  
+        void pwmCallback(const std_msgs::Int32MultiArray &msg);  
+
     public:
         Thrusters();
         ~Thrusters();
-        void initialize();
+        void initialize();  
         void setPWMs(int pwm_values[kThrusterCount]);
     };
 } // namespace sensing_and_control_unit
-#endif // SENSING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_HPP
+
+#endif // SENSING_AND_CONTROL_UNIT_SRC_THRUSTER_THRUSTER_HPP