Anson/Lander-Embedded
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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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27
include/teensy.h
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@@ -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");
}