Final adjustments

src/iss_sim_auto_docking/calc.clj

@@ -1,7 +1,6 @@
 (ns iss-sim-auto-docking.calc
   (:gen-class))
 
-
 (defn get-vx
   "Calculate velocity vector x component."
   [dt dx]
@@ -15,6 +14,5 @@
 (defn get-vz
   "Calculate velocity vector z component."
   [dt dz]
-  (float (/ dz dt))
-)
+  (float (/ dz dt)))
 

src/iss_sim_auto_docking/core.clj

@@ -1,8 +1,8 @@
 (ns iss-sim-auto-docking.core
   (:require
-            [etaoin.api :refer :all]
-            [iss-sim-auto-docking.dragon :as dragon]
-            [iss-sim-auto-docking.telemetry :as tel])
+   [etaoin.api :refer :all]
+   [iss-sim-auto-docking.dragon :as dragon]
+   [iss-sim-auto-docking.telemetry :as tel])
   (:gen-class))
 
 (def sim-website-url "https://iss-sim.spacex.com")
@@ -34,6 +34,7 @@
     (future (tel/poll chr))
     (wait chr 2)
     ;; concurrent futures for each control axis
+    (println "Rotation alignment enabled")
     (future (dragon/align-roll-rot chr))
     (future (dragon/align-pitch-rot chr))
     (future (dragon/align-yaw-rot chr))
@@ -42,17 +43,15 @@
     (dragon/wait-rotation-stopped)
     ;; concurrent futures for each translation axis besides approach axis x
     (wait chr 4)
+    (println "Translation alignment enabled")
     (future (dragon/align-z-translation chr))
     (future (dragon/align-y-translation chr))
     (wait chr 5)
 
-    (dragon/translate chr "fwd")
-    (dragon/translate chr "fwd")
-    (dragon/translate chr "fwd")
-
     ;; start actual approach to docking port
-    (future (dragon/approach chr))
-    (wait chr 300)
-    )
-  (System/exit 0)
-  )
+    (dragon/accelerate chr)
+    (future (dragon/decellerate chr))
+    (wait-visible chr success {:timeout 300})
+    (println "Docking confirmed")
+    (wait chr 10))
+  (System/exit 0))

src/iss_sim_auto_docking/dragon.clj

@@ -10,14 +10,20 @@
 
 ;; thresholds
 (def max-def-rot-rate 0.1)
-(def max-approach-rate -2.0)
-(def max-final-approach-rate -0.18)
+(def max-approach-rate 2.0)
+(def max-final-approach-rate -0.15)
 (def max-rotation-error 0.2)
 (def min-rot-impulse-interval 400) ;; ms
-(def min-transl-impulse-interval 800)                       ;; ms
-(def max-translation-error 0.2)
-(def max-translation-rate 0.10)
-(def safezone 10)
+(def min-transl-impulse-interval 1500)                       ;; ms
+(def max-translation-error 0.21)
+(def max-translation-rate 0.04)
+(def safezone 15)
+(def deadzone 0.3)
+
+(defn x-within-safe-zone?
+  "Check if the spaceship is within the safe zone."
+  []
+  (<= (math/abs (@tel/telem :x)) safezone))
 
 ;; RCS control functions
 
@@ -34,8 +40,7 @@
      (case dir
        "left" (fill-active driv comma)
        "right" (fill-active driv point)))
-   (Thread/sleep min-rot-impulse-interval)
-   )
+   (Thread/sleep min-rot-impulse-interval))
   ([driv dir]
    (roll driv dir max-def-rot-rate)))
 
@@ -50,8 +55,7 @@
      (case dir
        "up" (fill-active driv k/arrow-up)
        "down" (fill-active driv k/arrow-down)))
-   (Thread/sleep min-rot-impulse-interval)
-   )
+   (Thread/sleep min-rot-impulse-interval))
   ([driv dir]
    (pitch driv dir max-def-rot-rate)))
 
@@ -67,8 +71,7 @@
        "port" (fill-active driv k/arrow-left)                  ;; left
        "starboard" (fill-active driv k/arrow-right)            ;; right
 ))
-   (Thread/sleep min-rot-impulse-interval)
-   )
+   (Thread/sleep min-rot-impulse-interval))
   ([driv dir]
    (yaw driv dir max-def-rot-rate)))
 
