Anson/Lander-Embedded
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resolved #8

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This commit is contained in:
bpmcgeeney 2021-09-17 14:50:16 -07:00
parent 67917edb90
commit 9f48608518
3 changed files with 17 additions and 5 deletions
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3
include/Vehicle.h
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@ -20,6 +20,9 @@ struct Vehicle {
double burntime; double burntime;
double burnVelocity; double burnVelocity;
double thrust, burnElapsed, burnStart; double thrust, burnElapsed, burnStart;
bool thrustFiring = false;
;
double LQRx, LQRy, Fx, Fy, Fz; double LQRx, LQRy, Fx, Fy, Fz;
double momentX, momentY, momentZ; double momentX, momentY, momentZ;

2
include/outVector.h
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@ -29,6 +29,8 @@ struct outVector {
std::vector<double> servo1 = std::vector<double>(length, 0.0); std::vector<double> servo1 = std::vector<double>(length, 0.0);
std::vector<double> servo2 = std::vector<double>(length, 0.0); std::vector<double> servo2 = std::vector<double>(length, 0.0);
std::vector<bool> thrustFiring = std::vector<bool>(length, 0.0);
}; };
#endif #endif

17
include/sim.h
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@ -106,10 +106,10 @@ void thrustSelection(Vehicle &State, int t) {
else else
State.burnElapsed = 2000; // arbitrary number to ensure we don't burn State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
State.thrustFiring = true;
State.thrust = 65.165 * State.burnElapsed - 2.3921; State.thrust = 65.165 * State.burnElapsed - 2.3921;
} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
State.thrust = 0.8932 * pow(State.burnElapsed, 6) - State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
11.609 * pow(State.burnElapsed, 5) + 11.609 * pow(State.burnElapsed, 5) +
60.739 * pow(State.burnElapsed, 4) - 60.739 * pow(State.burnElapsed, 4) -
@ -119,6 +119,9 @@ void thrustSelection(Vehicle &State, int t) {
else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46)) else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
State.thrust = -195.78 * State.burnElapsed + 675.11; State.thrust = -195.78 * State.burnElapsed + 675.11;
if (State.burnElapsed > 3.45)
State.thrustFiring = false;
} }
void lqrCalc(Vehicle &State) { void lqrCalc(Vehicle &State) {
@ -323,6 +326,8 @@ void state2vec(Vehicle &State, outVector &stateVector, int t) {
stateVector.servo1[t] = State.xServoDegs; stateVector.servo1[t] = State.xServoDegs;
stateVector.servo2[t] = State.yServoDegs; stateVector.servo2[t] = State.yServoDegs;
stateVector.thrustFiring[t] = State.thrustFiring;
} }
void write2CSV(outVector &stateVector) { void write2CSV(outVector &stateVector) {
@ -340,7 +345,7 @@ void write2CSV(outVector &stateVector) {
// Output file header. These are the variables that we output - useful for // Output file header. These are the variables that we output - useful for
// debugging // debugging
outfile << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, " outfile << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, "
"pitchdot, rolldot, Servo1, Servo2" "pitchdot, rolldot, Servo1, Servo2, thrustFiring"
<< std::endl; << std::endl;
std::cout << "Writing to csv...\n"; std::cout << "Writing to csv...\n";
@ -370,7 +375,9 @@ void write2CSV(outVector &stateVector) {
outfile << stateVector.rolldot[t] * 180 / M_PI << ", "; outfile << stateVector.rolldot[t] * 180 / M_PI << ", ";
outfile << stateVector.servo1[t] << ", "; outfile << stateVector.servo1[t] << ", ";
outfile << stateVector.servo2[t] << std::endl; outfile << stateVector.servo2[t] << ", ";
outfile << stateVector.thrustFiring[t] << std::endl;
} }
outfile.close(); outfile.close();