Anson/Lander-Embedded
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Code Releases Activity

Merge branch 'main' into '22-make-function-to-turn-test-stand-load-cells-into-thrust-vector'

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# Conflicts:
#   .vscode/extensions.json
#   include/teensy.h
#   src/main.cpp
This commit is contained in:
Anson Biggs
2021-11-12 20:46:35 +00:00
parent 2a0426334d 8ec17dd820
commit f7c34b6c8c
9 changed files with 285 additions and 138 deletions
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27
src/main.cpp
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@@ -10,6 +10,8 @@
#include <vector>
#elif defined(TEENSY)
#include <Arduino.h>
int BUILTIN_LED = 13;
unsigned long last;
#endif
@@ -18,6 +20,7 @@ unsigned long last;
#if defined(NATIVE) || defined(_WIN32)
#include "native.h"
outVector stateVector;
#elif defined(TEENSY)
#include "LoadCells.h"
@@ -35,7 +38,6 @@ const int lc_data_3 = 3;
Vehicle State;
Vehicle PrevState;
outVector stateVector;
#if defined(NATIVE) || defined(_WIN32)
void setup() {
@@ -71,6 +73,8 @@ void setup() {
Serial.println("Load Cells Calibrated");
delay(1000);
initFile();
delay(1000);
}
#endif
@@ -83,9 +87,11 @@ void loop() {
processTVC(State);
state2vec(State, PrevState, stateVector);
// Set "prev" values for next timestep
PrevState = State;
State.time += State.stepSize;
if (State.z < 0.0) {
if ((State.z < 0.0) && (State.thrustFiring == 2)) {
write2CSV(stateVector, State);
printSimResults(State);
init_Vehicle(State);
@@ -93,6 +99,7 @@ void loop() {
}
#elif defined(TEENSY)
void loop() {
last = millis();
vehicleDynamics(State, PrevState);
thrustInfo(State);
@@ -103,14 +110,16 @@ void loop() {
State.time += State.stepSize;
if (State.z < 0.0) {
write2CSV(stateVector, State);
if ((State.z < 0.0) && (State.thrustFiring == 2)) {
printSimResults(State);
init_Vehicle(State);
Serial.println("Last run duration:" + String(millis() - last + " ms"));
Serial.println("Run duration:" + String(millis() - last) + " ms");
delay(1000);
Serial.println("Restarting Sim");
closeFile();
delay(20000);
Serial.println("SUCCESS");
Serial.println("Aborting Sim");
teensyAbort();
}
}
#endif
@@ -122,7 +131,7 @@ int main() {
do {
loop();
} while ((State.z > 0.0));
} while ((State.z > 0.0) || (State.thrustFiring != 2));
return 0;
}