02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

1 files changed, 60 insertions, 0 deletions

diff --git a/src/actuationPlan.cpp b/src/actuationPlan.cpp
new file mode 100644
index 0000000..a987478
--- /dev/null
+++ b/src/actuationPlan.cpp
@@ -0,0 +1,60 @@
+#include "../include/actuationPlan.hpp"
+
+ActuationPlan::ActuationPlan() {}
+
+ActuationPlan::ActuationPlan(SurfaceFitModel sFitModel) : sFitModel(sFitModel) {
+
+}
+
+
+void ActuationPlan::runPlan(Vehicle& rocket) {
+
+
+    if (rocket.imuReadFail || rocket.altiReadFail) {
+        rocket.deployment_angle = deploy_percentage_to_angle(0); // No fin deployment
+    }
+
+    rocket.fail_time = time(nullptr);
+
+    // 2024 Mission---------------------------------------------------------------------
+    if (rocket.status == GLIDE) {
+
+        // Fin deployment based on current drag coefficient value
+        try {
+            double cd = sFitModel.getFit(rocket.filtered_velocity, rocket.filtered_altitude);
+            cd = std::min(std::max(0.0, cd), 100.0);
+            rocket.deployment_angle = deploy_percentage_to_angle(cd);
+        }
+
+        // Full deployment during coasting
+        catch (...) {
+            rocket.deployment_angle = deploy_percentage_to_angle(0);
+            
+            if ((time(nullptr) - rocket.deploy_time) > 2 && (time(nullptr) - rocket.deploy_time) < 7) {
+                rocket.deployment_angle = deploy_percentage_to_angle(100);
+            }
+        }        
+    }
+
+    else if (rocket.status == APOGEE) {
+
+        rocket.deployment_angle = deploy_percentage_to_angle(50);
+    }
+
+    else {
+
+        rocket.deploy_time = time(nullptr);
+    }
+    // End 2024 Mission------------------------------------------------------------------
+}
+
+
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