RT Firmware Libs

Structure

Arduino code is at the top level. For other files, see the directory .other, in which the following can be found:

• docs/system_architecture: documentation regarding the structure of the code
• src/java.sim.nocompile/*: java code for the OR simulator at MDNich/ActiveControl_MIT_RktTeam. It will not compile in this repository, and it is purely for reference purposes.

See this diagram for an overview of the simulation clases (updated continually).

Arduino Libraries

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Accelerometer Library

ADXL357(SPIClass* SPI, SPISettings settings, int cs)

constructor

void setup()

Set range to +/- 40G, Set LPF to 125Hz and ODR to 500HZ, begin measurements

void update()

updates accelerometer values if available

float getAccelX()

returns x axis acceleration in m/s^2

float getAccelY()

returns y axis acceleration in m/s^2

float getAccelZ()

returns z axis acceleration in m/s^2

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GPS library

GPS(HardwareSerial* gpsSer)

hardware serial constructor

GPS(USBSerial* gpsSer)

USB serial constructor

void setup()

begins serial port

void updateAndParse()

moves any available serial data into the data buffer, and if any data is available, parses the buffer

float getPDOP()

returns PDOP

float getVDOP()

returns VDOP

float getHDOP()

returns HDOP

float getLatitude()

returns latitude

float getLongitude()

returns longitude

float getAltitude()

returns altitude in meters

bool getFix()

returns true if GPS fix; false otherwise

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Roll Control Library

rollControl()

constructor

void setup()

starts the servo drive signal to the zero (+offset) point

void updateRollControl(ServoState state, float angle, float velo, float roll, float rollRate)

updates the servo control mode, rocket velocity for scaling, and angle (if in SERVO_ANGLE mode).

SERVO_STATE is either SERVO_ZERO, SERVO_ANGLE, or SERVO_PD

uint16_t getServo6Us()

returns time in us the servo 6 drive signal is a logic high

conversion to degrees is (us - 1500) / 500 * 60

uint16_t getServo7Us()

returns time in us the servo 7 drive signal is a logic high

conversion to degrees is (us - 1500) / 500 * 60