Initial logic commit

logic files - helmsman, ship_data, and calc; no captain

src/modules/Logic/ShipData.py

@@ -0,0 +1,21 @@
+__author__ = 'jbs'
+
+boat_heading = 0
+
+relative_wind_heading = 0
+wind_heading = 0
+
+boat_roll = 0
+boat_pitch = 0
+boat_yaw = 0
+
+boat_lat = 37.9
+boat_lon = -78.1
+
+target_lats = {1, 5, 7}
+target_lons = {2, -9, 1}
+
+current_distance_to_target = 10101
+
+rudder_servo_angle = 90;
+winch_servo_angle = 50;

src/modules/Logic/calc.py

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+import math
+import ship_data
+
+""" The file contains help methods to logic functions.
+    These are object independent; they only need the data given as parameters
+    to return a result.
+"""
+
+
+
+def direction_to_point(current_point, target_point):
+    a = math.radians(current_point['latitude'])
+    b = math.radians(target_point['latitude'])
+    d = math.radians(target_point['longitude'] - current_point['longitude'])
+
+    y = math.sin(d) * math.cos(b)
+    x = math.cos(a) * math.sin(b) - math.sin(a) * math.cos(b) * math.cos(d)
+
+    return (math.degrees(math.atan2(y, x)) + 360) % 360
+
+def get_heading_angle(heading, current_point, target_point):
+    angle = direction_to_point(current_point, target_point)
+
+    return heading - angle
+
+def within_radius_of_target(current_point, target_point):
+    return (distance(current_point, target_point) <= ship_data.point_proximity_radius)
+
+def distance(point1, point2):
+    a = math.sin(math.radians(point1['latitude']))
+    b = math.sin(math.radians(point2['latitude']))
+    c = math.cos(math.radians(point1['latitude']))
+    d = math.cos(math.radians(point2['latitude']))
+
+    e = a * b + c * d * math.cos((math.radians(point2['longitude'] - point1['longitude'])))
+    f = math.acos(e)
+
+    return f * 6371 * 1000

src/modules/Logic/helmsman.py

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+__author__ = 'jbs'
+
+import ship_data
+
+#wind angles that make the sail fully-in and sail fully-out
+sail_in_wind_angle = 60
+sail_out_wind_angle = 120
+
+#winch servo fully-in and fully-out values
+winch_min = 40
+winch_max = 85
+
+def setRudderAngle(targetHeading):
+    current_heading = ship_data.boat_heading
+    angleToTurn = targetHeading - current_heading
+
+    ship_data.rudder_servo_angle = 90 - angleToTurn/10
+
+    socket_communicator.set_rudder_servo_angle(ship_data.rudder_servo_angle)
+
+def setWinchAngle(targetHeading):
+    wind_angle_ratio = (ship_data.relative_wind_heading - sail_in_wind_angle)/(sail_out_wind_angle - sail_in_wind_angle)
+
+    if(wind_angle_ratio > 1):
+        wind_angle_ratio = 1
+    if(wind_angle_ratio < 0):
+        wind_angle_ratio = 0
+
+    ship_data.winch_servo_angle = winch_angle = (winch_min + winch_max)/2 + (winch_max - winch_min)*(wind_angle_ratio)
+
+    socket_communicator.set_winch_servo_angle(ship_data.winch_servo_angle)

src/modules/Logic/main.py

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+__author__ = 'jbs'
+
+import ship_data
+
+def test():
+    print ship_data.boat_heading
+    ship_data.boat_heading = 7
+    print ship_data.boat_heading
+
+test()

src/modules/Logic/ship_data.py

@@ -0,0 +1,24 @@
+__author__ = 'jbs'
+
+boat_heading = 0
+
+relative_wind_heading = 0
+wind_heading = 0
+
+boat_roll = 0
+boat_pitch = 0
+boat_yaw = 0
+
+boat_lat = 37.9
+boat_lon = -78.1
+
+target_lats = {1, 5, 7}
+target_lons = {2, -9, 1}
+
+current_distance_to_target = 10101
+
+rudder_servo_angle = 90
+winch_servo_angle = 50
+
+#how close the boat needs to approach targets
+point_proximity_radius = 5

src/modules/Logic/utlity.py

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+__author__ = 'jbs'
+
+