mirror of
https://gitlab.com/lander-team/lander-cpp.git
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Resolve "Separate native and teensy code"
This commit is contained in:
parent
ad602ca834
commit
66590a33fe
5
.vscode/settings.json
vendored
5
.vscode/settings.json
vendored
@ -42,7 +42,10 @@
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"vector": "cpp",
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"cctype": "cpp",
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"sstream": "cpp",
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"string": "cpp"
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"string": "cpp",
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"chrono": "cpp",
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"ratio": "cpp",
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"thread": "cpp"
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},
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"C_Cpp.clang_format_fallbackStyle": "LLVM",
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"editor.formatOnSave": true,
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@ -41,6 +41,51 @@ struct Vehicle {
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double simTime;
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int stepSize;
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int time = 0;
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};
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void init_Vehicle(Vehicle &State) {
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// PID Gains
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State.Kp = -6.8699;
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State.Ki = 0;
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State.Kd = -0.775;
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// Initial Velocity
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State.vx = 0; // [m/s]
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State.vy = 0; // [m/s]
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State.vz = 0; // [m/s]
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// Initial YPR
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State.yaw = 45 * M_PI / 180; // [rad]
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State.pitch = 45 * M_PI / 180; // [rad]
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State.roll = 0 * M_PI / 180; // [rad]
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// Initial YPRdot
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State.yawdot = 1 * M_PI / 180; // [rad/s]
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State.pitchdot = -1 * M_PI / 180; // [rad/s]
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State.rolldot = 0 * M_PI / 180; // [rad/s]
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// Servo Limitation
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State.maxServo = 7; // [degs]
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State.maxServoRate = 360; // [degs/sec]
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// Vehicle Properties
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State.massInitial = 1.2; // [kg]
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State.vehicleHeight = 0.5318; // [m]
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State.vehicleRadius = 0.05105; // [m]
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State.momentArm = 0.145; // [m]
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// Sim Step Size
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State.stepSize = 1; // [ms]
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// Other Properties
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State.massPropellant = 0.06; // [kg]
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State.massBurnout = State.massInitial - State.massPropellant; // [kg]
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State.burntime = 3.45 - 0.148; // [s]
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State.mdot = State.massPropellant / State.burntime; // [kg/s]
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State.mass = State.massInitial; // [kg]
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State.burnElapsed = 2000; // [s]
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}
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#endif
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143
include/native.h
Normal file
143
include/native.h
Normal file
@ -0,0 +1,143 @@
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#include "Vehicle.h"
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#include <iostream>
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void thrustInfo(struct Vehicle &);
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void processTVC(struct Vehicle &);
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void write2CSV(struct outVector &, struct Vehicle &);
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void printSimResults(struct Vehicle &);
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void thrustInfo(Vehicle &State) {
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if (State.burnElapsed != 2000) {
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// determine where in the thrust curve we're at based on elapsed burn time
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// as well as current mass
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State.burnElapsed = (State.time - State.burnStart) / 1000;
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State.mass = State.massInitial - (State.mdot * State.burnElapsed);
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}
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else if (abs(State.burnVelocity + State.vz) < 0.001) {
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// Start burn
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State.burnStart = State.time;
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State.burnElapsed = 0;
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}
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else
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State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
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if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
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State.thrustFiring = true;
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State.thrust = 65.165 * State.burnElapsed - 2.3921;
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} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
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State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
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11.609 * pow(State.burnElapsed, 5) +
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60.739 * pow(State.burnElapsed, 4) -
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162.99 * pow(State.burnElapsed, 3) +
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235.6 * pow(State.burnElapsed, 2) -
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174.43 * State.burnElapsed + 67.17;
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else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
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State.thrust = -195.78 * State.burnElapsed - 675.11;
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if (State.burnElapsed > 3.45) {
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State.thrustFiring = false;
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State.thrust = 0;
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}
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}
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void processTVC(Vehicle &State) {
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// Vector math to aqcuire thrust vector components
