most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@15:2a8cfd3f1cf5, 2017-10-31 (annotated)
- Committer:
- danstrider
- Date:
- Tue Oct 31 22:19:20 2017 +0000
- Revision:
- 15:2a8cfd3f1cf5
- Parent:
- 14:85b64a4d08e8
- Child:
- 16:3363b9f14913
POOL TESTED! Tuned PID gains, put in depth/pitch files. Added keyboard tuning of neutral positions since FIND_NEUTRAL won't work right. Only suggested FSM change is for DIVE to timeout to RISE, rather than EMERGENCY_CLIMB.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danstrider | 10:085ab7328054 | 1 | /* |
danstrider | 10:085ab7328054 | 2 | Starting from Trent's Linear Actuator code from 2017-10-19, these modifications |
danstrider | 10:085ab7328054 | 3 | by Dan add an outer loop controller for depth and pitch to command the inner |
danstrider | 10:085ab7328054 | 4 | linear actuator loops. |
danstrider | 10:085ab7328054 | 5 | Modified 2017-10-20 revA by Dan |
danstrider | 10:085ab7328054 | 6 | - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update) |
danstrider | 10:085ab7328054 | 7 | Modified 2017-10-22 revA by Dan |
danstrider | 10:085ab7328054 | 8 | - outer loop now works with a call to outerloop.update() in main loop(), not with an attached ticker |
danstrider | 10:085ab7328054 | 9 | Modified 2017-10-22 revB by Dan |
danstrider | 10:085ab7328054 | 10 | - enabled both depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 11 | - added ability to keyboard reset |
danstrider | 10:085ab7328054 | 12 | Modified 2017-10-22 revC by Dan |
danstrider | 10:085ab7328054 | 13 | - major update to the IMU library processing to make a state machine that doesn't hang |
danstrider | 10:085ab7328054 | 14 | - added lat/lon/alt and GNSS fix information to the IMU library |
danstrider | 10:085ab7328054 | 15 | - brought out the pin names into the constructors of IMU, omega, SpiADC |
danstrider | 10:085ab7328054 | 16 | Modified 2017-10-22 revD by Dan |
danstrider | 10:085ab7328054 | 17 | - everything seems to be working, shy of re-checking on the hardware |
danstrider | 10:085ab7328054 | 18 | - Depth sensor call done inside the OuterLoop, but should somehow be set as a callback instead |
danstrider | 10:085ab7328054 | 19 | - IMU sensor call done inside the OuterLoop, but should somehow be set as a callback instead |
danstrider | 10:085ab7328054 | 20 | Modified 2017-10-23 revA by Dan/Matt |
danstrider | 10:085ab7328054 | 21 | - linear actuator hardware works great, limit switches, sensing, etc. |
danstrider | 10:085ab7328054 | 22 | - outer loops run, but move the BCE in the wrong direction. |
danstrider | 10:085ab7328054 | 23 | - new IMU code doesn't read from the sensor correctly, but doesn't hang up either. |
danstrider | 10:085ab7328054 | 24 | - depth sensor worked fine, just needs zero bias adjustment. |
danstrider | 11:3b241ecb75ed | 25 | Modified 2017-10-24 by Troy |
danstrider | 11:3b241ecb75ed | 26 | - added offset to outerloop |
danstrider | 11:3b241ecb75ed | 27 | Modified 2017-10-26 by Dan |
danstrider | 11:3b241ecb75ed | 28 | - brought over a state machine and new keyboard controls ... currently just dumped into main. |
danstrider | 11:3b241ecb75ed | 29 | Modified 2017-10-26 by Matt |
danstrider | 11:3b241ecb75ed | 30 | - new IMU code imported and working well with the hardware. |
danstrider | 11:3b241ecb75ed | 31 | Modified 2017-10-26 revB by Dan |
danstrider | 11:3b241ecb75ed | 32 | - This version has been in the pool. |
danstrider | 11:3b241ecb75ed | 33 | - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions. |
danstrider | 11:3b241ecb75ed | 34 | But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why. |
danstrider | 11:3b241ecb75ed | 35 | - Repeatedly got stuck in RISE with a +60s timeout. Battery hit end bell and stalled out. |
danstrider | 11:3b241ecb75ed | 36 | - keyboard and state machine are in main, probably shouldn't be, but easier to debug. |
danstrider | 11:3b241ecb75ed | 37 | - Really happy with the logic and flow of the state machine. Timeouts work. |
