sailboat_main.trim_sail module

class sailboat_main.trim_sail.TrimSail

Bases: Node

The sailing algorithm responsible for changing the sail angle based on the wind direction.

setSail(windDir)

Calculate and set the new sail angle given wind direction. Parameter precondition: windDir, an int in [0,360) Return value: the sail angle, an int in [-90,90]

wind_callback(msg)

Use the wind data from msg to calculate the sail angle and publish the absolute value of the sail angle

sailboat_main.trim_sail.main(args=None)