Purpose

This class is meant to compute the trim tab angle that will be published to the ROS network.

Description

Note: The completion of this issue depends on UBCSailbot/controller#20. To get started, placeholder code can be used until the LUT class is available for use.

Remember to take inspiration from the controller prototype that was implemented last term. This will guide your implementation. Create a class for the sail controller in controller/wingsail/controllers.py.

Inputs:

• The lookup table to use for interpolation

Class Functionality:

• The main public method should return the desired trim tab angle. Implement any private methods you wish to help with this.

Tests:

• Implement your tests in tests/unit/wingsail/test_controllers.py. See the boat simulator for examples on how to implement tests using pytest.

Resources

• Pytest getting started guide