danstrider | 11:3b241ecb75ed | 38 | - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE. |
danstrider | 11:3b241ecb75ed | 39 | - Need to add keyboard commands to modify the zeroOffset positions. |
danstrider | 14:85b64a4d08e8 | 40 | Modified 2017-10-30 by Dan, Trent, Matt, Troy |
danstrider | 14:85b64a4d08e8 | 41 | - changed .stop() to .pause() and many .start() to .unpause() ... fixed the negative ADC and lets |
danstrider | 14:85b64a4d08e8 | 42 | the PVF's keep running even though the motor isn't moving. |
danstrider | 14:85b64a4d08e8 | 43 | - changed exit conditions to use filtered depth from the outer loop. less noisy. |
danstrider | 14:85b64a4d08e8 | 44 | Modified 2017-10-31 by Dan, Matt |
danstrider | 14:85b64a4d08e8 | 45 | - added oversampling and a tare function to the depth sensor. |
danstrider | 14:85b64a4d08e8 | 46 | - updated main and keyboard to include tare in setup() and a keyboard tare option. |
danstrider | 14:85b64a4d08e8 | 47 | - looks like the piston isn't zeroing correctly, unclear why, should be unrelated to depth sensor. |
danstrider | 15:2a8cfd3f1cf5 | 48 | Modified 2017-10-31 (again) by Dan, Matt, and Troy |
danstrider | 15:2a8cfd3f1cf5 | 49 | - POOL TESTED! |
danstrider | 15:2a8cfd3f1cf5 | 50 | - Tuned the PID gains with magic. Works to hold mostly level during BCE runs. Dive is awesome. |
danstrider | 15:2a8cfd3f1cf5 | 51 | - Neutral won't do what we want ... without large depth P, it won't get to depth. |
danstrider | 15:2a8cfd3f1cf5 | 52 | - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg. Timeout should probably be RISE. |
danstrider | 15:2a8cfd3f1cf5 | 53 | - Files depth/pitch updated with tuned defaults. |
danstrider | 10:085ab7328054 | 54 | */ |
danstrider | 10:085ab7328054 | 55 | |
tzyoung | 0:ea293bbf9717 | 56 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 57 | #include "StaticDefs.hpp" |
tzyoung | 2:892b58e56712 | 58 | #include "config_functions.h" |
tzyoung | 2:892b58e56712 | 59 | |
danstrider | 11:3b241ecb75ed | 60 | |
danstrider | 10:085ab7328054 | 61 | extern "C" void mbed_reset(); // utilized to reset the mbed |
tzyoung | 4:66f13fbb035d | 62 | |
danstrider | 11:3b241ecb75ed | 63 | // state enumerations |
danstrider | 11:3b241ecb75ed | 64 | enum { |
danstrider | 11:3b241ecb75ed | 65 | SIT_IDLE, // stops both motors, exits after a keyboard input |
danstrider | 11:3b241ecb75ed | 66 | KEYBOARD, // handles an individual keypress, exits to state by a keyboard menu |
danstrider | 11:3b241ecb75ed | 67 | FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable |
danstrider | 11:3b241ecb75ed | 68 | DIVE, // dives to depth at negative pitch, exits when crossing a defined depth |
danstrider | 11:3b241ecb75ed | 69 | RISE, // rises to surface at positive pitch, exits when near surface |
danstrider | 11:3b241ecb75ed | 70 | FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch |
danstrider | 11:3b241ecb75ed | 71 | FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done |
danstrider | 11:3b241ecb75ed | 72 | EMERGENCY_CLIMB // bce position to full rise, batt position to full aft, exits when at surface |
danstrider | 11:3b241ecb75ed | 73 | }; |
danstrider | 11:3b241ecb75ed | 74 | |
danstrider | 11:3b241ecb75ed | 75 | // timer for the state machine |
danstrider | 11:3b241ecb75ed | 76 | Timer timer; |
danstrider | 11:3b241ecb75ed | 77 | |
danstrider | 11:3b241ecb75ed | 78 | // these are all the parameters needed for the state machine |
danstrider | 11:3b241ecb75ed | 79 | int timeout = 60; // generic timeout for every state, seconds |
danstrider | 11:3b241ecb75ed | 80 | float depthTolerance = 0.25; // depth tolerance for neutral finding exit critera |
danstrider | 11:3b241ecb75ed | 81 | float pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria |
danstrider | 11:3b241ecb75ed | 82 | float bceFloatPosition = 300; // bce position for "float" states |
danstrider | 11:3b241ecb75ed | 83 | float battFloatPosition = 50; // batt position for "broadcast" state |
