Anson/Lander-Embedded
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additional fixes for test gimbal

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This commit is contained in:
bpmcgeeney 2021-11-29 11:34:05 -07:00
parent b75069986f
commit f13b4cba39
2 changed files with 6 additions and 7 deletions
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8
include/Vehicle.h
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@ -61,13 +61,13 @@ void init_Vehicle(Vehicle &State) {
State.vz = 0.0; // [m/s] State.vz = 0.0; // [m/s]
// Initial YPR // Initial YPR
State.yaw = 45.0 * M_PI / 180.0; // [rad] State.yaw = 0.0 * M_PI / 180.0; // [rad]
State.pitch = 45.0 * M_PI / 180.0; // [rad] State.pitch = 0.0 * M_PI / 180.0; // [rad]
State.roll = 0.0 * M_PI / 180.0; // [rad] State.roll = 0.0 * M_PI / 180.0; // [rad]
// Initial YPRdot // Initial YPRdot
State.yawdot = 1.0 * M_PI / 180.0; // [rad/s] State.yawdot = 0.0 * M_PI / 180.0; // [rad/s]
State.pitchdot = -1.0 * M_PI / 180.0; // [rad/s] State.pitchdot = 0.0 * M_PI / 180.0; // [rad/s]
State.rolldot = 0.0 * M_PI / 180.0; // [rad/s] State.rolldot = 0.0 * M_PI / 180.0; // [rad/s]
// Servo Limitation // Servo Limitation

5
include/teensy.h
View File

@ -55,8 +55,9 @@ void testGimbal(PWMServo &yaw, PWMServo &pitch) {
yaw.write(yaw_conv(servoTest)); yaw.write(yaw_conv(servoTest));
pitch.write(pitch_conv(servoTest)); pitch.write(pitch_conv(servoTest));
delay(1000);
// 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);
@ -69,7 +70,6 @@ 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);
@ -82,7 +82,6 @@ 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));