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fixed servo center and initialized both lc and lc_processed

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This commit is contained in:
bpmcgeeney
2021-11-22 14:04:10 -07:00
parent 166b8c5920
commit 71170e8985
3 changed files with 19 additions and 15 deletions
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29
include/teensy.h
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@@ -52,11 +52,11 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
// Servo 1 Test
for (servoTest = 0; servoTest < 7; servoTest += 1) {
yaw.write(yaw_conv(90 + servoTest));
yaw.write(yaw_conv(servoTest));
delay(30);
}
for (servoTest = 7; servoTest >= 1; servoTest -= 1) {
yaw.write(yaw_conv(90 + servoTest));
yaw.write(yaw_conv(servoTest));
delay(30);
}
@@ -64,11 +64,11 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
// Servo 2 Test
for (servoTest = 0; servoTest < 7; servoTest += 1) {
pitch.write(pitch_conv(90 + servoTest));
pitch.write(pitch_conv(servoTest));
delay(30);
}
for (servoTest = 7; servoTest >= 1; servoTest -= 1) {
pitch.write(pitch_conv(90 + servoTest));
pitch.write(pitch_conv(servoTest));
delay(30);
}
@@ -76,13 +76,13 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
// Servo 1 & 2 Test
for (servoTest = 0; servoTest < 7; servoTest += 1) {
yaw.write(yaw_conv(90 + servoTest));
pitch.write(pitch_conv(90 + servoTest));
yaw.write(yaw_conv(servoTest));
pitch.write(pitch_conv(servoTest));
delay(30);
}
for (servoTest = 7; servoTest >= 1; servoTest -= 1) {
yaw.write(yaw_conv(90 + servoTest));
pitch.write(pitch_conv(90 + servoTest));
yaw.write(yaw_conv(servoTest));
pitch.write(pitch_conv(servoTest));
delay(30);
}
@@ -130,10 +130,15 @@ void initLoadCells(Vehicle &State) {
Serial.println("Load Cells Initialized");
// Initializes State variables
State.lc0 = 9.81 * 0.001 * lc0.get_value() / lcGain0;
State.lc1 = 9.81 * 0.001 * lc1.get_value() / lcGain1;
State.lc2 = 9.81 * 0.001 * lc2.get_value() / lcGain2;
State.lc3 = 9.81 * 0.001 * lc3.get_value() / lcGain3;
State.lc0 = lc0.get_value();
State.lc1 = lc1.get_value();
State.lc2 = lc2.get_value();
State.lc3 = lc3.get_value();
State.lc0_processed = 9.81 * 0.001 * lc0.get_value() / lcGain0;
State.lc1_processed = 9.81 * 0.001 * lc1.get_value() / lcGain1;
State.lc2_processed = 9.81 * 0.001 * lc2.get_value() / lcGain2;
State.lc3_processed = 9.81 * 0.001 * lc3.get_value() / lcGain3;
}
void initFile() {