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44 lines
895 B
C++
44 lines
895 B
C++
#include <array>
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#ifndef VEHICLE_H
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#define VEHICLE_H
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struct Vehicle {
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double x, y, z;
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double vx, vy, vz;
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double vxBody, vyBody, vzBody;
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double ax, ay, az;
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double yaw, pitch, roll;
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double phidot, thetadot, psidot;
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double yawdot, pitchdot, rolldot;
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double yawddot, pitchddot, rollddot;
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double mass, massInitial, massPropellant, massBurnout, mdot;
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double vehicleHeight, vehicleRadius, momentArm;
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double burntime;
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double burnVelocity;
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double thrust, burnElapsed, burnStart;
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bool thrustFiring = false;
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double PIDx, PIDy, Fx, Fy, Fz;
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double momentX, momentY, momentZ;
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double I11, I22, I33;
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double I11dot, I22dot, I33dot;
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int maxServo;
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double xServoDegs, yServoDegs;
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double Kp, Ki, Kd;
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double yError, yPrevError;
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double pError, pPrevError;
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double i_yError, i_pError = 0;
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double d_yError, d_pError;
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double simTime;
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int stepSize;
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};
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#endif |