danstrider | 15:2a8cfd3f1cf5 | 84 | |
danstrider | 15:2a8cfd3f1cf5 | 85 | float depthCommand = 3.5; // user keyboard depth |
danstrider | 15:2a8cfd3f1cf5 | 86 | float pitchCommand = -20.0; // user keyboard depth |
danstrider | 11:3b241ecb75ed | 87 | |
danstrider | 11:3b241ecb75ed | 88 | |
danstrider | 10:085ab7328054 | 89 | void setup() { |
danstrider | 15:2a8cfd3f1cf5 | 90 | pc().printf("\n\n\r\rFSG 2017-10-31\n\r"); |
danstrider | 11:3b241ecb75ed | 91 | pc().baud(57600); |
tzyoung | 4:66f13fbb035d | 92 | |
danstrider | 10:085ab7328054 | 93 | // start up the system timer |
tzyoung | 0:ea293bbf9717 | 94 | systemTime().start(); |
tzyoung | 0:ea293bbf9717 | 95 | |
danstrider | 10:085ab7328054 | 96 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tzyoung | 0:ea293bbf9717 | 97 | adc().initialize(); |
tzyoung | 0:ea293bbf9717 | 98 | adc().start(); |
danstrider | 10:085ab7328054 | 99 | |
danstrider | 10:085ab7328054 | 100 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 101 | imu().initialize(); |
danstrider | 10:085ab7328054 | 102 | imu().start(); |
danstrider | 10:085ab7328054 | 103 | |
danstrider | 10:085ab7328054 | 104 | // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 |
danstrider | 14:85b64a4d08e8 | 105 | depth().init(); |
danstrider | 14:85b64a4d08e8 | 106 | depth().tare(); |
danstrider | 10:085ab7328054 | 107 | |
danstrider | 10:085ab7328054 | 108 | // construct a local file system |
danstrider | 10:085ab7328054 | 109 | local(); |
tzyoung | 0:ea293bbf9717 | 110 | |
danstrider | 10:085ab7328054 | 111 | // load config data from files |
danstrider | 10:085ab7328054 | 112 | load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
danstrider | 10:085ab7328054 | 113 | load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
danstrider | 10:085ab7328054 | 114 | load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" |
danstrider | 10:085ab7328054 | 115 | load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" |
tzyoung | 4:66f13fbb035d | 116 | |
danstrider | 10:085ab7328054 | 117 | // set up the linear actuators. adc has to be running first. |
danstrider | 10:085ab7328054 | 118 | bce().init(); |
danstrider | 10:085ab7328054 | 119 | bce().start(); |
mkelly10 | 12:a0519d11d2b6 | 120 | bce().pause(); // start by not moving |
tzyoung | 4:66f13fbb035d | 121 | |
danstrider | 10:085ab7328054 | 122 | batt().init(); |
tzyoung | 2:892b58e56712 | 123 | batt().start(); |
mkelly10 | 12:a0519d11d2b6 | 124 | batt().pause(); // start by not moving |
danstrider | 10:085ab7328054 | 125 | |
danstrider | 10:085ab7328054 | 126 | // set up the depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 127 | depthLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 128 | depthLoop().start(); |
danstrider | 14:85b64a4d08e8 | 129 | depthLoop().setCommand(depthCommand); |
mkelly10 | 5:15bd96205bb2 | 130 | |
danstrider | 10:085ab7328054 | 131 | pitchLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 132 | pitchLoop().start(); |
danstrider | 14:85b64a4d08e8 | 133 | pitchLoop().setCommand(pitchCommand); |
danstrider | 10:085ab7328054 | 134 | |
danstrider | 10:085ab7328054 | 135 | // do not leave this in. Check that PID gains are loading |
danstrider | 11:3b241ecb75ed | 136 | pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
danstrider | 11:3b241ecb75ed | 137 | pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
danstrider | 11:3b241ecb75ed | 138 | pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
danstrider | 11:3b241ecb75ed | 139 | pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
danstrider | 10:085ab7328054 | 140 | pc().printf("\n\r"); |
danstrider | 10:085ab7328054 | 141 | } |
mkelly10 | 5:15bd96205bb2 | 142 | |
danstrider | 11:3b241ecb75ed | 143 | |
danstrider | 11:3b241ecb75ed | 144 | |
danstrider | 11:3b241ecb75ed | 145 | void keyboard_menu_BCE_PID_settings() { |
danstrider | 11:3b241ecb75ed | 146 | char PID_key; |
