diff --git a/src/Motor/Actuators/Actuators.cpp b/src/Motor/Actuators/Actuators.cpp
index 592999f9c95ea2c95a56574a51b650b86afda313..70878c24976685e4c388bd4a751506363a3d7dd5 100644
--- a/src/Motor/Actuators/Actuators.cpp
+++ b/src/Motor/Actuators/Actuators.cpp
@@ -95,25 +95,21 @@ Actuators::Actuators()
info->limit = Config::Servos::MAIN_LIMIT;
info->flipped = Config::Servos::MAIN_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct? Same as lyra
info = getServo(ServosList::OX_VENTING_VALVE);
- info->limit = Config::Servos::VENTING_LIMIT;
- info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->limit = Config::Servos::OX_VENTING_LIMIT;
+ info->flipped = Config::Servos::OX_VENTING_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct? Same as lyra
info = getServo(ServosList::NITROGEN_VALVE);
- info->limit = Config::Servos::VENTING_LIMIT;
- info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->limit = Config::Servos::NITROGEN_LIMIT;
+ info->flipped = Config::Servos::NITROGEN_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct?
info = getServo(ServosList::N2_QUENCHING_VALVE);
- info->limit = Config::Servos::VENTING_LIMIT;
- info->flipped = Config::Servos::VENTING_FLIPPED;
+ info->limit = Config::Servos::N2_QUENCHING_LIMIT;
+ info->flipped = Config::Servos::N2_QUENCHING_FLIPPED;
info->unsafeSetServoPosition(0.0f);
- // TODO: is the configuration correct?
}
bool Actuators::start()
diff --git a/src/Motor/Configs/ActuatorsConfig.h b/src/Motor/Configs/ActuatorsConfig.h
index 36a876cd7fef7e0a3bfd45096f3f3342319a9b0e..820b74693299491826e295a21ee2adc1897f47c2 100644
--- a/src/Motor/Configs/ActuatorsConfig.h
+++ b/src/Motor/Configs/ActuatorsConfig.h
@@ -49,11 +49,17 @@ constexpr float SERVO_CONFIDENCE = 0.02; // 2%
// Timeout is currently set at 2h
constexpr long long SERVO_ACTION_TIMEOUT = 2 * 60 * 60 * 1000;
-constexpr float VENTING_LIMIT = 0.90f;
-constexpr float MAIN_LIMIT = 0.90f;
+// TODO: check this values
+constexpr float OX_VENTING_LIMIT = 0.90f;
+constexpr float MAIN_LIMIT = 0.90f;
+constexpr float NITROGEN_LIMIT = 0.90f;
+constexpr float N2_QUENCHING_LIMIT = 0.90f;
-constexpr bool VENTING_FLIPPED = true;
-constexpr bool MAIN_FLIPPED = true;
+// TODO: check this values
+constexpr bool OX_VENTING_FLIPPED = true;
+constexpr bool MAIN_FLIPPED = true;
+constexpr bool NITROGEN_FLIPPED = true;
+constexpr bool N2_QUENCHING_FLIPPED = true;
} // namespace Servos
diff --git a/src/Motor/Configs/SensorsConfig.h b/src/Motor/Configs/SensorsConfig.h
index f3d039dcc40e288d1404ea345e621379e73ab35c..5f5451d076129bb7e3cafcca4d10846024f1eb20 100644
--- a/src/Motor/Configs/SensorsConfig.h
+++ b/src/Motor/Configs/SensorsConfig.h
@@ -111,16 +111,26 @@ Channel 4 - 29.65ohm
0.3584V 12.06mA 29.72ohm
0.5911V 20mA 29.55ohm
*/
+
+// TODO: calibrate ch0 and ch1
+constexpr float CH0_SHUNT_RESISTANCE = 29.0;
+constexpr float CH1_SHUNT_RESISTANCE = 29.0;
+
constexpr float CH4_SHUNT_RESISTANCE = 29.79;
constexpr float CH5_SHUNT_RESISTANCE = 29.7;
constexpr float CH6_SHUNT_RESISTANCE = 29.65;
+// TODO: check if the selected channels are fine
constexpr Boardcore::ADS131M08Defs::Channel TANK_TC_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_3;
-constexpr Boardcore::ADS131M08Defs::Channel TANK_TOP_PT_CHANNEL =
+constexpr Boardcore::ADS131M08Defs::Channel OX_TANK_TOP_PT_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_5;
-constexpr Boardcore::ADS131M08Defs::Channel TANK_BOTTOM_PT_CHANNEL =
+constexpr Boardcore::ADS131M08Defs::Channel OX_TANK_BOTTOM_0_PT_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_6;
+constexpr Boardcore::ADS131M08Defs::Channel OX_TANK_BOTTOM_1_PT_CHANNEL =
+ Boardcore::ADS131M08Defs::Channel::CHANNEL_0;
+constexpr Boardcore::ADS131M08Defs::Channel N2_TANK_PT_CHANNEL =
+ Boardcore::ADS131M08Defs::Channel::CHANNEL_1;
constexpr Boardcore::ADS131M08Defs::Channel ENGINE_PT_CHANNEL =
Boardcore::ADS131M08Defs::Channel::CHANNEL_4;
@@ -130,16 +140,23 @@ constexpr bool ENABLED = true;
namespace Trafag
{
-constexpr float TANK_TOP_SHUNT_RESISTANCE = ADS131M08::CH5_SHUNT_RESISTANCE;
-constexpr float TANK_BOTTOM_SHUNT_RESISTANCE = ADS131M08::CH6_SHUNT_RESISTANCE;
-constexpr float ENGINE_SHUNT_RESISTANCE = ADS131M08::CH4_SHUNT_RESISTANCE;
+constexpr float OX_TANK_TOP_SHUNT_RESISTANCE = ADS131M08::CH5_SHUNT_RESISTANCE;
+constexpr float OX_TANK_BOTTOM_0_SHUNT_RESISTANCE =
