File content as of revision 11:b5cc98f154a4:

#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"
//new line to get the publish working
#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;
float input_num;

string IMU_STRING = "";


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

//Pin for limit switch for buoyancy engine
AnalogIn   ain(p18);

/* ************ 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
Ticker PID_ticker;  //new 6/14/17
Ticker LA_ticker;   //new 6/22/17
/* ************************************************************************* */ 

//Set beginning position for buoyancy and linear actuator 
float positionCmd = 190.0;
float pi = 3.14159265359;
float la_setPoint = 0.00;       //the IMU pitch angle we want (setpoint)

/* PID LOOP STUFF */
float la_P_gain = 1.0;
float la_I_gain = 0.00;
float la_D_gain = 0.00;
/* PID LOOP STUFF */

int count_while = 0;

float IMU_pitch_angle;
double double_actual_position = 0.00;

string MC_readable_string = "";

int IMU_count = 0;
int Pr_count = 0;
int BCE_count = 0;

void IMU_ticking()
{
    //led1 = !led1;   //flash the IMU LED

    //PC.printf("%s\n", IMU_STRING.c_str());  //if there's something there, print it
    PC.printf("%s\n", IMU_STRING.c_str());
}

void PRESSURE_ticking()
{
    PC.printf("pressure: %f psi \n", (0.00122*(adc().ch1_filt)*9.9542)-0.0845);    //read the analog pin
    //this voltage has been checked and scaled properly (6/28/2017)
}

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(9600);          //mbed to PC serial connection speed
    hBridge().stop();       //Stop the buoyancy engine from moving
    systemTime().start();   //start the timer, needed for PID loop
        
    /* **************** Linear Actuator MOTOR CONTROLLER **************** */
    Battery_Linear_Actuator BLA_object;             //create the IMU object from the imported class  
    
    PC.printf("%s\n", BLA_object.Keyboard_U().c_str());     //velocity = 0, motor disabled
    
    PC.printf("%s\n", BLA_object.Keyboard_Q().c_str());     //turn off motor
    wait(1);
    PC.printf("%s\n", BLA_object.Keyboard_E().c_str());     //turn on motor
    wait(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();

    //NEW 7/21  Homing the motor
    PC.printf("### homing the device ###");
    BLA_object.Keyboard_H();
    wait(10); //for debugging
                

    float P = 0.10;
    float I = 0.00;
    float D = 0.00;
    float count = 0.0;
    float positionCmd_cm;

    float la_step = 1.0;
    float la_setPoint_temp = 0.0;
    
    bool BCE_auto = true;
    bool LA_auto = false;

    float bce_auto_step = 0.1;
    float volume_bce = 1.0;
    int bce_man_step = 50;
    
    float ticker_step_size = 1.0;
    
    //set the intial gains for the position controller
    posCon().setPgain(P);
    posCon().setIgain(I);
    posCon().setDgain(D);
    posCon().writeSetPoint(positionCmd);
    hBridge().reset();
    //hBridge().run(motor_cmd);
    
    /* *************************** LED *************************** */
    led1 = 1;   //initial values
    led2 = 1;
    led3 = 1;
    led4 = 1;    
    /* *************************** LED *************************** */
    
    IMU_code IMU_object; 
    
    while(1) 
    {
        /* *************************** IMU *************************** */
        IMU_STRING = IMU_object.IMU_run(); //grab the IMU string each iteration through the loop
        IMU_pitch_angle = 1.0 * IMU_object.IMU_pitch(); //get the pitch update constantly?
        //PC.printf("pitch angle... %f    set pitch angle: %f\n", IMU_yaw_angle, la_setPoint); 
        /* *************************** 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())
        {
            //led4 != led4;
            //PC.printf("DEBUG: PC IS READABLE\n");  //DEBUG
            
