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>
---
 include/surfaceFitModel.hpp | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 include/surfaceFitModel.hpp

(limited to 'include/surfaceFitModel.hpp')

diff --git a/include/surfaceFitModel.hpp b/include/surfaceFitModel.hpp
new file mode 100644
index 0000000..303633f
--- /dev/null
+++ b/include/surfaceFitModel.hpp
@@ -0,0 +1,32 @@
+#pragma once
+#include <cmath>
+#include "eigen3/Eigen/Dense"
+
+
+using namespace Eigen;
+
+#define X_DEGREE 4 // Highest x-degree of current Surface Fit Model
+#define Y_DEGREE 3 // Highest y-degree of current Surface Fit Model
+
+class SurfaceFitModel {
+
+    private:
+        MatrixXd p; // Polynomial values
+
+    public:
+
+        /**
+         * @brief Construct a new Surface Fit Model object
+         * 
+         */
+        SurfaceFitModel();
+
+        /**
+         * @brief 
+         * 
+         * @param x 
+         * @param y 
+         * @return double 
+         */
+        double getFit(double x, double y);
+};
-- 
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