Anson/Lander-Embedded
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Merge branch '31-avionics-integration-test' of gitlab.com:lander-team/lander-cpp into 31-avionics-integration-test

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Anson 2021-11-14 17:13:56 -07:00
commit 62d8a37517
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);

7
src/main.cpp
View File

@ -105,17 +105,18 @@ void loop() {
if ((State.z < 0.0) && (State.thrustFiring == 2)) {
printSimResults(State);
Serial.println("Run duration:" + String(micros() - initTime) + " us");
Serial.println("Run duration:" + String((micros() - initTime) / 1000000.0) +
" seconds");
closeFile();
delay(3000);
Serial.println("SUCCESS");
Serial.println("Aborting Sim");
Serial.println("Exiting Sim");
teensyAbort();
}
delay(20.0 - ((micros() - last) / 1000.0));
delay(State.stepSize - ((micros() - last) / 1000.0));
}
void init_loadCells() {