WIP: Changes to main files

Author: BradenMeyers

src/python_vehicle_simulator/lib/mainLoop.py

@@ -39,6 +39,7 @@ def printSimInfo():
  print('7 - Offshore supply vessel: controlled by tunnel thrusters and main propellers, L = 76.2 m')
  print('8 - Tanker: rudder-controlled ship model including shallow water effects, L = 304.8 m')
  print('9 - Remus 100: AUV controlled by stern planes, a tail rudder and a propeller, L = 1.6 m')
+ print('10 - Torpedo: AUV controlled by configurable fins and a propeller, L = 1.6 m')
  print('---------------------------------------------------------------------------------------') 
 
 ############################################################################### 

src/python_vehicle_simulator/main.py

@@ -41,6 +41,7 @@
 supply('DPcontrol',x_d,y_d,psi_d,V_c,beta_c) 
 tanker('headingAutopilot',psi_d,V_c,beta_c,depth) 
 remus100('depthHeadingAutopilot',z_d,psi_d,V_c,beta_c) 
+torpedo('depthHeadingAutopilot',z_d,psi_d,V_c,beta_c) 
 
 Call constructors without arguments to test step inputs, e.g. DSRV(), otter(), etc. 
 """
@@ -57,6 +58,7 @@
  case '7': vehicle = supply('DPcontrol',4.0,4.0,50.0,0.5,20.0)
  case '8': vehicle = tanker('headingAutopilot',-20,0.5,150,20,80)
  case '9': vehicle = remus100('depthHeadingAutopilot',30,50,1525,0.5,170)
+ case '10': vehicle = torpedo('depthHeadingAutopilot',30,50,1525,0.5,170)
  case _: print('Error: Not a valid simulator option'), sys.exit()
 
 printVehicleinfo(vehicle, sampleTime, N)

src/python_vehicle_simulator/vehicles/__init__.py

@@ -9,4 +9,5 @@
 from .shipClarke83 import *
 from .supply import *
 from .tanker import *
-from .remus100 import *
+from .remus100 import *
+from .torpedo import *