            Key=PC.getc();
        //Universal MBED Controls 
            if(Key=='!')  //RESET THE MBED
            {
                PC.printf("MBED RESET KEY (!) PRESSED\n");
                PC.printf("Linear Actuator Motor disabled!\n");
                //disable the motor
                BLA_object.Keyboard_Q();        //DISABLE THE MOTOR
                wait(0.5);                      //500 milliseconds
                mbed_reset(); //reset the mbed!
            }
           /* else if(Key == '[')
            {
                BLA_object.velocity_only(-100); //send speed -100 command to linear actuator (retract)
            }
            else if(Key == ']')
            {
                BLA_object.velocity_only(100); //send speed +100 command to linear actuator (extend)
            }  
            else if(Key == 'u')
            {
                BLA_object.Keyboard_U(); //stop linear actuator
            }  */
            else if(Key =='H')  //homing sequence
            {
                PC.printf("### homing the device ###");
                BLA_object.Keyboard_H();
                wait(10); //for debugging
                
                const char *char_actual_position = BLA_object.get_pos().c_str();
                //actual_position_string = BLA_object.get_pos().c_str();
                
                sscanf(char_actual_position, "%lf", &double_actual_position);
                // 7/10/17
                
                PC.printf("LA actual position: %lf \n", double_actual_position); 
             
                //TROY NOTES on Linear Actuator commands:
                //"pos" returns integer value "66813 for example"
                //"hosp-100" is the setting of the motor, it retracts at 100 rpm
                //"gohoseq" to home it, it will not give you feedback
                //print the position after you do this to see where the LA is    
            }
            else if(Key=='p' or Key == 'P')
            {
                             
                // 7/10/17
                //actual_position_string = BLA_object.get_pos();
                //actual_position_string = BLA_object.get_pos().c_str();
                //const char *char_actual_position = string_actual_position.c_str();
                
                const char *char_actual_position = BLA_object.get_pos().c_str();
                //actual_position_string = BLA_object.get_pos().c_str();
                
                sscanf(char_actual_position, "%lf", &double_actual_position);
                // 7/10/17
                
                PC.printf("### L.A. position is\nLA_AP: %lf ###\n", double_actual_position);     //flip this back and forth
                
                if (double_actual_position > 180000)
                    PC.printf(" <<<< REACHED MAXIMUM L.A. POSITION! >>>>\n");    
                else if (double_actual_position < 0)
                    PC.printf(" <<<< REACHED MINIMUM L.A. POSITION! >>>>\n");    
                
                wait(1); //for debugging      
                // "-999999" means it is not working  
            }
            else if (Key == '3' or Key == '#')
            {
                PC.printf("Ticker Sensor Step Size\n");
                if (ticker_step_size == 1.0)
                {
                    ticker_step_size = 5.0;
                }
                else if (ticker_step_size == 5.0)
                {
                    ticker_step_size = 10.0;
                }
                else if (ticker_step_size == 10.0)
                {
                    ticker_step_size = 20.0;
                }
                else if (ticker_step_size == 20.0)
                {
                    ticker_step_size = 1.0;
                }
                PC.printf("Ticker Step Size is %f\n", ticker_step_size);
            }
            else if (Key =='4' or Key == '$')
            {
                if (IMU_count == 0)
                {
                    PC.printf("IMU turned on! Ticker time is %f seconds\n", ticker_step_size);
                    IMU_ticker.attach(&IMU_ticking, ticker_step_size);
                    IMU_count = 1;
                }
                else if (IMU_count == 1)
                {
                    PC.printf("IMU turned off!\n");
                    IMU_ticker.detach();
                    IMU_count = 0;
                }
                    
