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 Co-authored-by: Cian Capacci <46614295+BeeGuyDude@users.noreply.github.com> --- src/surfaceFitModel.cpp | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 src/surfaceFitModel.cpp (limited to 'src/surfaceFitModel.cpp') diff --git a/src/surfaceFitModel.cpp b/src/surfaceFitModel.cpp new file mode 100644 index 0000000..d48da49 --- /dev/null +++ b/src/surfaceFitModel.cpp @@ -0,0 +1,40 @@ +#include "../include/surfaceFitModel.hpp" + +SurfaceFitModel::SurfaceFitModel() { + + p = MatrixXd::Zero(X_DEGREE + 1, Y_DEGREE + 1); + + p(0, 0) = -781536.384794701; + p(1, 0) = 8623.59011973048; + p(0, 1) = 643.65918253; + p(2, 0) = -34.3646691281487; + p(1, 1) = -5.46066535343611; + p(0, 2) = -0.177121900557321; + p(3, 0) = 0.0573287698655951; + p(2, 1) = 0.0150031142038895; + p(1, 2) = 0.00101871763126609; + p(0, 3) = 1.63862900553892e-05; + p(4, 0) = -3.21785828407871e-05; + p(3, 1) = -1.3161091180883e-05; + p(2, 2) = -1.42505256569339e-06; + p(1, 3) = -4.76209793830867e-08; +} + + +double SurfaceFitModel::getFit(double x, double y) { + + return p(0, 0) + p(1, 0) * x + p(0, 1) * y + p(2, 0) * pow(x, 2) + + p(1, 1) * x * y + p(0, 2) * pow(y, 2) + p(3, 0) * pow(x, 3) + + p(2, 1) * pow(x, 2) * y + p(1, 2) * x * pow(y, 2) + p(0, 3) * pow(y, 3) + + p(4, 0) * pow(x, 4) + p(3, 1) * pow(x, 3) * y + p(2, 2) * pow(x, 2) * pow(y, 2) + + p(1, 3) * x * pow(y, 3); +} + + + + + + + + + -- cgit v1.2.3