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Probably fix rudder override function #26

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Probably fix rudder override function #26

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1658a03
Probably fix rudder override function
Tebazil12 May 27, 2017
063fd6a
Merge branch 'master' of github.com:abersailbot/dewi-behaviour into f…
Tebazil12 Jun 14, 2017
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31 changes: 24 additions & 7 deletions navigate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,8 @@ def __init__(self,

# how far over the rudder can be before we assume it's hardover in and emergency
self.hardover_rudder_threshold = 40

self.recovering = False

self.k_p = 0.5
self.k_i = 0.05
Expand All @@ -73,14 +75,23 @@ def __init__(self,
self.next_log_time = 0

def override_rudder(self, rudder_angle):
"""
Move rudder to oposite hard over to jybe when tacking has not worked.
Must move through 170 degrees before returning to normal, or for a
maximum of 10 seconds
"""
print('override_rudder ing')
timeout = time.time() + 10
initial_heading = self.boat.heading

rudder_angle = -45 if rudder_angle > 0 else 45
rudder_angle = -45 if rudder_angle > 0 else 45 #desired angle is rudder_angle
self.boat.set_rudder(rudder_angle)
while time.time() < timeout and \
abs(initial_heading.delta(self.boat.heading)) < 170:
time.sleep(0.1)
while abs(initial_heading.delta(self.boat.heading)) < 170:
if time.time() > timeout:
break
else:
print('override_rudder ing', timeout - time.time())
time.sleep(0.1)

def set_target(self, value):
'''Set the target angle for the boat.'''
Expand Down Expand Up @@ -168,13 +179,19 @@ def update(self):
# emergency procedure to get the boat to turn the opposite direction
# when stuck trying to turn towards a target heading
if self.enable_emergency_maneuver:
if abs(rudder_angle) < self.hardover_rudder_threshold:
print('rudder_angle:', rudder_angle, 'hardover_rudder_timeout:', self.hardover_rudder_timeout)
if self.recovering is True:
if time.time() > last_time_rudder_not_maxed:
self.recovering = False
elif abs(rudder_angle) < self.hardover_rudder_threshold:
self.last_time_rudder_not_maxed = time.time()
elif time.time() - self.last_time_rudder_not_maxed > self.hardover_rudder_timeout:
self.override_rudder(rudder_angle)

# allow 60 seconds to recover from the maneuver
self.last_time_rudder_not_maxed = time.time() + 60
# allow 60 seconds to recover from the maneuver #dont start counting timeout for 60 secs
self.last_time_rudder_not_maxed = time.time() + 60
self.recovering = True


sail_angle = self.choose_sail_angle()

Expand Down