Anson/Lander-Embedded
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compiling 😆

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This commit is contained in:
Anson Biggs 2021-11-12 13:35:06 -07:00
parent 01cf0966f2
commit 4ef7619217
3 changed files with 41 additions and 49 deletions
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40
include/LoadCells.h
View File

@ -1,3 +1,6 @@
#include <HX711.h>
struct LoadCells {
HX711 loadcell_0;
HX711 loadcell_1;
@ -15,35 +18,18 @@ struct LoadCells {
double lc3Calibration;
};
double loadCellCalibrate(HX711 loadCell) {
// place code to calibrate load cells in here
double loadTotal = 0.0;
for (int t = 0; t == 10; ++t) {
loadTotal += loadCell.read();
delay(15);
}
return loadTotal / 10.0;
}
void init_LoadCells(LoadCells &loadCells) {
loadCells.lc0Value = 0.0;
loadCells.lc1Value = 0.0;
loadCells.lc2Value = 0.0;
loadCells.lc3Value = 0.0;
const int lc_clock = 23;
const int lc_data_0 = 0;
const int lc_data_1 = 1;
const int lc_data_2 = 2;
const int lc_data_3 = 3;
Serial.begin(9600);
// Configure clock pin with high impedance to protect pin (if this doesn't
// work, change to OUTPUT)
pinMode(lc_clock, INPUT);
// Configure load cell data pins as inputs
pinMode(lc_data_0, INPUT);
pinMode(lc_data_1, INPUT);
pinMode(lc_data_2, INPUT);
pinMode(lc_data_3, INPUT);
loadCells.loadcell_0.begin(lc_data_0, lc_clock);
loadCells.loadcell_1.begin(lc_data_1, lc_clock);
loadCells.loadcell_2.begin(lc_data_2, lc_clock);
loadCells.loadcell_3.begin(lc_data_3, lc_clock);
loadCells.lc0Calibration = loadCellCalibrate(loadCells.loadcell_0);
loadCells.lc1Calibration = loadCellCalibrate(loadCells.loadcell_1);
loadCells.lc2Calibration = loadCellCalibrate(loadCells.loadcell_2);

21
include/teensy.h
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@ -1,23 +1,10 @@
#include "Vehicle.h"
#include "LoadCells.h"
void thrustInfo(struct Vehicle &);
void processTVC(struct LoadCells &);
void write2CSV(struct outVector &, struct Vehicle &);
void printSimResults(struct Vehicle &);
double loadCellCalibrate(HX711 loadCell);
double loadCellCalibrate(HX711 loadCell) {
// place code to calibrate load cells in here
double loadTotal = 0.0;
for (double t = 0; t == 10; ++t) {
loadTotal += loadCell.read();
delay(15);
}
return loadTotal / 10.0;
}
void thrustInfo(Vehicle &State) {
if (State.time == 0) {
Serial.println("WARNING: thrustInfo not implemented for TEENSY");
@ -60,14 +47,16 @@ void thrustInfo(Vehicle &State) {
}
}
void processTVC(LoadCells &loadCells) {
void processTVC(Vehicle &State, LoadCells &loadCells) {
if (State.time == 0) {
Serial.println("WARNING: processTVC not implemented for TEENSY");
}
// Vector math to aqcuire thrust vector components
State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
// PLACEHOLDER PLACEHOLDERPLACEHOLDER PLACEHOLDERPLACEHOLDER
// PLACEHOLDERPLACEHOLDER PLACEHOLDERPLACEHOLDER PLACEHOLDER
State.Fx = loadCells.lc1Value + loadCells.lc2Value;
State.Fy = loadCells.lc0Value + loadCells.lc3Value;
State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
(State.mass * g);

29
src/main.cpp
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@ -10,8 +10,6 @@
#include <vector>
#elif defined(TEENSY)
#include <Arduino.h>
#include "HX711.h"
unsigned long last;
#endif
@ -21,8 +19,18 @@ unsigned long last;
#if defined(NATIVE) || defined(_WIN32)
#include "native.h"
#elif defined(TEENSY)
#include "teensy.h"
#include "LoadCells.h"
LoadCells loadCells;
#include "teensy.h"
const int lc_clock = 23;
const int lc_data_0 = 0;
const int lc_data_1 = 1;
const int lc_data_2 = 2;
const int lc_data_3 = 3;
#endif
Vehicle State;
@ -38,6 +46,17 @@ void setup() {
}
#elif defined(TEENSY)
void setup() {
Serial.begin(9600);
// Configure clock pin with high impedance to protect pin (if this doesn't
// work, change to OUTPUT)
pinMode(lc_clock, INPUT);
// Configure load cell data pins as inputs
pinMode(lc_data_0, INPUT);
pinMode(lc_data_1, INPUT);
pinMode(lc_data_2, INPUT);
pinMode(lc_data_3, INPUT);
delay(1000);
init_Vehicle(State);
Serial.println("Simulated Vehicle Initalized");
@ -48,8 +67,6 @@ void setup() {
Serial.println("Starting Height Calculated");
delay(1000);
LoadCells loadCells;
init_LoadCells(loadCells);
Serial.println("Load Cells Calibrated");
@ -81,7 +98,7 @@ void loop() {
thrustInfo(State);
pidController(State, PrevState);
TVC(State, PrevState);
processTVC(State);
processTVC(State, loadCells);
// state2vec(State, PrevState, stateVector);
State.time += State.stepSize;