From 90c4d94b13472114daab71d3e368660224423c90 Mon Sep 17 00:00:00 2001
From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com>
Date: Thu, 9 May 2024 01:20:17 -0400
Subject: 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 <jazzjacksonhomebase@gmail.com>
Co-authored-by: Cian Capacci <46614295+BeeGuyDude@users.noreply.github.com>
---
 src/motor.cpp | 46 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 src/motor.cpp

(limited to 'src/motor.cpp')

diff --git a/src/motor.cpp b/src/motor.cpp
new file mode 100644
index 0000000..84785a9
--- /dev/null
+++ b/src/motor.cpp
@@ -0,0 +1,46 @@
+#include "../include/motor.hpp"
+
+
+
+Motor::Motor() {
+
+
+}
+
+bool Motor::init(void* data) {
+
+    Vehicle *vehicle = (Vehicle *) data;
+    double duty = 100 - ((MIN_ANGLE / 180) * vehicle->duty_span + DUTY_MIN);
+
+    // Initialize stuff
+    // .....
+    // .....
+
+
+    data = (void*) vehicle; // Is this necessary?
+    return true;
+}
+
+
+bool Motor::writeData(void* data) {
+
+    Vehicle *vehicle = (Vehicle *) data;
+    double duty = 100 - ((vehicle->deployment_angle / 180) * vehicle->duty_span + DUTY_MIN);
+
+    // Send the Data somewhere
+    // ..... Pin
+    // ..... Duty
+    // ..... PWM frequency Hz
+    // ..... Polarity
+    
+
+    if (1 == 2) {
+        Logger::Get().logErr("Some type of Error");
+        return false;
+    }
+
+    data = (void*) vehicle; // Is this necessary?
+    return true;
+}
+
+
-- 
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