Anson/Lander-Embedded
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More robust gimbal test function, delay based on step size of Sim

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bpmcgeeney
2021-11-14 17:10:58 -07:00
parent e6f7e4c160
commit 5a99508761
3 changed files with 19 additions and 5 deletions
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2
include/Vehicle.h
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@@ -80,7 +80,7 @@ void init_Vehicle(Vehicle &State) {
State.momentArm = 0.145; // [m]
// Sim Step Size
State.stepSize = 20.0; // [ms]
State.stepSize = 5.0; // [ms]
// Other Properties
State.massPropellant = 0.06; // [kg]

15
include/teensy.h
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@@ -18,7 +18,6 @@ File dataFile;
void testGimbal(PWMServo &servo1, PWMServo &servo2) {
int servoTest = 0;
;
servo1.write(servoTest);
servo2.write(servoTest);
@@ -45,6 +44,20 @@ void testGimbal(PWMServo &servo1, PWMServo &servo2) {
delay(30);
}
delay(1000);
// Servo 1 & 2 Test
for (servoTest = 0; servoTest < 7; servoTest += 1) {
servo1.write(servoTest);
servo2.write(servoTest);
delay(30);
}
for (servoTest = 7; servoTest >= 1; servoTest -= 1) {
servo1.write(servoTest);
servo2.write(servoTest);
delay(30);
}
delay(30);
servo1.write(0);
servo2.write(0);