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load cell integration

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This commit is contained in:
Anson Biggs
2021-11-13 14:48:12 -07:00
parent c05bbb6845
commit 812f62f22a
4 changed files with 67 additions and 68 deletions
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39
include/LoadCells.h
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@@ -1,39 +0,0 @@
#include <HX711.h>
#pragma once
struct LoadCells {
HX711 lc0;
HX711 lc1;
HX711 lc2;
HX711 lc3;
// Current calibrated value
double lc0Val;
double lc1Val;
double lc2Val;
double lc3Val;
// Calibration offset
double lc0Cal;
double lc1Cal;
double lc2Cal;
double lc3Cal;
};
double loadCellCalibrate(HX711 loadCell) {
// place code to calibrate load cells in here
double loadTotal = 0.0;
for (int t = 0; t == 10; ++t) {
loadTotal += loadCell.read();
delay(15);
}
return loadTotal / 10.0;
}
void update_LoadCells(LoadCells &loadCells) {
loadCells.lc0Val = loadCells.lc0.read() - loadCells.lc0Cal;
loadCells.lc1Val = loadCells.lc1.read() - loadCells.lc1Cal;
loadCells.lc2Val = loadCells.lc2.read() - loadCells.lc2Cal;
loadCells.lc3Val = loadCells.lc3.read() - loadCells.lc3Cal;
}

2
include/Vehicle.h
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@@ -44,6 +44,8 @@ struct Vehicle {
double stepDuration;
double time = 0.0;
double lc0, lc1, lc2, lc3;
};
void init_Vehicle(Vehicle &State) {

27
include/teensy.h
View File

@@ -1,4 +1,3 @@
#include "LoadCells.h"
#include "Vehicle.h"
#include <Arduino.h>
#include <SD.h>
@@ -8,7 +7,7 @@ double loadCellCalibrate();
void initFile();
void thrustInfo(struct Vehicle &);
void processTVC(struct Vehicle &);
void write2CSV(struct Vehicle &, double a, double b, double c, double d);
void write2CSV(struct Vehicle &);
void printSimResults(struct Vehicle &);
void teensyAbort();
@@ -94,7 +93,7 @@ void thrustInfo(Vehicle &State) {
}
}
void processTVC(Vehicle &State, LoadCells &loadCells) {
void processTVC(Vehicle &State) {
if (State.time == 0) {
Serial.println("WARNING: processTVC not implemented for TEENSY");
}
@@ -103,10 +102,14 @@ void processTVC(Vehicle &State, LoadCells &loadCells) {
// Vector math to aqcuire thrust vector components
// PLACEHOLDER PLACEHOLDERPLACEHOLDER PLACEHOLDERPLACEHOLDER
// PLACEHOLDERPLACEHOLDER PLACEHOLDERPLACEHOLDER PLACEHOLDER
State.Fx = (loadCells.lc1Val - loadCells.lc2Val) * r / R;
State.Fy = (loadCells.lc0Val - loadCells.lc3Val) * r / R;
State.Fz =
loadCells.lc0Val + loadCells.lc1Val + loadCells.lc2Val + loadCells.lc3Val;
State.Fx = (State.lc1 - State.lc2) * r / R;
State.Fy = (State.lc0 - State.lc3) * r / R;
State.Fz = State.lc0 + State.lc1 + State.lc2 + State.lc3;
State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180.0));
State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180.0));
State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
(State.mass * g);
// Calculate moment created by Fx and Fy
State.momentX = State.Fx * State.momentArm;
@@ -116,7 +119,7 @@ void processTVC(Vehicle &State, LoadCells &loadCells) {
State.F = sqrt(pow(State.Fx, 2) + pow(State.Fy, 2) + pow(State.Fz, 2));
}
void write2CSV(Vehicle &State, LoadCells &loadCells) {
void write2CSV(Vehicle &State) {
dataFile.print(String(State.time, 5));
dataFile.print(",");
@@ -168,13 +171,13 @@ void write2CSV(Vehicle &State, LoadCells &loadCells) {
dataFile.print(String(State.stepDuration, 5));
dataFile.print(",");
dataFile.print(String(loadCells.lc0Val, 5));
dataFile.print(String(State.lc0, 5));
dataFile.print(",");
dataFile.print(String(loadCells.lc1Val, 5));
dataFile.print(String(State.lc1, 5));
dataFile.print(",");
dataFile.print(String(loadCells.lc2Val, 5));
dataFile.print(String(State.lc2, 5));
dataFile.print(",");
dataFile.print(String(loadCells.lc3Val, 5));
dataFile.print(String(State.lc3, 5));
dataFile.print("\n");
}