[ENGINE] Added placeholders for sensor and servo configurations.

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()

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;
+// 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;
+// 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
 

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;
 
@@ -130,15 +140,22 @@ 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 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
+// 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
 

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()