Anson/Lander-Embedded
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Initial Pass, still lots of bugs to fix

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bpmcgeeney
2021-09-20 10:34:20 -07:00
parent 7080188063
commit 768bcb7964
6 changed files with 121 additions and 44 deletions
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82
src/main.cpp
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@@ -3,9 +3,9 @@
#include <cmath>
#include <fstream>
#include <iostream>
#include <string>
#include <stdexcept> // std::runtime_error
#include <stdio.h>
#include <string>
#include <vector>
#include "Vehicle.h"
@@ -27,59 +27,67 @@ int main() {
std::vector<double> varValueVec = std::vector<double>(17, 0.0);
std::string varName, varValue, varUnits;
for (int i; i < 17; i++) {
for (int i; i < 20; i++) {
std::getline(inFile, varName, ',');
std::getline(inFile, varValue, ',');
varValueVec[i] = stod(varValue);
std::getline(inFile, varUnits);
}
}
// Initial Velocity
State.vx = varValueVec[0]; // [m/s]
State.vy = varValueVec[1]; // [m/s]
State.vz = varValueVec[2]; // [m/s]
State.vx = varValueVec[0]; // [m/s]
State.vy = varValueVec[1]; // [m/s]
State.vz = varValueVec[2]; // [m/s]
// Initial YPR
State.yaw = varValueVec[3] * M_PI / 180; // [rad]
State.pitch = varValueVec[4] * M_PI / 180; // [rad]
State.roll = varValueVec[5] * M_PI / 180; // [rad]
// Initial YPR
State.yaw = varValueVec[3] * M_PI / 180; // [rad]
State.pitch = varValueVec[4] * M_PI / 180; // [rad]
State.roll = varValueVec[5] * M_PI / 180; // [rad]
// Initial YPRdot
State.yawdot = varValueVec[6] * M_PI / 180; // [rad/s]
State.pitchdot = varValueVec[7] * M_PI / 180; // [rad/s]
State.rolldot = varValueVec[8] * M_PI / 180; // [rad/s]
// Initial YPRdot
State.yawdot = varValueVec[6] * M_PI / 180; // [rad/s]
State.pitchdot = varValueVec[7] * M_PI / 180; // [rad/s]
State.rolldot = varValueVec[8] * M_PI / 180; // [rad/s]
// Servo Limitation
State.maxServo = varValueVec[9]; // [degs]
// Servo Limitation
State.maxServo = varValueVec[9]; // [degs]
// Vehicle Properties
State.massInitial = varValueVec[10]; // [kg]
State.vehicleHeight = varValueVec[13]; // [m]
State.vehicleRadius = varValueVec[14]; // [m]
State.momentArm = varValueVec[15]; // [m]
// Vehicle Properties
State.massInitial = varValueVec[10]; // [kg]
State.vehicleHeight = varValueVec[13]; // [m]
State.vehicleRadius = varValueVec[14]; // [m]
State.momentArm = varValueVec[15]; // [m]
// Sim Step Size
State.stepSize = varValueVec[16]; // [ms]
// Sim Step Size
State.stepSize = varValueVec[16]; // [ms]
// Other Properties
State.burntime = varValueVec[12]; // [s]
State.massPropellant = varValueVec[11]; // [kg]
State.massBurnout = State.massInitial - State.massPropellant; // [kg]
State.mdot = State.massPropellant / State.burntime; // [kg/s]
State.mass = State.massInitial; // [kg]
State.burnElapsed = 2000; // [s]
PrevState.thrust = 0; // [N]
// PID Gains
State.Kp = varValueVec[17];
State.Ki = varValueVec[18];
State.Kd = -1;
bool outcome = sim(State, PrevState);
std::cout << State.Kd << "\n";
std::cout << "Finished"
<< "\n";
// Other Properties
State.burntime = varValueVec[12]; // [s]
State.massPropellant = varValueVec[11]; // [kg]
State.massBurnout = State.massInitial - State.massPropellant; // [kg]
State.mdot = State.massPropellant / State.burntime; // [kg/s]
State.mass = State.massInitial; // [kg]
State.burnElapsed = 2000; // [s]
PrevState.thrust = 0; // [N]
if (outcome == 1) {
std::cout << "Sim Result = Success!";
return 0;
bool outcome = sim(State, PrevState);
std::cout << "Finished"
<< "\n";
if (outcome == 1) {
std::cout << "Sim Result = Success!";
return 0;
} else if (outcome == 0) {
std::cout << "Sim Result = Failed!";
// return 1; Until I figure out how to make CI/CD continue even when run
// fails.
return 0;