Anson/Lander-Embedded
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New sim exit condition and fixed servo gimbal test

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This commit is contained in:
bpmcgeeney 2021-11-29 11:03:17 -07:00
parent a47cef4bc9
commit b75069986f
2 changed files with 13 additions and 8 deletions
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18
include/teensy.h
View File

@ -45,7 +45,7 @@ const int chipSelect = BUILTIN_SDCARD;
File dataFile; File dataFile;
void testGimbal(PWMServo &yaw, PWMServo &pitch) { void testGimbal(PWMServo &yaw, PWMServo &pitch) {
int servoTest = 90; int servoTest = 0;
if ((!yaw.attached()) || (!pitch.attached())) { if ((!yaw.attached()) || (!pitch.attached())) {
Serial.println("Servo pin assignments are not valid!"); Serial.println("Servo pin assignments are not valid!");
@ -56,6 +56,7 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
pitch.write(pitch_conv(servoTest)); pitch.write(pitch_conv(servoTest));
// Servo 1 Test // Servo 1 Test
Serial.println("1");
for (servoTest = 0; servoTest < 7; servoTest += 1) { for (servoTest = 0; servoTest < 7; servoTest += 1) {
yaw.write(yaw_conv(servoTest)); yaw.write(yaw_conv(servoTest));
delay(30); delay(30);
@ -68,6 +69,7 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
delay(1000); delay(1000);
// Servo 2 Test // Servo 2 Test
Serial.println("2");
for (servoTest = 0; servoTest < 7; servoTest += 1) { for (servoTest = 0; servoTest < 7; servoTest += 1) {
pitch.write(pitch_conv(servoTest)); pitch.write(pitch_conv(servoTest));
delay(30); delay(30);
@ -80,6 +82,7 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
delay(1000); delay(1000);
// Servo 1 & 2 Test // Servo 1 & 2 Test
Serial.println("1 and 2");
for (servoTest = 0; servoTest < 7; servoTest += 1) { for (servoTest = 0; servoTest < 7; servoTest += 1) {
yaw.write(yaw_conv(servoTest)); yaw.write(yaw_conv(servoTest));
pitch.write(pitch_conv(servoTest)); pitch.write(pitch_conv(servoTest));
@ -93,8 +96,8 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
delay(30); delay(30);
yaw.write(yaw_conv(90)); yaw.write(yaw_conv(0));
pitch.write(pitch_conv(90)); pitch.write(pitch_conv(0));
} }
void initLoadCells(Vehicle &State) { void initLoadCells(Vehicle &State) {
@ -229,14 +232,11 @@ void thrustInfo(Vehicle &State) {
digitalWrite(pin_igniter, HIGH); digitalWrite(pin_igniter, HIGH);
State.thrustFiring = 1; State.thrustFiring = 1;
// getThrust(State);
} else if (State.thrustFiring == 1) { } else if (State.thrustFiring == 1) {
State.burnElapsed = (State.time - State.burnStart) / 1000.0; State.burnElapsed = (State.time - State.burnStart) / 1000.0;
State.mass = State.massInitial - (State.mdot * State.burnElapsed); State.mass = State.massInitial - (State.mdot * State.burnElapsed);
// getThrust(State);
// Constants based on vehicle // Constants based on vehicle
double r = 3.0; double r = 3.0;
double R = 5.0; double R = 5.0;
@ -248,6 +248,12 @@ void thrustInfo(Vehicle &State) {
State.Fy = (State.lc0_processed - State.lc3_processed) * r / R; State.Fy = (State.lc0_processed - State.lc3_processed) * r / R;
State.thrust = sqrt(pow(State.Fz, 2) + pow(State.Fx, 2) + pow(State.Fy, 2)); State.thrust = sqrt(pow(State.Fz, 2) + pow(State.Fx, 2) + pow(State.Fy, 2));
if (State.burnElapsed > 4.0) {
State.thrustFiring = 2;
digitalWrite(pin_igniter, LOW);
State.thrust = 0.0;
}
} else { } else {
State.thrust = 0.0; State.thrust = 0.0;
} }

3
src/main.cpp
View File

@ -75,8 +75,7 @@ void loop() {
PrevState = State; PrevState = State;
State.time += State.stepSize; State.time += State.stepSize;
if ((State.z < 0.0)) { if ((State.z < 0.0) && (State.thrustFiring == 2)) {
digitalWrite(pin_igniter, LOW);
Serial.println("Run duration:" + String((micros() - initTime) / 1e6) + Serial.println("Run duration:" + String((micros() - initTime) / 1e6) +
" seconds"); " seconds");
printSimResults(State); printSimResults(State);