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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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;