mirror of
https://gitlab.com/lander-team/lander-cpp.git
synced 2025-06-16 15:17:23 +00:00
95 lines
2.6 KiB
C++
95 lines
2.6 KiB
C++
#define M_PI 3.14159265359
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#include <cmath>
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#include <fstream>
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#include <iostream>
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#include <stdexcept> // std::runtime_error
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#include <stdio.h>
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#include <string>
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#include <vector>
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#include "Vehicle.h"
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#include "sim.h"
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bool sim(struct Vehicle &);
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int main() {
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Vehicle State;
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Vehicle PrevState;
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// Create an input filestream
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std::ifstream inFile("input.csv");
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// Make sure the file is open
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if (!inFile.is_open())
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throw std::runtime_error("Could not open file");
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std::vector<double> varValueVec = std::vector<double>(17, 0.0);
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std::string varName, varValue, varUnits;
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for (int i; i < 20; i++) {
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std::getline(inFile, varName, ',');
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std::getline(inFile, varValue, ',');
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varValueVec[i] = stod(varValue);
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std::getline(inFile, varUnits);
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}
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// Initial Velocity
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State.vx = varValueVec[0]; // [m/s]
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State.vy = varValueVec[1]; // [m/s]
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State.vz = varValueVec[2]; // [m/s]
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// Initial YPR
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State.yaw = varValueVec[3] * M_PI / 180; // [rad]
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State.pitch = varValueVec[4] * M_PI / 180; // [rad]
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State.roll = varValueVec[5] * M_PI / 180; // [rad]
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// Initial YPRdot
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State.yawdot = varValueVec[6] * M_PI / 180; // [rad/s]
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State.pitchdot = varValueVec[7] * M_PI / 180; // [rad/s]
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State.rolldot = varValueVec[8] * M_PI / 180; // [rad/s]
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// Servo Limitation
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State.maxServo = varValueVec[9]; // [degs]
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// Vehicle Properties
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State.massInitial = varValueVec[10]; // [kg]
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State.vehicleHeight = varValueVec[13]; // [m]
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State.vehicleRadius = varValueVec[14]; // [m]
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State.momentArm = varValueVec[15]; // [m]
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// Sim Step Size
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State.stepSize = varValueVec[16]; // [ms]
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// PID Gains
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State.Kp = varValueVec[17];
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State.Ki = varValueVec[18];
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State.Kd = varValueVec[19];
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std::cout << State.Kd << "\n";
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// Other Properties
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State.burntime = varValueVec[12]; // [s]
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State.massPropellant = varValueVec[11]; // [kg]
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State.massBurnout = State.massInitial - State.massPropellant; // [kg]
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State.mdot = State.massPropellant / State.burntime; // [kg/s]
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State.mass = State.massInitial; // [kg]
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State.burnElapsed = 2000; // [s]
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PrevState.thrust = 0; // [N]
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bool outcome = sim(State, PrevState);
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std::cout << "Finished"
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<< "\n";
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if (outcome == 1) {
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std::cout << "Sim Result = Success!";
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return 0;
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} else if (outcome == 0) {
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std::cout << "Sim Result = Failed!";
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// return 1; Until I figure out how to make CI/CD continue even when run
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// fails.
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return 0;
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}
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} |