            }
            else if (Key == '5' or Key == '%')
            {
                if (Pr_count == 0)
                {
                    PC.printf("Pressure turned on!  Ticker time is %f seconds\n", ticker_step_size);
                    PRESSURE_ticker.attach(&PRESSURE_ticking, ticker_step_size);
                    Pr_count = 1;
                }
                else if (Pr_count == 1)
                {
                    PC.printf("Pressure turned off!\n");
                    PRESSURE_ticker.detach();
                    Pr_count = 0;
                }
            }
            else if (Key == '6' or Key == '^')
            {
                if (BCE_count == 0)
                {
                    PC.printf("BCE turned on!  Ticker time is %f seconds\n", ticker_step_size);
                    BCE_ticker.attach(&BCE_ticking, ticker_step_size);
                    BCE_count = 1;
                }
                else if (BCE_count == 1)
                {
                    PC.printf("BCE turned off!\n");
                    BCE_ticker.detach();
                    BCE_count = 0;
                }
            }
        //Buoyancy Engine Controls
            else if (Key == ',' or Key == '<')
            {
                if (BCE_auto == false)
                {
                    PC.printf("BCE: Now in Automatic Mode\n");
                    BCE_auto = true;
                }
                else
                {
                    PC.printf("BCE: Still in Automatic Mode\n");
                }
            }
            else if (Key == '.' or Key == '>')
            {
                if (BCE_auto == true)
                {
                    PC.printf("BCE: Now in Manual Mode\n");
                    BCE_auto = false;
                }
                else
                {
                    PC.printf("BCE: Still in Manual Mode\n");
                }
            }
        //BCE Automatic Controls
            else if(Key =='d' or Key == 'D')
            {
                if (BCE_auto == true)
                {
                    volume_bce -= bce_auto_step;
                    PC.printf("The volume for the buoyancy motor is\nVBE: %1.3f liters\n", volume_bce); //to read in MATLAB     
                }
                else
                {
                    PC.printf("ERROR: In BCE Manual Mode, this is a auto command\n");
                }
            }
            else if(Key == 'f' or Key == 'F')
            {
                if (BCE_auto == true)
                {
                    volume_bce += bce_auto_step;
                    PC.printf("The volume for the buoyancy motor is\nVBE: %1.3f liters\n", volume_bce); //to read in MATLAB 
                }
                else
                {
                    PC.printf("ERROR: In BCE Manual Mode, this is a auto command\n");
                }
            }
            else if(Key == 'r' or Key == 'R')
            {
                if (BCE_auto == true)
                {
                    PC.printf("\nR received!\n");
                    positionCmd_cm=(1000/(16*pi))*volume_bce;
                    positionCmd = positionCmd_cm*10;
                    //positionCmd= positionCmd_temp*0.000000001;
                    //PC.printf("BCE engine going to position: %3.2f\n", positionCmd);
                    PC.printf("\nBASETP: %3.0f\n", positionCmd);
                    posCon().writeSetPoint(positionCmd);
                    //posCon().setPgain(P);
                    //posCon().setIgain(I);
                    //posCon().setDgain(D);
                    hBridge().run(posCon().getOutput());

                
                    count = 0;
                }
                else
                {
                    PC.printf("ERROR: In BCE Manual Mode, this is a auto command\n");
                }
            }
        //BCE Manual Controls
           else if (Key == '2' or Key == '@')
            {
                if (BCE_auto == false)
                {
                    PC.printf("BCE Manual Step Size Change\n");
                    if (bce_man_step == 50)
                    {
                        bce_man_step = 25;
                    }
                    else if (bce_man_step == 25)
                    {
                        bce_man_step = 10;
                    }
                    else if (bce_man_step == 10)
                    {
                        bce_man_step = 1;
                    }
                    else if (bce_man_step == 1)
                    {
                        bce_man_step = 50;
                    }

                    PC.printf("BCE Manual Step Size Now %d\n", bce_man_step);
                }
                else
                {
                    PC.printf("ERROR: In BCE Auto Mode, this is a manual command\n");
                }
            }
            else if (Key == 'z' or Key =='Z') 
            {
                if (BCE_auto == false and positionCmd < 395)
                {
                    //increment the duty cycle
                    positionCmd -= bce_man_step;
                    PC.printf("The position for the buoyancy motor is\nBEP: %3.0f\n", positionCmd); //to read in MATLAB
                }
                else if (positionCmd > 395)
                {
                    PC.printf("ERROR: Cannot move past 395 mm\n");
                    positionCmd = 370;
                }
                else
                {
                    PC.printf("ERROR: In BCE Auto Mode, this is a manual command\n");
                }
            }
            else if (Key == 'x' or Key == 'X') 
            {
                if (BCE_auto == false and positionCmd > -25)
                {
                    //decrement the duty cycle
                    positionCmd += bce_man_step;
                    PC.printf("The position for the buoyancy motor is\nBEP: %3.0f\n", positionCmd); //to read in MATLAB
                }
                else if (positionCmd < -25)
                {
                    PC.printf("ERROR: Cannot move past -5 mm\n");
                    positionCmd = -5;
                }
                else
                {
                    PC.printf("ERROR: In BCE Auto Mode, this is a manual command\n");
                }
            }
            else if(Key=='w' or Key =='W')
            {
                if (BCE_auto == false)
                {
                    PC.printf("\nW received!\n");
                    PC.printf("BASETP: %3.0f\n", positionCmd);
                    posCon().writeSetPoint(positionCmd);
                    //posCon().setPgain(P);
                    //posCon().setIgain(I);
                    //posCon().setDgain(D);
                    hBridge().run(posCon().getOutput());
                
                    hBridge().reset();
                
                    count = 0;