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State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
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State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
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State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
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(State.mass * g);
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// Calculate moment created by Fx and Fy
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State.momentX = State.Fx * State.momentArm;
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State.momentY = State.Fy * State.momentArm;
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State.momentZ = 0;
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}
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void write2CSV(outVector &stateVector, Vehicle &State) {
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// Deleting any previous output file
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if (remove("simOut.csv") != 0)
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perror("No file deletion necessary");
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else
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puts("Previous output file successfully deleted");
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// Define and open output file "simOut.csv"
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std::fstream outfile;
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outfile.open("simOut.csv", std::ios::app);
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// Output file header. These are the variables that we output - useful for
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// debugging
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outfile << "t,x,y,z,vx,vy,vz,ax,ay,az,yaw,pitch,roll,yawdot,pitchdot,rolldot,"
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"Servo1,Servo2,thrustFiring,PIDx,PIDy,thrust"
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<< std::endl;
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// writing to output file
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for (int i = 0; i < State.time; i += State.stepSize) {
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outfile << i << ", ";
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outfile << stateVector.x[i] << ",";
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outfile << stateVector.y[i] << ",";
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outfile << stateVector.z[i] << ",";
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outfile << stateVector.vx[i] << ",";
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outfile << stateVector.vy[i] << ",";
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outfile << stateVector.vz[i] << ",";
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outfile << stateVector.ax[i] << ",";
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outfile << stateVector.ay[i] << ",";
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outfile << stateVector.az[i] << ",";
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outfile << stateVector.yaw[i] * 180 / M_PI << ",";
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outfile << stateVector.pitch[i] * 180 / M_PI << ",";
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outfile << stateVector.roll[i] * 180 / M_PI << ",";
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outfile << stateVector.yawdot[i] * 180 / M_PI << ",";
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outfile << stateVector.pitchdot[i] * 180 / M_PI << ",";
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outfile << stateVector.rolldot[i] * 180 / M_PI << ",";
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outfile << stateVector.servo1[i] << ",";
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outfile << stateVector.servo2[i] << ",";
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outfile << stateVector.thrustFiring[i] << ",";
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outfile << stateVector.PIDx[i] << ",";
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outfile << stateVector.PIDy[i] << ",";
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outfile << stateVector.thrust[i] << std::endl;
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}
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outfile.close();
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std::cout << "simOut.csv created successfully.\n" << std::endl;
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}
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void printSimResults(Vehicle &State) {
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double landing_angle =
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pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);
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double landing_velocity =
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pow(State.vx * State.vx + State.vy * State.vy + State.vz * State.vz, .5);
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if (landing_angle < 5.0) {
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std::cout << "Landing Angle < 5.0 degrees | PASS | ";
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} else {
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std::cout << "Landing Angle < 5.0 degrees | FAIL | ";
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}
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std::cout << "Final Angles: [" << State.yaw << ", " << State.pitch << "]"
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<< std::endl;
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if (landing_velocity < 0.5) {
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std::cout << "Landing Velocity < 0.5 m/s | PASS | ";
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} else {
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std::cout << "Landing Velocity < 0.5 m/s | FAIL | ";
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}
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std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", "
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<< State.vz << "]" << std::endl;
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std::cout << std::endl << "Simulation Complete\n" << std::endl;
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}
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180
include/sim.h
180
include/sim.h
@ -4,12 +4,10 @@
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#include <iostream>
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void burnStartTimeCalc(struct Vehicle &);
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void thrustSelection(struct Vehicle &, int t);
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void pidController(struct Vehicle &, struct Vehicle &);
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void TVC(struct Vehicle &, struct Vehicle &);
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void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
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void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &, int t);
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void write2CSV(struct outVector &, struct Vehicle &, int t);
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void vehicleDynamics(struct Vehicle &, struct Vehicle &);
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void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &);
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double derivative(double current, double previous, double step);
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double integral(double currentChange, double prevValue, double dt);
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double limit(double value, double upr, double lwr);
