compiling 😆

include/LoadCells.h

@@ -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);

include/teensy.h

@@ -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));
+  // PLACEHOLDER PLACEHOLDERPLACEHOLDER PLACEHOLDERPLACEHOLDER
-  State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
+  // 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);
 

src/main.cpp

@@ -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;