Anson/Lander-Embedded
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now reading from load cells each loop

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This commit is contained in:
Anson Biggs 2021-11-13 11:17:44 -07:00
parent 069ab2a9e4
commit b9c2e7fb35
3 changed files with 35 additions and 25 deletions
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37
include/LoadCells.h
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@ -2,20 +2,22 @@
#include <HX711.h>
struct LoadCells {
HX711 loadcell_0;
HX711 loadcell_1;
HX711 loadcell_2;
HX711 loadcell_3;
HX711 lc0;
HX711 lc1;
HX711 lc2;
HX711 lc3;
double lc0Value;
double lc1Value;
double lc2Value;
double lc3Value;
// Current calibrated value
double lc0Val;
double lc1Val;
double lc2Val;
double lc3Val;
double lc0Calibration;
double lc1Calibration;
double lc2Calibration;
double lc3Calibration;
// Calibration offset
double lc0Cal;
double lc1Cal;
double lc2Cal;
double lc3Cal;
};
double loadCellCalibrate(HX711 loadCell) {
@ -28,10 +30,9 @@ double loadCellCalibrate(HX711 loadCell) {
return loadTotal / 10.0;
}
void init_LoadCells(LoadCells &loadCells) {
loadCells.lc0Calibration = loadCellCalibrate(loadCells.loadcell_0);
loadCells.lc1Calibration = loadCellCalibrate(loadCells.loadcell_1);
loadCells.lc2Calibration = loadCellCalibrate(loadCells.loadcell_2);
loadCells.lc3Calibration = loadCellCalibrate(loadCells.loadcell_3);
void update_LoadCells(LoadCells &loadCells) {
loadCells.lc0Val = loadCells.lc0.read();
loadCells.lc1Val = loadCells.lc1.read();
loadCells.lc2Val = loadCells.lc2.read();
loadCells.lc3Val = loadCells.lc3.read();
}

5
include/teensy.h
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@ -14,7 +14,6 @@ void teensyAbort();
const int chipSelect = BUILTIN_SDCARD;
File dataFile;
void initFile() {
Serial.print("Initializing SD card...");
@ -102,8 +101,8 @@ void processTVC(Vehicle &State, LoadCells &loadCells) {
// Vector math to aqcuire thrust vector components
// PLACEHOLDER PLACEHOLDERPLACEHOLDER PLACEHOLDERPLACEHOLDER
// PLACEHOLDERPLACEHOLDER PLACEHOLDERPLACEHOLDER PLACEHOLDER
State.Fx = loadCells.lc1Value + loadCells.lc2Value;
State.Fy = loadCells.lc0Value + loadCells.lc3Value;
State.Fx = loadCells.lc1Val + loadCells.lc2Val;
State.Fy = loadCells.lc0Val + loadCells.lc3Val;
State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
(State.mass * g);

18
src/main.cpp
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@ -58,6 +58,17 @@ void setup() {
pinMode(lc_data_1, INPUT);
pinMode(lc_data_2, INPUT);
pinMode(lc_data_3, INPUT);
loadCells.lc0.begin(lc_data_0, lc_clock);
loadCells.lc1.begin(lc_data_1, lc_clock);
loadCells.lc2.begin(lc_data_2, lc_clock);
loadCells.lc3.begin(lc_data_3, lc_clock);
Serial.println("Load Cells Initialized");
loadCells.lc0Cal = loadCellCalibrate(loadCells.lc0);
loadCells.lc1Cal = loadCellCalibrate(loadCells.lc1);
loadCells.lc2Cal = loadCellCalibrate(loadCells.lc2);
loadCells.lc3Cal = loadCellCalibrate(loadCells.lc3);
Serial.println("Load Cells Calibrated");
delay(1000);
init_Vehicle(State);
@ -69,8 +80,6 @@ void setup() {
Serial.println("Starting Height Calculated");
delay(1000);
init_LoadCells(loadCells);
Serial.println("Load Cells Calibrated");
delay(1000);
initFile();
@ -103,6 +112,7 @@ void loop() {
void loop() {
last = micros();
update_LoadCells(loadCells);
vehicleDynamics(State, PrevState);
thrustInfo(State);
pidController(State, PrevState);
@ -111,8 +121,8 @@ void loop() {
processTVC(State, loadCells);
State.stepDuration = micros() - last;
write2CSV(State, loadCells.lc0Value, loadCells.lc1Value, loadCells.lc2Value,
loadCells.lc3Value);
write2CSV(State, loadCells.lc0Val, loadCells.lc1Val, loadCells.lc2Val,
loadCells.lc3Val);
// Set "prev" values for next timestep
PrevState = State;