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@ -19,59 +17,6 @@ double limit(double value, double upr, double lwr);
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double const dt = 0.01;
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double const g = -9.81;
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bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
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outVector stateVector;
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// Determine when to burn
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burnStartTimeCalc(State);
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int t = 0;
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// Start Sim
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do {
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vehicleDynamics(State, PrevState, t);
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thrustSelection(State, t);
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pidController(State, PrevState);
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TVC(State, PrevState);
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state2vec(State, PrevState, stateVector, t);
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//std::cout << State.vz << "\n";
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t += State.stepSize;
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} while ((State.z > 0.0));
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std::cout << t << "\n";
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write2CSV(stateVector, State, t);
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std::cout << t << "\n";
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bool pass = 1;
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double landing_angle =
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pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);
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double landing_velocity =
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pow(State.vx * State.vx + State.vy * State.vy + State.vz * State.vz, .5);
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if (landing_angle < 5.0) {
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std::cout << " Landing Angle < 5° | PASS | ";
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} else {
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std::cout << " Landing Angle < 5° | FAIL | ";
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pass = pass * 0;
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}
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std::cout << "Final Angles: [" << State.yaw << ", " << State.pitch << "]"
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<< std::endl;
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if (landing_velocity < 5.0) {
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std::cout << "Landing Velocity < 5 m/s | PASS | ";
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} else {
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std::cout << "Landing Velocity < 5 m/s | FAIL | ";
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pass = pass * 0;
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}
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std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", "
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<< State.vz << "]" << std::endl;
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return pass;
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}
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void burnStartTimeCalc(Vehicle &State) {
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double velocity = State.vz;
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double h = 0;
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@ -96,13 +41,15 @@ void burnStartTimeCalc(Vehicle &State) {
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h = (((thrust / mass) + g) * dt) + h;
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}
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State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
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State.burnVelocity = velocity; // terminal velocity
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State.z = 18.9;
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State.burnVelocity = velocity; // terminal velocity
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double burnStartTime = State.burnVelocity / -g;
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State.simTime = (State.burntime + burnStartTime) * 1000;
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}
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void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
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void vehicleDynamics(Vehicle &State, Vehicle &PrevState) {
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// Moment of Inertia
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State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4);
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@ -111,7 +58,7 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
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State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
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// Idot
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if (t < 0.1) {
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if (State.time < 0.1) {
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State.I11dot = 0;
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State.I22dot = 0;
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State.I33dot = 0;
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@ -180,45 +127,6 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
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}
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}
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void thrustSelection(Vehicle &State, int t) {
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if (State.burnElapsed != 2000) {
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// determine where in the thrust curve we're at based on elapsed burn time
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// as well as current mass
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State.burnElapsed = (t - State.burnStart) / 1000;
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State.mass = State.massInitial - (State.mdot * State.burnElapsed);
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}
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else if (abs(State.burnVelocity + State.vz) < 0.001) {
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// Start burn
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State.burnStart = t;
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State.burnElapsed = 0;
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}
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else
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State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
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if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
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State.thrustFiring = true;
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State.thrust = 65.165 * State.burnElapsed - 2.3921;
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} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
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State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
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11.609 * pow(State.burnElapsed, 5) +
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60.739 * pow(State.burnElapsed, 4) -
