Anson/Lander-Embedded
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Resolved #7 - added inputs.csv for initial conditions

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This commit is contained in:
bpmcgeeney 2021-09-18 16:26:54 -07:00
parent da752aefff
commit ee67077664
2 changed files with 57 additions and 37 deletions
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6
matlabHelpers/simPlot.m
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@ -48,7 +48,7 @@ title('Altitude vs Time')
xlabel('Time (s)')
ylabel('Altitude (m)')
ylim([0 z(1)+5])
saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
%saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
figure(2)
@ -72,7 +72,7 @@ plot(t, rolldot)
title('Angular Velocity vs Time')
xlabel('Time (ms)')
ylabel('Angular Velocity (deg/s)')
saveas(gcf,'outputs/Euler Angles vs Time.png')
%saveas(gcf,'outputs/Euler Angles vs Time.png')
legend("yawdot", "pitchdot", "rolldot")
figure(3)
@ -90,4 +90,4 @@ plot(t, Servo2)
title('Servo 2 Position vs Time')
xlabel('Time (ms)')
ylabel('Servo 2 Position (rad)')
saveas(gcf,'outputs/Servo Position vs Time.png')
%saveas(gcf,'outputs/Servo Position vs Time.png')

88
src/main.cpp
View File

@ -3,7 +3,10 @@
#include <cmath>
#include <fstream>
#include <iostream>
#include <string>
#include <stdexcept> // std::runtime_error
#include <stdio.h>
#include <vector>
#include "Vehicle.h"
#include "sim.h"
@ -14,50 +17,67 @@ int main() {
Vehicle State;
Vehicle PrevState;
// Create an input filestream
std::ifstream inFile("input.csv");
// Make sure the file is open
if (!inFile.is_open())
throw std::runtime_error("Could not open file");
std::vector<double> varValueVec = std::vector<double>(17, 0.0);
std::string varName, varValue, varUnits;
for (int i; i < 17; i++) {
std::getline(inFile, varName, ',');
std::getline(inFile, varValue, ',');
varValueVec[i] = stod(varValue);
std::getline(inFile, varUnits);
}
// Initial Velocity
State.vx = 0; // [m/s]
State.vy = 0; // [m/s]
State.vz = 0; // [m/s]
State.vx = varValueVec[0]; // [m/s]
State.vy = varValueVec[1]; // [m/s]
State.vz = varValueVec[2]; // [m/s]
// Initial YPR
State.yaw = 10 * M_PI / 180; // [rad]
State.pitch = 5 * M_PI / 180; // [rad]
State.roll = 0 * M_PI / 180; // [rad]
// Initial YPR
State.yaw = varValueVec[3] * M_PI / 180; // [rad]
State.pitch = varValueVec[4] * M_PI / 180; // [rad]
State.roll = varValueVec[5] * M_PI / 180; // [rad]
// Initial YPRdot
State.yawdot = 1 * M_PI / 180; // [rad/s]
State.pitchdot = -1 * M_PI / 180; // [rad/s]
State.rolldot = 0 * M_PI / 180; // [rad/s]
// Initial YPRdot
State.yawdot = varValueVec[6] * M_PI / 180; // [rad/s]
State.pitchdot = varValueVec[7] * M_PI / 180; // [rad/s]
State.rolldot = varValueVec[8] * M_PI / 180; // [rad/s]
// Servo Limitation
State.maxServo = 15; // [degs]
// Servo Limitation
State.maxServo = varValueVec[9]; // [degs]
// Vehicle Properties
State.massInitial = 1.2; // [kg]
State.vehicleHeight = 0.5318; // [m]
State.vehicleRadius = 0.05105; // [m]
State.momentArm = 0.145; // [m]
// Vehicle Properties
State.massInitial = varValueVec[10]; // [kg]
State.vehicleHeight = varValueVec[13]; // [m]
State.vehicleRadius = varValueVec[14]; // [m]
State.momentArm = varValueVec[15]; // [m]
// Sim Step Size
State.stepSize = 1; // [ms]
// Sim Step Size
State.stepSize = varValueVec[16]; // [ms]
// Other Properties
State.massPropellant = 0.06; // [kg]
State.massBurnout = State.massInitial - State.massPropellant; // [kg]
State.burntime = 3.45 - 0.148; // [s]
State.mdot = State.massPropellant / State.burntime; // [kg/s]
State.mass = State.massInitial; // [kg]
State.burnElapsed = 2000; // [s]
PrevState.thrust = 0; // [N]
// Other Properties
State.burntime = varValueVec[12]; // [s]
State.massPropellant = varValueVec[11]; // [kg]
State.massBurnout = State.massInitial - State.massPropellant; // [kg]
State.mdot = State.massPropellant / State.burntime; // [kg/s]
State.mass = State.massInitial; // [kg]
State.burnElapsed = 2000; // [s]
PrevState.thrust = 0; // [N]
bool outcome = sim(State, PrevState);
bool outcome = sim(State, PrevState);
std::cout << "Finished"
<< "\n";
std::cout << "Finished"
<< "\n";
if (outcome == 1) {
std::cout << "Sim Result = Success!";
return 0;
if (outcome == 1) {
std::cout << "Sim Result = Success!";
return 0;
} else if (outcome == 0) {
std::cout << "Sim Result = Failed!";
// return 1; Until I figure out how to make CI/CD continue even when run