Anson/Lander-Embedded
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Merge branch '15-integrate-with-sd-card' into 'main'

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Resolve "Integrate with SD Card"

Closes #15

See merge request lander-team/lander-cpp!20
This commit is contained in:
Brendan McGeeney
2021-11-05 21:00:43 +00:00
parent 3eb9369371 9bce55f7af
commit 995d856d08
6 changed files with 140 additions and 24 deletions
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23
src/main.cpp
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@@ -19,13 +19,13 @@ unsigned long last;
#if defined(NATIVE) || defined(_WIN32)
#include "native.h"
outVector stateVector;
#elif defined(TEENSY)
#include "teensy.h"
#endif
Vehicle State;
Vehicle PrevState;
outVector stateVector;
#if defined(NATIVE) || defined(_WIN32)
void setup() {
@@ -48,6 +48,8 @@ void setup() {
loadCellCalibrate();
Serial.println("Load Cells Calibrated");
delay(1000);
initFile();
delay(1000);
}
#endif
@@ -60,6 +62,9 @@ void loop() {
processTVC(State);
state2vec(State, PrevState, stateVector);
// Set "prev" values for next timestep
PrevState = State;
State.time += State.stepSize;
if (State.z < 0.0) {
@@ -70,24 +75,32 @@ void loop() {
}
#elif defined(TEENSY)
void loop() {
last = millis();
vehicleDynamics(State, PrevState);
thrustInfo(State);
pidController(State, PrevState);
TVC(State, PrevState);
processTVC(State);
// state2vec(State, PrevState, stateVector);
write2CSV(State);
// Set "prev" values for next timestep
PrevState = State;
State.time += State.stepSize;
if (State.z < 0.0) {
write2CSV(stateVector, State);
printSimResults(State);
init_Vehicle(State);
Serial.println("Last run duration:" + String(millis() - last + " ms"));
delay(1000);
Serial.println("Last run duration:" + String(millis() - last) + " ms");
closeFile();
delay(10000);
Serial.println("Restarting Sim");
Serial.println(
"===============================================================");
}
}
#endif