File content as of revision 0:381a84fad08b:

#include "mbed.h"
#include "MODSERIAL.h" //for IMU (and got rid of regular serial library) #include "IMU_code.h" 
#include "StaticDefs.hpp"
#include "ltc1298.hpp"

#include <cstdlib>

#include <string>
using namespace std;

#include "IMU_code.h"                   //IMU code

#include "Battery_Linear_Actuator.h"    //Battery Linear Actuator code (TROY)         (FIX INCLUSION ISSUES, ports)
 
Serial PC(USBTX,USBRX);     //tx, rx

extern "C" void mbed_reset();   //utilized to reset the mbed through the serial terminal

char Key;

string IMU_STRING = "";

DigitalOut pin_ENA(p23);    //ENA       //DigitalOut PinName (pin) //Troy: IF WE NEED IT
DigitalOut pin_IN1(p22);    //IN1      (changed from pin11 and 12)   
DigitalOut pin_IN2(p21);    //IN2       //should I use wait or interrupt to control this?

DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

DigitalOut enab(p9);        // a/d converter enable

AnalogIn   pressure_analog_in(A5); //Initialize pin20   (read is float value)

/* ************ These tickers work independent of any while loops ********** */
Ticker IMU_ticker; //ticker for printing IMU //https://developer.mbed.org/handbook/Ticker
Ticker BE_position_ticker;  //probably delete soon
Ticker PRESSURE_ticker;

Ticker BCE_ticker;  //new 6/5/17
/*float motor_cmd = 0.0;
float positionCmd = 250.0;
float P = 0.10;
float I = 0.00;
float D = 0.00;
*/
float positionCmd = 250.0;
/* ************************************************************************* */ 

void IMU_ticking()
{
    led1 = !led1;   //flash the IMU LED
    
    if (!IMU_STRING.empty())
        PC.printf("%s\n", IMU_STRING);  //if there's something there, print it
}

void PRESSURE_ticking()
{
    PC.printf("Pressure sensor (PSI)\nPRESS_PSI: %3.3f\n", 3.3*1.503*10 * pressure_analog_in.read());    //read the analog pin
    //this voltage has been checked and scaled properly (5/19/2017)
}

void BCE_ticking()  //new 6/5/17
{
    PC.printf("BE_pos: %3.0f mm  BE_vel: %2.2f mm/s  Set Point %3.0f  controller output: % 1.3f \n", pvf().getPosition(), pvf().getVelocity(), positionCmd, posCon().getOutput());
}

int main()
{  
    PC.baud(115200);  //mbed to PC serial connection speed
    //PC.baud(230400);
    //got screwy when i changed it
    hBridge().stop();
    //start up the system timer so the position velocity estimator has a time signal
    systemTime().start();
    enab=1;
    //setup and start the adc. This runs on a fixed interval and is interrupt driven
    adc().initialize();
    adc().start();

    //Initialize the position velocity filter. This will consume a couple of seconds for
    //the filter to converge
    pvf().init();

////CHANGED TO GLOBAL VARIABLES
    float motor_cmd = 0.0;
//   float positionCmd = 250.0;
    float P = 0.10;
    float I = 0.00;
    float D = 0.00;
    float count = 0.0;
    //char userInput;   //from Trent's code?

    hBridge().run(motor_cmd);
    
    //set the intial gains for the position controller
    posCon().setPgain(P);
    posCon().setIgain(I);
    posCon().setDgain(D);
    //posCon().writeSetPoint(positionCmd);
    
    /* *************************** LED *************************** */
    led1 = 1;   //initial values
    led2 = 1;
    led3 = 1;
    led4 = 1;    
    /* *************************** LED *************************** */
    
    PC.printf("Program Started 6/5/17\n");
    //PC.printf("Hit shift + \"H\" to home the battery Linear Actuator\n");
    
    /* *************************** Potentiometer *************************** */
    PRESSURE_ticker.attach(&PRESSURE_ticking, 2.0);
    /* *************************** Potentiometer *************************** */
    
    /* *************************** MOTOR CONTROLLER *************************** */
    Battery_Linear_Actuator BLA_object;               //create the IMU object from the imported class
    /* *************************** MOTOR CONTROLLER *************************** */
    
    /* *************************** IMU *************************** */
    IMU_code IMU_object;               //create the IMU object from the imported class
    IMU_ticker.attach(&IMU_ticking, 2.0);
    /* *************************** IMU *************************** */
    
    /* *************************** BCE *************************** */
    float previous_positionCmd = -1;
    BCE_ticker.attach(&BCE_ticking, 2.0);
    /* *************************** BCE *************************** */
    
    while(1) 
    {
        /* *************************** IMU *************************** */
        IMU_STRING = IMU_object.IMU_run(); //grab the IMU string each iteration through the loop
        /* *************************** IMU *************************** */
        
