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organized main
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184
src/main.cpp
184
src/main.cpp
@ -1,6 +1,4 @@
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#define M_PI 3.14159265359
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#if defined(NATIVE) || defined(_WIN32)
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#if defined(_WIN32) || defined(NATIVE)
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#include <cmath>
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#include <fstream>
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#include <iostream>
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@ -10,28 +8,31 @@
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#include <vector>
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#elif defined(TEENSY)
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#include <Arduino.h>
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int BUILTIN_LED = 13;
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unsigned long last, initTime;
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#endif
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#define M_PI 3.14159265359
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#include "Vehicle.h"
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#include "sim.h"
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#if defined(NATIVE) || defined(_WIN32)
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#include "native.h"
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outVector stateVector;
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#elif defined(TEENSY)
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Vehicle State;
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Vehicle PrevState;
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#if defined(TEENSY)
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int BUILTIN_LED = 13;
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unsigned long last, initTime;
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#include "teensy.h"
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#include <HX711.h>
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const int lc_clock = 23;
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const int lc_data_0 = 14;
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const int lc_data_1 = 15;
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const int lc_data_2 = 19;
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const int lc_data_3 = 20;
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const int pin_lc0 = 14;
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const int pin_lc1 = 15;
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const int pin_lc2 = 19;
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const int pin_lc3 = 20;
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void init_loadCells();
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void read_lc0();
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void read_lc1();
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void read_lc2();
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@ -42,96 +43,30 @@ HX711 lc1;
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HX711 lc2;
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HX711 lc3;
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#endif
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Vehicle State;
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Vehicle PrevState;
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#if defined(NATIVE) || defined(_WIN32)
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void setup() {
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init_Vehicle(State);
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// Determine when to burn
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burnStartTimeCalc(State);
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}
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#elif defined(TEENSY)
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void setup() {
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Serial.begin(9600);
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// Configure clock pin with high impedance to protect pin (if this doesn't
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// work, change to OUTPUT)
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pinMode(lc_clock, INPUT);
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// Configure load cell data pins as inputs
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pinMode(lc_data_0, INPUT);
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pinMode(lc_data_1, INPUT);
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pinMode(lc_data_2, INPUT);
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pinMode(lc_data_3, INPUT);
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lc0.begin(lc_data_0, lc_clock);
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lc1.begin(lc_data_1, lc_clock);
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lc2.begin(lc_data_2, lc_clock);
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lc3.begin(lc_data_3, lc_clock);
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delay(5000);
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Serial.println("Simulation Countdown:") for (int i = 0; i < 15; i++) {
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Serial.println(15 - i) delay(1000);
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}
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// Attach ISRs to load cell data pins to read data when available
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attachInterrupt(digitalPinToInterrupt(lc_data_0), read_lc0, LOW);
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attachInterrupt(digitalPinToInterrupt(lc_data_1), read_lc1, LOW);
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attachInterrupt(digitalPinToInterrupt(lc_data_2), read_lc2, LOW);
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attachInterrupt(digitalPinToInterrupt(lc_data_3), read_lc3, LOW);
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Serial.println("Load Cells Initialized");
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Serial.print("Calibrating");
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lc0.tare();
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Serial.print(".");
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lc1.tare();
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Serial.print(".");
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lc2.tare();
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Serial.print(".");
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lc3.tare();
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Serial.println(".");
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Serial.println("Load Cells Calibrated");
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delay(1000);
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init_loadCells();
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init_Vehicle(State);
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State.lc0 = lc0.get_value();
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State.lc1 = lc1.get_value();
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State.lc2 = lc2.get_value();
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State.lc3 = lc3.get_value();
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Serial.println("Simulated Vehicle Initalized");
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delay(1000);
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// Determine when to burn
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burnStartTimeCalc(State);
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Serial.println("Starting Height Calculated");
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delay(1000);
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initFile();
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delay(1000);
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initTime = micros();
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}
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#endif
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#if defined(NATIVE) || defined(_WIN32)
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void loop() {
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vehicleDynamics(State, PrevState);
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thrustInfo(State);
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pidController(State, PrevState);
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TVC(State, PrevState);
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processTVC(State);
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state2vec(State, PrevState, stateVector);
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// Set "prev" values for next timestep
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PrevState = State;
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State.time += State.stepSize;
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if ((State.z < 0.0) && (State.thrustFiring == 2)) {
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write2CSV(stateVector, State);
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printSimResults(State);
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init_Vehicle(State);
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}
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}
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#elif defined(TEENSY)
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void loop() {
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last = micros();
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@ -147,10 +82,11 @@ void loop() {
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State.stepDuration = micros() - last;
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write2CSV(State);
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// \/ Comments are fee you can just write previous bro
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// Set "prev" values for next timestep
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PrevState = State;
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// state2vec(State, PrevState, stateVector);
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// state2vec(State, PrevState, stateVector); <-- can we delete?