+ ADS131M08::CH6_SHUNT_RESISTANCE;
+constexpr float OX_TANK_BOTTOM_1_SHUNT_RESISTANCE =
+ ADS131M08::CH0_SHUNT_RESISTANCE;
+constexpr float N2_TANK_SHUNT_RESISTANCE = ADS131M08::CH1_SHUNT_RESISTANCE;
+constexpr float ENGINE_SHUNT_RESISTANCE = ADS131M08::CH4_SHUNT_RESISTANCE;
constexpr float MIN_CURRENT = 4;
constexpr float MAX_CURRENT = 20;
-constexpr float TANK_TOP_MAX_PRESSURE = 100; // bar
-constexpr float TANK_BOTTOM_MAX_PRESSURE = 100; // bar
-constexpr float ENGINE_MAX_PRESSURE = 40; // bar
+// TODO: check these values
+constexpr float OX_TANK_TOP_MAX_PRESSURE = 100; // bar
+constexpr float OX_TANK_BOTTOM_0_MAX_PRESSURE = 100; // bar
+constexpr float OX_TANK_BOTTOM_1_MAX_PRESSURE = 100; // bar
+constexpr float N2_TANK_MAX_PRESSURE = 100; // TODO: CHECK
+constexpr float ENGINE_MAX_PRESSURE = 40; // bar
} // namespace Trafag
namespace Kulite
diff --git a/src/Motor/Sensors/Sensors.cpp b/src/Motor/Sensors/Sensors.cpp
index 06211420c1ab8b76eae71c68b9ec96e0a70d092e..95916ba97ddbf33e45b4b462e74cd39cc95c09c0 100644
--- a/src/Motor/Sensors/Sensors.cpp
+++ b/src/Motor/Sensors/Sensors.cpp
@@ -335,19 +335,32 @@ void Sensors::ads131m08Init()
// Configure all required channels
config.channelsConfig[(
- int)Config::Sensors::ADS131M08::TANK_TOP_PT_CHANNEL] = {
+ int)Config::Sensors::ADS131M08::OX_TANK_TOP_PT_CHANNEL] = {
.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
config.channelsConfig[(
- int)Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL] = {
+ int)Config::Sensors::ADS131M08::OX_TANK_BOTTOM_0_PT_CHANNEL] = {
.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
.offset = 0,
.gain = 1.0};
+ config.channelsConfig[(
+ int)Config::Sensors::ADS131M08::OX_TANK_BOTTOM_1_PT_CHANNEL] = {
+ .enabled = true,
+ .pga = ADS131M08Defs::PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0};
+
+ config.channelsConfig[(int)Config::Sensors::ADS131M08::N2_TANK_PT_CHANNEL] =
+ {.enabled = true,
+ .pga = ADS131M08Defs::PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0};
+
config.channelsConfig[(int)Config::Sensors::ADS131M08::ENGINE_PT_CHANNEL] =
{.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_1,
@@ -387,13 +400,12 @@ void Sensors::oxTopTankPressureInit()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_TOP_PT_CHANNEL);
+ Config::Sensors::ADS131M08::OX_TANK_TOP_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_TOP_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_TOP_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_TOP_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_TOP_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is configuration correct?
}
void Sensors::oxTopTankPressureCallback()
@@ -408,28 +420,24 @@ void Sensors::oxBottomTankPressureInit()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL);
- // TODO: which is the correct channel?
+ Config::Sensors::ADS131M08::OX_TANK_BOTTOM_0_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_BOTTOM_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_0_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_0_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is this configuration correct?
oxBottomTankPressure1 = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_BOTTOM_PT_CHANNEL);
- // TODO: which is the correct channel?
+ Config::Sensors::ADS131M08::OX_TANK_BOTTOM_1_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_BOTTOM_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_BOTTOM_MAX_PRESSURE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_1_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::OX_TANK_BOTTOM_1_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is this configuration correct?
}
void Sensors::oxBottomTankPressure0Callback()
@@ -449,14 +457,12 @@ void Sensors::n2TankPressureInit()
{
auto sample = getADS131M08LastSample();
return sample.getVoltage(
- Config::Sensors::ADS131M08::TANK_TOP_PT_CHANNEL);
- // TODO: which is the correct channel?
+ Config::Sensors::ADS131M08::N2_TANK_PT_CHANNEL);
},
- Config::Sensors::Trafag::TANK_TOP_SHUNT_RESISTANCE,
- Config::Sensors::Trafag::TANK_TOP_MAX_PRESSURE,
+ Config::Sensors::Trafag::N2_TANK_SHUNT_RESISTANCE,
+ Config::Sensors::Trafag::N2_TANK_MAX_PRESSURE,
Config::Sensors::Trafag::MIN_CURRENT,
Config::Sensors::Trafag::MAX_CURRENT);
- // TODO: is this configuration correct?
}
void Sensors::n2TankPressureCallback()