void ZRUser(float myState[12], float otherState[12], float time) {
if (time < 150) {
//TODO: move to center of panel initialization circle, instead of
//assuming that position from the start
float attitude[3] = {0, 1, 0};
ZRSetAttitudeTarget(attitude);
//TODO: rotate around the circle to find the panel; in this case,
//panel angle is 0 so we automatically see it after the attitude change
if (isPanelFound() && time > 20) {
float velocity[3] = {0, 0.01, 0};
ZRSetVelocityTarget(velocity);
}
if (iHavePanel() && time > 70 && time < 75) {
float stop[3] = {0, 0, 0};
ZRSetVelocityTarget(stop);
}
if (iHavePanel() && time > 75 && time < 150) {
float station[3] = {-.7, 0, 0};
ZRSetPositionTarget(station);
}
}
if (iHavePanel() && time == 150) {
float searchStation[3] = {0, 0.1, 0};
ZRSetTorques(searchStation);
}
if (isStationInSync() && time > 150) {
float stop[3] = {0, 0, 0};
float velocity[3] = {0, 0, .01};
ZRSetTorques(stop);
ZRSetVelocityTarget(velocity);
}
}
void rotateTau() {
// Rotates about the x-axis by applying a torque of 0.025 N*m (?)
// Requires an int tauSet to be set to 1 and a float correctPos to be set to 1.0;
// Somewhat more unstable... depends on the previous performance of an attitude alignment being within a given bound
// Sometimes the above mentioned alignment exceeds given time limits..
// If alignment goes smoothly however, this function seems to work pretty well... but that's a big "if".
float tau[3] = {0.0, 0.025, 0.0};
if (correctPos < 2) {
ZRSetPositionTarget(a);
correctPos += 1.0;
}
if (tauSet == 1) {
ZRSetTorques(tau);
tauSet = 0;
}
}
static void spin (float c[3], float mystate[12])
{
//BEGIN::PROC::spin
/*
* mmh.. Do I really need to
* exaplain what this function
* is for?
*/
float v[3];
char i;
float cosalfa=0;
if (ok<3) {
PgetAsteroidNormal(v);
for(i=0;i<3;i++)
cosalfa+=v[i]*mystate[i+6];
if(cosalfa<0)
mathVecMul (v,v,-1);
ZRSetAttitudeTarget(v);
if (fabs(cosalfa)>0.986f)
ok++;
}
else {
v[0]=(0.5236f - mystate[9])/50;
v[1]=0;
v[2]=0;
ZRSetTorques(v);
}
ZRSetPositionTarget(c);
//END::PROC::spin
}