Resolve "Separate native and teensy code"

src/main.cpp

@@ -11,58 +11,59 @@
 #include "Vehicle.h"
 #include "sim.h"
 
-bool sim(struct Vehicle &);
+#if defined(_WIN32) || defined(linux)
+#include "native.h"
+#elif TEENSY
+#include "teensy.h"
+#endif
 
+Vehicle State;
+Vehicle PrevState;
+outVector stateVector;
+
+#if defined(_WIN32) || defined(linux)
+void setup() {
+  init_Vehicle(State);
+
+  // Determine when to burn
+  burnStartTimeCalc(State);
+}
+#elif TEENSY
+void setup() {
+  init_Vehicle(State);
+
+  // Determine when to burn
+  burnStartTimeCalc(State);
+  loadCellCalibrate();
+}
+#endif
+
+void loop() {
+
+  vehicleDynamics(State, PrevState);
+  thrustInfo(State);
+  pidController(State, PrevState);
+  TVC(State, PrevState);
+  processTVC(State);
+  state2vec(State, PrevState, stateVector);
+
+  State.time += State.stepSize;
+
+  if (State.z < 0.0) {
+    write2CSV(stateVector, State);
+    printSimResults(State);
+  }
+}
+
+#if defined(_WIN32) || defined(linux)
 int main() {
-  Vehicle State;
-  Vehicle PrevState;
 
-  // PID Gains
-  State.Kp = -6.8699;
-  State.Ki = 0;
-  State.Kd = -0.775;
+  setup();
 
-  // Initial Velocity
-  State.vx = 0; // [m/s]
-  State.vy = 0; // [m/s]
-  State.vz = 0; // [m/s]
+  do {
+    loop();
+  } while ((State.z > 0.0));
 
-  // Initial YPR
-  State.yaw = 10 * M_PI / 180;   // [rad]
-  State.pitch = 5 * M_PI / 180; // [rad]
-  State.roll = 0 * M_PI / 180;   // [rad]
-
-  // Initial YPRdot
-  State.yawdot = 1 * M_PI / 180;    // [rad/s]
-  State.pitchdot = -1 * M_PI / 180; // [rad/s]
-  State.rolldot = 0 * M_PI / 180;   // [rad/s]
-
-  // Servo Limitation
-  State.maxServo = 7;   // [degs]
-  State.maxServoRate = 360; // [degs/sec]
-
-  // Vehicle Properties
-  State.massInitial = 1.2;       // [kg]
-  State.vehicleHeight = 0.5318;  // [m]
-  State.vehicleRadius = 0.05105; // [m]
-  State.momentArm = 0.145;       // [m]
-
-  // Sim Step Size
-  State.stepSize = 1; // [ms]
-
-  // Other Properties
-  State.massPropellant = 0.06;                                  // [kg]
-  State.massBurnout = State.massInitial - State.massPropellant; // [kg]
-  State.burntime = 3.45 - 0.148;                                // [s]
-  State.mdot = State.massPropellant / State.burntime;           // [kg/s]
-  State.mass = State.massInitial;                               // [kg]
-  State.burnElapsed = 2000;                                     // [s]
-  PrevState.thrust = 0;                                         // [N]
-
-  bool outcome = sim(State, PrevState);
-
-  std::cout << std::endl << "Simulation Complete 🚀" << std::endl;
-  //                                            ^^^
-  // 50% chance this makes Mattys linux crash
   return 0;
-}
+}
+#endif