Anson/Lander-Embedded
1
0
Fork 0
mirror of https://gitlab.com/lander-team/lander-cpp.git synced 2025-06-16 07:06:51 +00:00
Code Releases Activity

added load cells to csv

Browse Source
This commit is contained in:
Anson Biggs 2021-11-12 15:47:27 -07:00
parent 289f2e7a43
commit a6dcb6863f
2 changed files with 21 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
include/teensy.h
View File

@ -7,7 +7,7 @@ double loadCellCalibrate();
void initFile(); void initFile();
void thrustInfo(struct Vehicle &); void thrustInfo(struct Vehicle &);
void processTVC(struct Vehicle &); void processTVC(struct Vehicle &);
void write2CSV(struct Vehicle &); void write2CSV(struct Vehicle &, double a, double b, double c, double d);
void printSimResults(struct Vehicle &); void printSimResults(struct Vehicle &);
void teensyAbort(); void teensyAbort();
@ -75,7 +75,7 @@ void initFile() {
// File Header // File Header
dataFile.println( dataFile.println(
"t,x,y,z,vx,vy,vz,ax,ay,az,yaw,pitch,roll,yawdot,pitchdot,rolldot," "t,x,y,z,vx,vy,vz,ax,ay,az,yaw,pitch,roll,yawdot,pitchdot,rolldot,"
"Servo1,Servo2,thrustFiring,thrust,simResponse"); "Servo1,Servo2,thrustFiring,thrust,simResponse,l0,l1,l2,l3");
} }
void thrustInfo(Vehicle &State) { void thrustInfo(Vehicle &State) {
@ -122,7 +122,7 @@ void processTVC(Vehicle &State, LoadCells &loadCells) {
State.momentZ = 0.0; State.momentZ = 0.0;
} }
void write2CSV(Vehicle &State) { void write2CSV(Vehicle &State, double a, double b, double c, double d) {
dataFile.print(String(State.time, 5)); dataFile.print(String(State.time, 5));
dataFile.print(","); dataFile.print(",");
@ -172,8 +172,17 @@ void write2CSV(Vehicle &State) {
dataFile.print(","); dataFile.print(",");
dataFile.print(String(State.stepDuration, 5)); dataFile.print(String(State.stepDuration, 5));
dataFile.print("\n"); dataFile.print(",");
dataFile.print(String(a, 5));
dataFile.print(",");
dataFile.print(String(b, 5));
dataFile.print(",");
dataFile.print(String(c, 5));
dataFile.print(",");
dataFile.print(String(d, 5));
dataFile.print("\n");
} }
void printSimResults(Vehicle &State) { void printSimResults(Vehicle &State) {

16
src/main.cpp
View File

@ -29,10 +29,10 @@ LoadCells loadCells;
#include "teensy.h" #include "teensy.h"
const int lc_clock = 23; const int lc_clock = 23;
const int lc_data_0 = 0; const int lc_data_0 = 14;
const int lc_data_1 = 1; const int lc_data_1 = 15;
const int lc_data_2 = 2; const int lc_data_2 = 19;
const int lc_data_3 = 3; const int lc_data_3 = 20;
#endif #endif
@ -107,17 +107,17 @@ void loop() {
thrustInfo(State); thrustInfo(State);
pidController(State, PrevState); pidController(State, PrevState);
TVC(State, PrevState); TVC(State, PrevState);
processTVC(State, loadCells); processTVC(State, loadCells);
State.stepDuration = micros() - last; State.stepDuration = micros() - last;
write2CSV(State); write2CSV(State, loadCells.lc0Value, loadCells.lc1Value, loadCells.lc2Value,
loadCells.lc3Value);
// Set "prev" values for next timestep // Set "prev" values for next timestep
PrevState = State; PrevState = State;
// state2vec(State, PrevState, stateVector);
// state2vec(State, PrevState, stateVector);
State.time += State.stepSize; State.time += State.stepSize;