                }
                else
                {
                    PC.printf("ERROR: In BCE Auto Mode, this is a manual command\n");
                }
            }
            else if (Key == 'l' or Key == 'L') 
                PC.printf("DEBUG: String position? %f set position? %f velocity? %f (BCE active: %f)\n", pvf().getPosition(), positionCmd, pvf().getVelocity(),posCon().getOutput()); //DEBUG TROY
            
        //Linear Actuator Controls
            else if(Key == 'c' or Key == 'C')
            {
                if (LA_auto == true)
                {
                    PC.printf("ERROR: LA already in auto mode\n");
                }
                else
                {
                    LA_auto = true;
                    PC.printf("```````````Now in IMU Controlled Mode```````````````\n");
                    count_while = 0;
                }
            }
            else if (Key == 'v' or Key == 'V')
            {
                if (LA_auto == true)
                {
                    LA_auto = false;
                    //go from imu controlled to manual
                    PC.printf("```````````Now in Manual Mode````````````````````\n");
                    count_while = 0;
                }
                else 
                {
                    PC.printf("ERROR: LA already in manual mode\n");
                }
            }
            else if (Key == '0' or Key == ')')
            {
                PC.printf(") recieved\n");
                if (la_step == 0.5)
                {
                    la_step = 1.0;
                }
                else if (la_step == 1.0)
                {
                    la_step = 5.0;
                }
                else if (la_step == 5.0)
                {
                    la_step = 10.0;
                }
                else if (la_step == 10.0)
                {
                    la_step = 15.0;
                }
                else if (la_step == 15.0)
                {
                    la_step = 0.5;
                }
                PC.printf("LA Step Size Now %f\n", la_step);
            }
            
            else if (Key=='-' or Key == '_')
            {
                if (LA_auto == true)
                {
                    la_setPoint_temp -= la_step; //IMU_yaw_angle -= 1.0;
                    PC.printf("- recieved\n");
                    PC.printf("LA auto step size: %f\n", la_step);
                    PC.printf("LA angle changed to\nLA_ANG: %f\n", la_setPoint_temp);
                }
                else
                {
                    PC.printf("ERROR: LA in manual mode!\n"); 
                }
            }
            
            else if (Key =='=' or Key == '+')
            { 
                if (LA_auto == true)
                {
                    la_setPoint_temp += la_step; //IMU_yaw_angle += 1.0; 
                    PC.printf("+ recieved\n");
                    PC.printf("LA auto step size: %f\n", la_step);
                    PC.printf("LA angle changed to\nLA_ANG: %f\n", la_setPoint_temp);
                }
                else
                {
                    PC.printf("ERROR: LA in manual mode!\n"); 
                }
            }
            
            else if (Key == 'A' or Key == 'a')
             {
                if (LA_auto == true)
                {
                    PC.printf("A recieved\n");
                    la_setPoint=la_setPoint_temp;
                    PC.printf("LA angle now set to\nLA_A_SND: %f\n", la_setPoint);
                }
                else
                {
                    PC.printf("ERROR: LA in manual mode!\n"); 
                }
            } 