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162.99 * pow(State.burnElapsed, 3) +
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235.6 * pow(State.burnElapsed, 2) -
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174.43 * State.burnElapsed + 67.17;
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else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
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State.thrust = -195.78 * State.burnElapsed - 675.11;
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if (State.burnElapsed > 3.45) {
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State.thrustFiring = false;
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State.thrust = 0;
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}
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}
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void pidController(Vehicle &State, struct Vehicle &PrevState) {
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// Make sure we start reacting when we start burning
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if (State.thrust > 0.01) {
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@ -290,23 +198,12 @@ void TVC(Vehicle &State, Vehicle &PrevState) {
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integral(State.xServoDegsDot, PrevState.xServoDegs, State.stepSize);
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State.yServoDegs =
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integral(State.yServoDegsDot, PrevState.yServoDegs, State.stepSize);
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// Vector math to aqcuire thrust vector components
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State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
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State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
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State.Fz =
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sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
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(State.mass * g);
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// Calculate moment created by Fx and Fy
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State.momentX = State.Fx * State.momentArm;
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State.momentY = State.Fy * State.momentArm;
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State.momentZ = 0;
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}
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}
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void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
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int t) {
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void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector) {
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int t = State.time;
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stateVector.x[t] = State.x;
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stateVector.y[t] = State.y;
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stateVector.z[t] = State.z;
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@ -341,63 +238,6 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
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PrevState = State;
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}
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void write2CSV(outVector &stateVector, Vehicle &State, int t) {
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// Deleting any previous output file
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if (remove("simOut.csv") != 0)
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perror("No file deletion necessary");
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else
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puts("Previous output file successfully deleted");
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// Define and open output file "simOut.csv"
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std::fstream outfile;
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outfile.open("simOut.csv", std::ios::app);
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// Output file header. These are the variables that we output - useful for
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// debugging
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outfile << "t,x,y,z,vx,vy,vz,ax,ay,az,yaw,pitch,roll,yawdot,pitchdot,rolldot,"
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"Servo1,Servo2,thrustFiring,PIDx,PIDy,thrust"
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<< std::endl;
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// writing to output file
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for (int i = 0; i < t; i += State.stepSize) {
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outfile << i << ", ";
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outfile << stateVector.x[i] << ",";
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outfile << stateVector.y[i] << ",";
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outfile << stateVector.z[i] << ",";
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outfile << stateVector.vx[i] << ",";
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outfile << stateVector.vy[i] << ",";
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outfile << stateVector.vz[i] << ",";
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outfile << stateVector.ax[i] << ",";
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outfile << stateVector.ay[i] << ",";
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outfile << stateVector.az[i] << ",";
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outfile << stateVector.yaw[i] * 180 / M_PI << ",";
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outfile << stateVector.pitch[i] * 180 / M_PI << ",";
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outfile << stateVector.roll[i] * 180 / M_PI << ",";
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outfile << stateVector.yawdot[i] * 180 / M_PI << ",";
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outfile << stateVector.pitchdot[i] * 180 / M_PI << ",";
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outfile << stateVector.rolldot[i] * 180 / M_PI << ",";
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outfile << stateVector.servo1[i] << ",";
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outfile << stateVector.servo2[i] << ",";
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|
||||
outfile << stateVector.thrustFiring[i] << ",";
|
||||
|
||||
outfile << stateVector.PIDx[i] << ",";
|
||||
outfile << stateVector.PIDy[i] << ",";
|
||||
|
||||
outfile << stateVector.thrust[i] << std::endl;
|
||||
}
|
||||
|
||||
outfile.close();
|
||||
std::cout << "simOut.csv created successfully.\n" << std::endl;
|
||||
}
|
||||
|
||||
double derivative(double current, double previous, double step) {
|
||||
double dxdt = (current - previous) / (step / 1000);
|
||||
return dxdt;
|
||||
|
||||
21
include/teensy.h
Normal file
21
include/teensy.h
Normal file
@ -0,0 +1,21 @@
|
||||
#include "Vehicle.h"
|
||||
|
||||
void loadCellCalibrate();
|
||||
void thrustInfo();
|
||||
void processTVC();
|
||||
void write2csv();
|
||||
|
||||
void loadCellCalibrate() {
|
||||
// place code to calibrate load cells in here
|
||||
}
|
||||
void thrustInfo() {
|
||||
// place code to retrieve load cell data and convert to a thrust value in here
|
||||
}
|
||||
|
||||
void processTVC() {
|
||||
// place code to turn angles from TVC function into commands in here
|
||||
}
|
||||
|
||||
void write2csv() {
|
||||
// place code to make the teensy write to an output file in here
|
||||
}
|
||||
99
src/main.cpp
99
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
|
||||
Loading…
x
Reference in New Issue
Block a user