Anson/Lander-Embedded
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Code Releases Activity

fixed, gonna make some more changes to make sure we're utilizing our whole burn

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This commit is contained in:
bpmcgeeney
2021-11-08 14:43:52 -07:00
parent fe1a5b9bc0
commit 87fb8f8621
4 changed files with 70 additions and 71 deletions
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49
include/teensy.h
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@@ -17,11 +17,11 @@ File dataFile;
double loadCellCalibrate() {
// place code to calibrate load cells in here
double loadTotal;
for (double t = 0; t == 10; ++t) {
loadTotal += 1;
for (double t = 0.0; t == 10.0; ++t) {
loadTotal += 1.0;
delay(15);
}
return loadTotal / 10;
return loadTotal / 10.0;
}
void initFile() {
@@ -39,7 +39,7 @@ void initFile() {
const char *fileName;
if (SD.exists("simOut.csv")) {
while (i > 0) {
while (i > 0.0) {
fileName = ("simOut_" + String(i) + ".csv").c_str();
if (!SD.exists(fileName)) {
@@ -54,7 +54,7 @@ void initFile() {
Serial.println("Error opening output file. \n\nABORTING SIMULATION");
teensyAbort();
}
i = 0;
i = 0.0;
} else {
i++;
@@ -87,23 +87,22 @@ void thrustInfo(Vehicle &State) {
if (State.burnElapsed != 2000) {
// determine where in the thrust curve we're at based on elapsed burn time
// as well as current mass
State.burnElapsed = (State.time - State.burnStart) / 1000;
State.burnElapsed = (State.time - State.burnStart) / 1000.0;
State.mass = State.massInitial - (State.mdot * State.burnElapsed);
}
else if (abs(State.burnVelocity + State.vz) < 0.001) {
} else if (abs(State.burnVelocity + State.vz) < 0.01) {
// Start burn
State.burnStart = State.time;
State.burnElapsed = 0;
}
else
} else {
State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
}
//Serial.println(abs(State.burnVelocity + State.vz));
if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
State.thrustFiring = true;
State.thrust = 65.165 * State.burnElapsed - 2.3921;
} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
11.609 * pow(State.burnElapsed, 5) +
@@ -117,25 +116,25 @@ void thrustInfo(Vehicle &State) {
if (State.burnElapsed > 3.45) {
State.thrustFiring = false;
State.thrust = 0;
State.thrust = 0.0;
}
}
void processTVC(Vehicle &State) {
if (State.time == 0) {
if (State.time == 0.0) {
Serial.println("WARNING: processTVC not implemented for TEENSY");
}
// Vector math to aqcuire thrust vector components
State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
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;
State.momentY = State.Fy * State.momentArm;
State.momentZ = 0;
State.momentZ = 0.0;
}
void write2CSV(Vehicle &State) {
@@ -163,18 +162,18 @@ void write2CSV(Vehicle &State) {
dataFile.print(State.az);
dataFile.print(",");
dataFile.print(State.yaw * 180 / M_PI);
dataFile.print(State.yaw * 180.0 / M_PI);
dataFile.print(",");
dataFile.print(State.pitch * 180 / M_PI);
dataFile.print(State.pitch * 180.0 / M_PI);
dataFile.print(",");
dataFile.print(State.roll * 180 / M_PI);
dataFile.print(State.roll * 180.0 / M_PI);
dataFile.print(",");
dataFile.print(State.yawdot * 180 / M_PI);
dataFile.print(State.yawdot * 180.0 / M_PI);
dataFile.print(",");
dataFile.print(State.pitchdot * 180 / M_PI);
dataFile.print(State.pitchdot * 180.0 / M_PI);
dataFile.print(",");
dataFile.print(State.rolldot * 180 / M_PI);
dataFile.print(State.rolldot * 180.0 / M_PI);
dataFile.print(",");
dataFile.print(State.xServoDegs);
@@ -195,9 +194,9 @@ void write2CSV(Vehicle &State) {
}
void printSimResults(Vehicle &State) {
State.yaw = State.yaw * 180 / M_PI;
State.pitch = State.pitch * 180 / M_PI;
State.roll = State.roll * 180 / M_PI;
State.yaw = State.yaw * 180.0 / M_PI;
State.pitch = State.pitch * 180.0 / M_PI;
State.roll = State.roll * 180.0 / M_PI;
double landing_angle =
pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);