Anson/Lander-Embedded
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new load cell gains, conditions for ignition while loop

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This commit is contained in:
bpmcgeeney 2021-11-30 13:14:12 -07:00
parent c30984600d
commit 1e4fbe8b20
2 changed files with 27 additions and 10 deletions
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27
include/teensy.h
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@ -35,10 +35,10 @@ const int pin_lc2 = 19; // White
const int pin_lc3 = 20; // Black const int pin_lc3 = 20; // Black
const int pin_igniter = 7; const int pin_igniter = 7;
double lcGain0 = -107.39; double lcGain0 = -300.72;
double lcGain1 = -107.39; double lcGain1 = -367.5;
double lcGain2 = -107.39; double lcGain2 = -565.78;
double lcGain3 = -107.39; double lcGain3 = -505.02;
// SD card stuff // SD card stuff
const int chipSelect = BUILTIN_SDCARD; const int chipSelect = BUILTIN_SDCARD;
@ -238,10 +238,13 @@ void thrustInfo(Vehicle &State) {
digitalWrite(pin_igniter, HIGH); digitalWrite(pin_igniter, HIGH);
// Wait for motor to start burning // Wait for motor to start burning
Serial.println("waiting for motor to start."); Serial.println("Waiting for motor to start.");
while (lc_val * 1.5 < State.lc0_processed + State.lc1_processed + while ((lc_val * 10) > (State.lc0_processed + State.lc1_processed +
State.lc2_processed + State.lc3_processed) { State.lc2_processed + State.lc3_processed)) {
; // Serial.print(lc_val * 10);
// Serial.print(", ");
// Serial.println(State.lc0_processed + State.lc1_processed +
// State.lc2_processed + State.lc3_processed);
} }
State.thrustFiring = 1; State.thrustFiring = 1;
@ -269,6 +272,14 @@ void thrustInfo(Vehicle &State) {
} else { } else {
State.thrust = 0.0; State.thrust = 0.0;
State.Fx = 0.0;
State.Fy = 0.0;
State.Fz = g * State.massInitial;
State.momentX = 0.0;
State.momentY = 0.0;
State.momentZ = 0.0;
} }
} }

6
src/main.cpp
View File

@ -62,6 +62,7 @@ void setup() {
void loop() { void loop() {
last = micros(); last = micros();
Serial.println(State.vz);
vehicleDynamics(State, PrevState); vehicleDynamics(State, PrevState);
thrustInfo(State); thrustInfo(State);
@ -88,8 +89,13 @@ void loop() {
teensyAbort(); teensyAbort();
} }
if (State.burnElapsed < 0.01) {
State.stepDuration = State.stepSize;
} else {
State.stepDuration = micros() - last; State.stepDuration = micros() - last;
delayMicroseconds((1000.0 * State.stepSize) - State.stepDuration); delayMicroseconds((1000.0 * State.stepSize) - State.stepDuration);
}
} }
#endif #endif