Merge branch 'main' of gitlab.com:lander-team/lander-cpp

src/main.cpp

@@ -17,79 +17,46 @@ int main() {
   Vehicle State;
   Vehicle PrevState;
 
-  // Create an input filestream
-  std::ifstream inFile("input.csv");
-
-  // Make sure the file is open
-  if (!inFile.is_open())
-    throw std::runtime_error("Could not open file");
-
-  std::vector<double> varValueVec = std::vector<double>(20, 0.0);
-  std::string varName, varValue, varUnits;
-
-  for (int i; i < 20; i++) {
-    std::getline(inFile, varName, ',');
-    std::getline(inFile, varValue, ',');
-    varValueVec[i] = stod(varValue);
-    std::getline(inFile, varUnits);
-  }
-
   // Initial Velocity
-  State.vx = varValueVec[0]; // [m/s]
-  State.vy = varValueVec[1]; // [m/s]
-  State.vz = varValueVec[2]; // [m/s]
+  State.vx = 0; // [m/s]
+  State.vy = 0; // [m/s]
+  State.vz = 0; // [m/s]
 
   // Initial YPR
-  State.yaw = varValueVec[3] * M_PI / 180;   // [rad]
-  State.pitch = varValueVec[4] * M_PI / 180; // [rad]
-  State.roll = varValueVec[5] * M_PI / 180;  // [rad]
+  State.yaw = 10 * M_PI / 180;  // [rad]
+  State.pitch = 5 * M_PI / 180; // [rad]
+  State.roll = 0 * M_PI / 180;  // [rad]
 
   // Initial YPRdot
-  State.yawdot = varValueVec[6] * M_PI / 180;   // [rad/s]
-  State.pitchdot = varValueVec[7] * M_PI / 180; // [rad/s]
-  State.rolldot = varValueVec[8] * M_PI / 180;  // [rad/s]
+  State.yawdot = 1 * M_PI / 180;    // [rad/s]
+  State.pitchdot = -1 * M_PI / 180; // [rad/s]
+  State.rolldot = 0 * M_PI / 180;   // [rad/s]
 
   // Servo Limitation
-  State.maxServo = varValueVec[9]; // [degs]
+  State.maxServo = 15; // [degs]
 
   // Vehicle Properties
-  State.massInitial = varValueVec[10];   // [kg]
-  State.vehicleHeight = varValueVec[13]; // [m]
-  State.vehicleRadius = varValueVec[14]; // [m]
-  State.momentArm = varValueVec[15];     // [m]
+  State.massInitial = 1.2;       // [kg]
+  State.vehicleHeight = 0.5318;  // [m]
+  State.vehicleRadius = 0.05105; // [m]
+  State.momentArm = 0.145;       // [m]
 
   // Sim Step Size
-  State.stepSize = varValueVec[16]; // [ms]
-
-  // PID Gains
-  State.Kp = varValueVec[17];
-  State.Ki = varValueVec[18];
-  State.Kd = varValueVec[19];
+  State.stepSize = 1; // [ms]
 
   // Other Properties
-  State.burntime = varValueVec[12];                             // [s]
-  State.massPropellant = varValueVec[11];                       // [kg]
+  State.massPropellant = 0.06;                                  // [kg]
   State.massBurnout = State.massInitial - State.massPropellant; // [kg]
+  State.burntime = 3.45 - 0.148;                                // [s]
   State.mdot = State.massPropellant / State.burntime;           // [kg/s]
   State.mass = State.massInitial;                               // [kg]
   State.burnElapsed = 2000;                                     // [s]
   PrevState.thrust = 0;                                         // [N]
 
-  PrevState = State;
-  
-  std::cout << "START\n";
   bool outcome = sim(State, PrevState);
 
-  std::cout << "Finished\n";
-
-  if (outcome == 1) {
-    std::cout << "Sim Result = Success!";
-    return 0;
-  } else if (outcome == 0) {
-    std::cout << "Sim Result = Failed!";
-
-    // return 1; Until I figure out how to make CI/CD continue even when run
-    // fails.
-    return 0;
-  }
+  std::cout << std::endl << "Simulation Complete 🚀" << std::endl;
+  //                                            ^^^
+  // 50% chance this makes Mattys linux crash
+  return 0;
 }