Anson/Lander-Embedded
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Merge branch 'op_dem' of https://gitlab.com/lander-team/lander-cpp into op_dem

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This commit is contained in:
bpmcgeeney 2021-11-30 12:00:08 -07:00
commit c30984600d
2 changed files with 15 additions and 1 deletions
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14
include/teensy.h
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@ -229,7 +229,21 @@ void thrustInfo(Vehicle &State) {
State.burnStart = State.time; State.burnStart = State.time;
State.burnElapsed = 0.0; State.burnElapsed = 0.0;
// Save load cell values before ignition
double lc_val = State.lc0_processed + State.lc1_processed +
State.lc2_processed + State.lc3_processed;
// CONTACT
Serial.println("CONTACT");
digitalWrite(pin_igniter, HIGH); digitalWrite(pin_igniter, HIGH);
// Wait for motor to start burning
Serial.println("waiting for motor to start.");
while (lc_val * 1.5 < State.lc0_processed + State.lc1_processed +
State.lc2_processed + State.lc3_processed) {
;
}
State.thrustFiring = 1; State.thrustFiring = 1;
} else if (State.thrustFiring == 1) { } else if (State.thrustFiring == 1) {

2
src/main.cpp
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@ -66,7 +66,7 @@ void loop() {
vehicleDynamics(State, PrevState); vehicleDynamics(State, PrevState);
thrustInfo(State); thrustInfo(State);
pidController(State, PrevState); pidController(State, PrevState);
TVC(State, PrevState); thrustInfo(State);
processTVC(State, yaw, pitch); processTVC(State, yaw, pitch);
write2CSV(State); write2CSV(State);