        /*          Buoyancy Engine         */
        // update the position velocity filter
        pvf().update();

        //update the controller with the current numbers in the position guesser
        posCon().update(pvf().getPosition(), pvf().getVelocity(), pvf().getDt()) ;
        hBridge().run(posCon().getOutput());

        /*          Buoyancy Engine         */
        
        //FOR DEBUGGING
        //PC.printf("BE_pos: %3.0f mm  BE_vel: %2.2f mm/s  Set Point %3.0f  controller output: % 1.3f P: %1.3f I: %1.4f D: %1.4f\r", pvf().getPosition(), pvf().getVelocity(), positionCmd, posCon().getOutput(), P, I, D);
    
        //PC.printf("WHILE LOOP\n");  //DEBUG
        if (PC.readable())
        {
            //PC.printf("PC IS READABLE\n");  //DEBUG
            Key=PC.getc(); 
            if(Key=='a' or Key =='A')
            {
                PC.printf("%s\n", BLA_object.Keyboard_A());
            }
            
            else if(Key=='d' or Key =='D')
            {
                PC.printf("%s\n", BLA_object.Keyboard_D());
            }

            else if(Key=='w' or Key =='W')
            {
                PC.printf("\nW received!\n");
                
                posCon().writeSetPoint(positionCmd);
                //posCon().setPgain(P);
                //posCon().setIgain(I);
                //posCon().setDgain(D);
                hBridge().run(posCon().getOutput());
                
                hBridge().reset();
                
                count = 0;

            }
              
            else if(Key =='Q')  //motor disabled
            {
                PC.printf("%s\n", BLA_object.Keyboard_Q());
            } 
            
            else if(Key =='E')  //motor enabled
            {
                PC.printf("%s\n", BLA_object.Keyboard_E());
            }
            
            else if(Key=='-' or Key =='_')
            {
                PC.printf("%s\n", BLA_object.Keyboard_DASH_KEY());         //decrease step size
            } 
            
            else if(Key=='+' or Key=='=')
            {
                PC.printf("%s\n", BLA_object.Keyboard_EQUAL_KEY());        //increase step size
            }
            
            else if(Key==']')  //100 to 30000, INCREASE (100 increments)
            {
                PC.printf("%s\n", BLA_object.Keyboard_RIGHT_BRACKET());    //motor speed
            }
            
            else if(Key=='[')  //30000 to 100, DECREASE (100 increments)
            {
                PC.printf("%s\n", BLA_object.Keyboard_LEFT_BRACKET());     //motor speed
            }
            
            else if(Key=='!')  //RESET THE MBED
            {
                PC.printf("MBED RESET KEY (!) PRESSED\n");
                PC.printf("Linear Actuator Motor disabled! Please re-enable.\n");
                //disable the motor
                BLA_object.Keyboard_Q();        //DISABLE THE MOTOR
                wait(0.5);                      //500 milliseconds
                mbed_reset(); //reset the mbed!
            }
            
            else if(Key =='H')  //homing sequence
            {
                PC.printf("%s\n", BLA_object.Keyboard_H());     //home linear actuator manually
            }
                //check command against desired control buttons
            else if (Key == 'z' or Key =='Z') {
                //increment the duty cycle
                positionCmd += 10.0 ;
                PC.printf("The position for the buoyancy motor is\nBEP: %3.0f\n", positionCmd); //to read in MATLAB
            } 
            else if (Key == 'x' or Key == 'X') {
                //decrement the duty cycle
                positionCmd -= 10.0 ;
                PC.printf("The position for the buoyancy motor is\nBEP: %3.0f\n", positionCmd); //to read in MATLAB
            }

            else 
            {
                PC.printf("\n%c received!\n", Key);
                PC.printf("\nDoing nothing.\n");
            }
            
            wait_us(100); //for PC readable
        }
        
        wait_us(100); //for PC readable (0.1 ms)
                    
        if(BLA_object.MC_readable())   //if you can read the motor controller do this...
        {
            //PC.printf("BATTERY LINEAR ACTUATOR");
            
            
            //PC.printf("Motor Controller response:\n");
//            while(MC.readable())
//            {
//                PC.putc(MC.getc()); //this is a pass-through of the MC (getc) to the PC (putc)
//                wait_ms(1); //1000, 10, 20, 100 (needed at least 1 ms, verified through testing)
//            }
        }
        if ((abs(pvf().getVelocity())<0.1) && (posCon().getOutput()>0.0))
        {
            count ++;
            //pc().printf("We have a small issue\n");
                if(count==10)
                {
                    pc().printf("Bad pot issue\n");
                    hBridge().stop();
                }
            
        }
        //string snaps
        else if (pvf().getVelocity() > 100)
        {
            //hBridge().stop();
            pc().printf("********** String broke? *********\n");   
        }
                
    }
}