@@ -97,11 +100,12 @@
                  (pos? (@tel/telem :vx)))
             (fill-active driv "e"))
     "aft" (when (or
-                 (< (math/abs (@tel/telem :vx)) max-approach-rate)
-                 (neg? (@tel/telem :vx)))
-            (fill-active driv "q")))
-  (Thread/sleep min-transl-impulse-interval)
-  )
+                 (> (math/abs (@tel/telem :vx)) max-approach-rate)
+                 (and
+                  (neg? (@tel/telem :vx))
+                  (x-within-safe-zone?)
+                  (< (@tel/telem :vx) -0.2)))
+            (fill-active driv "q"))))
 
 ;; Alignment functions
 
@@ -128,18 +132,28 @@
 (defn align-y
   "docstring"
   [driv]
-  (if (pos? (@tel/telem :y))
-    (translate driv "left")
-    (translate driv "right"))
-  )
+  (let [y (@tel/telem :y)
+        vy (@tel/telem :vy)]
+    (if (pos? y)
+      (when (or (> (math/abs y) deadzone)
+                (pos? vy))
+        (translate driv "left"))
+      (when (or (> (math/abs y) deadzone)
+                (neg? vy))
+        (translate driv "right")))))
 
 (defn align-z
   "docstring"
   [driv]
-  (if (pos? (@tel/telem :z))
-    (translate driv "down")
-    (translate driv "up"))
-  )
+  (let [z (@tel/telem :z)
+        vz (@tel/telem :vz)]
+    (if (pos? z)
+      (when (or (> (math/abs z) deadzone)
+                (pos? vz))
+        (translate driv "down"))
+      (when (or (> (math/abs z) deadzone)
+                (neg? vz))
+        (translate driv "up")))))
 
 (defn kill-pitch-rot
   "docstring"
@@ -176,6 +190,7 @@
       (if (pos? vy)
         (translate driv "left")
         (translate driv "right"))
+      (Thread/sleep min-transl-impulse-interval)
       (recur driv))))
 
 (defn kill-z-translation
@@ -186,17 +201,16 @@
       (if (pos? vz)
         (translate driv "down")
         (translate driv "up"))
+      (Thread/sleep min-transl-impulse-interval)
       (recur driv))))
 
 (defn slowdown-under-limit
   "docstring"
   [driv max-rate]
   (let [vx (@tel/telem :vx)]
-    (when (> vx max-rate)
+    (when (<= vx max-rate)
       (translate driv "aft")
-      (recur driv max-rate))
-    )
-  )
+      (recur driv max-rate))))
 
 ;; Internal functions
 
@@ -225,12 +239,6 @@
   []
   (<= (math/abs (@tel/telem :z)) max-translation-error))
 
-(defn x-within-safe-zone?
-  "Check if the spaceship is within the safe zone."
-  []
-  (<= (math/abs (@tel/telem :x)) safezone)
-  )
-
 (defn wait-rotation-stopped
   "Keep polling telemetry until rotation stop has been confirmed."
   []
@@ -277,7 +285,7 @@
   (if (y-within-error?)
     (kill-y-translation driv)
     (align-y driv))
-  (Thread/sleep 1000)
+  (Thread/sleep min-transl-impulse-interval)
   (recur driv))
 
 (defn align-z-translation
@@ -286,14 +294,18 @@
   (if (z-within-error?)
     (kill-z-translation driv)
     (align-z driv))
-  (Thread/sleep 1000)
+  (Thread/sleep min-transl-impulse-interval)
   (recur driv))
 
-(defn approach
-  "Perform controlled approach on x axis."
+(defn accelerate
+  "docstring"
   [driv]
-  (if (x-within-safe-zone?)
-    (slowdown-under-limit driv 0.18)
-    )
-  (recur driv)
-  )
+  (repeat 10 (translate driv "fwd")))
+
+(defn decellerate
+  "docstring"
+  [driv]
+  (Thread/sleep 1000)
+  (if (< (@tel/telem :x) safezone)
+    (repeat 8 (translate driv "aft"))
+    (recur driv)))

src/iss_sim_auto_docking/telemetry.clj

@@ -9,13 +9,12 @@
 (def telem (atom {:x 200
                   :y 12
                   :z 30
-                  :t (System/currentTimeMillis)
-                  }))
+                  :t (System/currentTimeMillis)}))
 
 (def deg (new String "°"))
 (def emptystr (new String ""))
 
-(def poll-interval 50) ;; ms
+(def poll-interval 150) ;; ms
 ;; Internal functions
 
 (defn parse-delta
@@ -163,7 +162,6 @@
                :vy vy
                :vz vz
 
-               :t (System/currentTimeMillis)
-               ))
+               :t (System/currentTimeMillis)))
 
       (recur driv))))