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State.time += State.stepSize;
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@ -167,26 +103,80 @@ void loop() {
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delay(20 - ((micros() - last) * 1000.0));
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}
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void init_loadCells() {
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// Configure clock pin with high impedance to protect
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// pin (if this doesn't work, change to OUTPUT)
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pinMode(lc_clock, INPUT);
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// Configure load cell data pins as inputs
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pinMode(pin_lc0, INPUT);
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pinMode(pin_lc1, INPUT);
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pinMode(pin_lc2, INPUT);
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pinMode(pin_lc3, INPUT);
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lc0.begin(pin_lc0, lc_clock);
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lc1.begin(pin_lc1, lc_clock);
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lc2.begin(pin_lc2, lc_clock);
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lc3.begin(pin_lc3, lc_clock);
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// Attach ISRs to load cell data pins to read data when available
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attachInterrupt(digitalPinToInterrupt(pin_lc0), read_lc0, LOW);
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attachInterrupt(digitalPinToInterrupt(pin_lc1), read_lc1, LOW);
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attachInterrupt(digitalPinToInterrupt(pin_lc2), read_lc2, LOW);
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attachInterrupt(digitalPinToInterrupt(pin_lc3), read_lc3, LOW);
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Serial.println("Load Cells Initialized");
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Serial.print("Calibrating");
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lc0.tare();
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Serial.print(".");
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lc1.tare();
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Serial.print(".");
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lc2.tare();
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Serial.print(".");
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lc3.tare();
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Serial.println(".");
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Serial.println("Load Cells Calibrated");
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}
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// ISRs to print data to serial monitor
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void read_lc0() { State.lc0 = lc0.get_value(); }
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void read_lc1() { State.lc1 = lc1.get_value(); }
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void read_lc2() { State.lc2 = lc2.get_value(); }
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void read_lc3() { State.lc3 = lc3.get_value(); }
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#endif
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#if defined(_WIN32) || defined(NATIVE)
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#include "native.h"
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outVector stateVector;
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int main() {
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setup();
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init_Vehicle(State);
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// Determine when to burn
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burnStartTimeCalc(State);
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do {
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loop();
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vehicleDynamics(State, PrevState);
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thrustInfo(State);
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pidController(State, PrevState);
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TVC(State, PrevState);
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processTVC(State);
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state2vec(State, PrevState, stateVector);
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// Set "prev" values for next timestep
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PrevState = State;
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State.time += State.stepSize;
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if ((State.z < 0.0) && (State.thrustFiring == 2)) {
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write2CSV(stateVector, State);
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printSimResults(State);
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init_Vehicle(State);
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}
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} while ((State.z > 0.0) || (State.thrustFiring != 2));
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return 0;
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}
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#endif
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// ISRs to print data to serial monitor
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void read_lc0() { State.lc0 = lc0.get_value(); }
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void read_lc1() { State.lc1 = lc1.get_value(); }
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void read_lc2() { State.lc2 = lc2.get_value(); }
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void read_lc3() { State.lc3 = lc3.get_value(); }
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