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

.vscode/extensions.json

@@ -1,6 +1,7 @@
 {
     "recommendations": [
         "ms-vscode.cpptools",
-        "wayou.vscode-todo-highlight"
+        "wayou.vscode-todo-highlight",
+        "usernamehw.errorlens"
     ]
 }

include/sim.h

@@ -1,6 +1,8 @@
 #include "Vehicle.h"
 #include "outVector.h"
 
+#include <iostream>
+
 void burnStartTimeCalc(struct Vehicle &);
 void thrustSelection(struct Vehicle &, int t);
 void pidController(struct Vehicle &, struct Vehicle &);
@@ -38,19 +40,33 @@ bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
 
   write2CSV(stateVector, State);
 
-  bool returnValue;
+  bool pass = 1;
 
-  if (abs(State.vz) < 5) {
-    if ((abs(State.yaw) < 5) && (abs(State.pitch) < 5)) {
-      returnValue = 1;
-    } else {
-      returnValue = 0;
-    }
+  double landing_angle =
+      pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);
+
+  double landing_velocity =
+      pow(State.vx * State.vx + State.vy * State.vy + State.vz * State.vz, .5);
+
+  if (landing_angle < 5.0) {
+    std::cout << "   Landing Angle < 5°    | PASS | ";
   } else {
-    returnValue = 0;
+    std::cout << "   Landing Angle < 5°    | FAIL | ";
+    pass = pass * 0;
   }
+  std::cout << "Final Angles: [" << State.yaw << ", " << State.pitch << "]"
+            << std::endl;
 
-  return returnValue;
+  if (landing_velocity < 5.0) {
+    std::cout << "Landing Velocity < 5 m/s | PASS | ";
+  } else {
+    std::cout << "Landing Velocity < 5 m/s | FAIL | ";
+    pass = pass * 0;
+  }
+  std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", "
+            << State.vz << "]" << std::endl;
+
+  return pass;
 }
 
 void burnStartTimeCalc(Vehicle &State) {
@@ -340,8 +356,6 @@ void write2CSV(outVector &stateVector, Vehicle &State) {
              "thrust, deriv"
           << std::endl;
 
-  std::cout << "Writing to csv...\n";
-
   // writing to output file
   for (int t = 0; t < State.simTime; t += State.stepSize) {
     outfile << t << ", ";
@@ -376,7 +390,7 @@ void write2CSV(outVector &stateVector, Vehicle &State) {
   }
 
   outfile.close();
-  std::cout << "Output File Closed\n";
+  std::cout << "simOut.csv created successfully.\n" << std::endl;
 }
 
 double derivative(double current, double previous, double step) {

input.csv

@@ -1,20 +0,0 @@
-vx,0,m/s
-vy,0,m/s
-vz,0,m/s
-yaw,75,degs
-pitch,30,degs
-roll,0,degs
-yawdot,0,degs/s
-pitchdot,0,degs/s
-rolldot,0,degs/s
-Max Servo Rotation,7,degs
-Initial Mass,1.2,kg
-Propellant Mass,0.06,kg
-Burn Time,3.302,s
-Vehicle Height,0.5318,m
-Vehicle Radius,0.05105,m
-Moment Arm,0.145,m
-Sim Step Size,1,ms
-Kp,-6.8699,x
-Ki,0,x
-Kd,-0.775,x

matlabHelpers/simPlot.m

@@ -51,7 +51,7 @@ title('Altitude vs Time')
 xlabel('Time (s)')
 ylabel('Altitude (m)')
 ylim([0 z(1)+5])
-%saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
+saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
 
 figure(2)
 
@@ -75,7 +75,7 @@ plot(t, rolldot)
 title('Angular Velocity vs Time')
 xlabel('Time (ms)')
 ylabel('Angular Velocity (deg/s)')
-%saveas(gcf,'outputs/Euler Angles vs Time.png')
+saveas(gcf,'outputs/Euler Angles vs Time.png')
 legend("yawdot", "pitchdot", "rolldot")
 
 figure(3)
@@ -93,21 +93,4 @@ plot(t, Servo2)
 title('Servo 2 Position vs Time')
 xlabel('Time (ms)')
 ylabel('Servo 2 Position (rad)')
-%saveas(gcf,'outputs/Servo Position vs Time.png')
-
-figure(4)
-
-% Servo 1 Position
-subplot(2, 1, 1)
-plot(t, PIDx)
-title('PIDx vs Time')
-xlabel('Time (ms)')
-ylabel('PIDx')
-
-% Servo 2 Position
-subplot(2, 1, 2)
-plot(t, PIDy)
-title('PIDy vs Time')
-xlabel('Time (ms)')
-ylabel('PIDy')
-%saveas(gcf,'outputs/Servo Position vs Time.png')
+saveas(gcf,'outputs/Servo Position vs Time.png')

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;
 }