            
            else if(Key == 'n' or Key == 'N')
             {
                if (LA_auto == false)
                {
                    PC.printf("N key pressed. \n");
                    PC.printf("%s\n", BLA_object.Keyboard_DASH_KEY().c_str());
                }
                
                else
                {
                    PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
                }
            }
            
            else if(Key == 'm' or Key == 'M')
            {
                if (LA_auto == false)
                {
                    PC.printf("M key pressed. \n");
                    PC.printf("%s\n", BLA_object.Keyboard_EQUAL_KEY().c_str());
                }
                
                else
                {
                    PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
                }  
            }
            
            else if(Key == 'j' or Key == 'J')
            {
                if (LA_auto == false)
                {
                    PC.printf("J key pressed. \n");
                    PC.printf("%s\n", BLA_object.Keyboard_A().c_str());
                }
                
                else
                {
                    PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
                }
            }
            
            else if(Key == 'k' or Key == 'K')
            {
                if (LA_auto == false)
                {
                    PC.printf("K key pressed. \n");
                    PC.printf("%s\n", BLA_object.Keyboard_D().c_str());
                }
                
                else
                {
                    PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
                }
            }

            else 
            {
                PC.printf("\n%c received!\n", Key);
                PC.printf("\nDoing nothing.\n");
            }
            
            wait_us(100); //for PC readable
            //PC.printf("%s\n", BLA_object.PID_velocity_control(la_setPoint, IMU_yaw_angle, la_P_gain, la_I_gain, la_D_gain).c_str());  //get output string
            //BLA_object.PID_velocity_control(la_setPoint, IMU_yaw_angle, la_P_gain, la_I_gain, la_D_gain).c_str();
        }
        //end of PC readBLE       
            
        //MC readable   
        MC_readable_string = BLA_object.MC_readable_redux();
        //PC.printf("CHECK_MC_readable:\n%s\n", MC_readable_string);
        
    /*    if (LA_auto == false)
        {
            if (!MC_readable_string.empty())    //if this string is empty
            {
                PC.printf("%s\n", MC_readable_string);     //get responses from the linear actuator motor controller
            }
            else
            {
                ;
                //PC.printf("NOTHING?\n");
            }
        }*/
        if (LA_auto==true)
        {
            //PC.printf("LA_auto true\n");
            //PC.printf("%s\n", BLA_object.PID_velocity_control(la_setPoint, IMU_pitch_angle, la_P_gain, la_I_gain, la_D_gain).c_str());  //get output string
            BLA_object.PID_velocity_control(la_setPoint, IMU_pitch_angle, la_P_gain, la_I_gain, la_D_gain).c_str();
            //wait_us(100); //for PC readable (0.1 ms)
        }
        else if (LA_auto == false)
        {   
            //PC.printf("LA_auto false\n");
//            if (!MC_readable_string.empty())    //if this string is empty
//            {
//                PC.printf("%s\n", MC_readable_string);     //get responses from the linear actuator motor controller
//            }
//            else
//            {
//                ;
//                //PC.printf("NOTHING?\n");
//            }    
            
//            while (count_while==0)
//            {
////                PC.printf("%s\n", BLA_object.Keyboard_U().c_str());     //velocity = 0, motor disabled
////                PC.printf("%s\n", BLA_object.Keyboard_Q().c_str());     //turn off motor
////                wait(1);
////                PC.printf("%s\n", BLA_object.Keyboard_E().c_str());     //turn on motor
////                wait(1);
////                PC.printf("\n```````````Linear Actuator in Manual controlled mode````````````\n\n");
////                count_while++;
//
//                BLA_object.Keyboard_E();     //turn on motor                
//                BLA_object.velocity_only(0); //set the velocity to zero just in case
//                PC.printf("\n```````````Linear Actuator in Manual controlled mode````````````\n\n");
//                count_while++;
//            }
        }
                   

        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();
                    count = 0;

                }
            
        }
        else if ((5.0*ain.read())<1.0)
        {
            pc().printf("Hit the limit switch??\n");
            hBridge().stop();
            wait(1);
            hBridge().reset();
            positionCmd= 375;
            posCon().writeSetPoint(positionCmd);
            hBridge().run(posCon().getOutput());
            wait(2);
        }
    
        //string snaps
        else if (pvf().getVelocity() > 100)
        {
            PC.printf("DEBUG: String position? %f velocity? %f\n", pvf().getPosition(), pvf().getVelocity()); //DEBUG TROY
            //hBridge().stop();
            //PC.printf("PosVelFilter B.E. Velocity: %f\n", pvf().getVelocity());
            PC.printf("********** String broke? *********\n");  
        }
                
    }
}