danstrider | 11:3b241ecb75ed | 147 | float gain_step_size = 0.01; // modify this to change gain step size |
danstrider | 11:3b241ecb75ed | 148 | float KP = bce().getControllerP(); // load current value |
danstrider | 11:3b241ecb75ed | 149 | float KI = bce().getControllerI(); // load current global value |
danstrider | 11:3b241ecb75ed | 150 | float KD = bce().getControllerD(); // load current global value |
danstrider | 11:3b241ecb75ed | 151 | |
danstrider | 11:3b241ecb75ed | 152 | // show the menu |
danstrider | 11:3b241ecb75ed | 153 | pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); |
danstrider | 11:3b241ecb75ed | 154 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
danstrider | 11:3b241ecb75ed | 155 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); |
danstrider | 11:3b241ecb75ed | 156 | pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
danstrider | 11:3b241ecb75ed | 157 | |
danstrider | 11:3b241ecb75ed | 158 | // handle the key presses |
danstrider | 11:3b241ecb75ed | 159 | while(1) { |
danstrider | 11:3b241ecb75ed | 160 | // get the user's keystroke from either of the two inputs |
danstrider | 11:3b241ecb75ed | 161 | if (pc().readable()) { |
danstrider | 11:3b241ecb75ed | 162 | PID_key = pc().getc(); |
danstrider | 11:3b241ecb75ed | 163 | } |
danstrider | 11:3b241ecb75ed | 164 | else { |
danstrider | 11:3b241ecb75ed | 165 | continue; // didn't get a user input, so keep waiting for it |
danstrider | 11:3b241ecb75ed | 166 | } |
danstrider | 11:3b241ecb75ed | 167 | |
danstrider | 11:3b241ecb75ed | 168 | // handle the user's key input |
danstrider | 11:3b241ecb75ed | 169 | if (PID_key == '-') { |
danstrider | 11:3b241ecb75ed | 170 | KP -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 171 | pc().printf("P gain: %0.5f \r\n", KP); |
danstrider | 11:3b241ecb75ed | 172 | } |
danstrider | 11:3b241ecb75ed | 173 | else if (PID_key == '=') { |
danstrider | 11:3b241ecb75ed | 174 | KP += gain_step_size; |
danstrider | 11:3b241ecb75ed | 175 | pc().printf("P gain: %0.5f \r\n", KP); |
danstrider | 11:3b241ecb75ed | 176 | } |
danstrider | 11:3b241ecb75ed | 177 | else if (PID_key == '[') { |
danstrider | 11:3b241ecb75ed | 178 | KI -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 179 | pc().printf("I gain: %0.5f \r\n", KI); |
danstrider | 11:3b241ecb75ed | 180 | } |
danstrider | 11:3b241ecb75ed | 181 | else if (PID_key == ']') { |
danstrider | 11:3b241ecb75ed | 182 | KI += gain_step_size; |
danstrider | 11:3b241ecb75ed | 183 | pc().printf("I gain: %0.5f \r\n", KI); |
danstrider | 11:3b241ecb75ed | 184 | } |
danstrider | 11:3b241ecb75ed | 185 | else if (PID_key == ';') { |
danstrider | 11:3b241ecb75ed | 186 | KD -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 187 | pc().printf("D gain: %0.5f \r\n", KD); |
danstrider | 11:3b241ecb75ed | 188 | } |
danstrider | 11:3b241ecb75ed | 189 | else if (PID_key == '\'') { |
danstrider | 11:3b241ecb75ed | 190 | KD += gain_step_size; |
danstrider | 11:3b241ecb75ed | 191 | pc().printf("D gain: %0.5f \r\n", KD); |
danstrider | 11:3b241ecb75ed | 192 | } |
danstrider | 11:3b241ecb75ed | 193 | else if (PID_key == 'S') { // user wants to save these modified values |
danstrider | 11:3b241ecb75ed | 194 | // set values |
danstrider | 11:3b241ecb75ed | 195 | bce().setControllerP(KP); |
danstrider | 11:3b241ecb75ed | 196 | bce().setControllerI(KI); |
danstrider | 11:3b241ecb75ed | 197 | bce().setControllerD(KD); |
danstrider | 11:3b241ecb75ed | 198 | |
danstrider | 11:3b241ecb75ed | 199 | // save into "PID.cfg" |
danstrider | 11:3b241ecb75ed | 200 | //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D); |
danstrider | 11:3b241ecb75ed | 201 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 202 | } |
danstrider | 11:3b241ecb75ed | 203 | else if (PID_key == 'X') { |
danstrider | 11:3b241ecb75ed | 204 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 205 | } |
danstrider | 11:3b241ecb75ed | 206 | else { |
danstrider | 11:3b241ecb75ed | 207 | pc().printf("\n\rThis key does nothing here. "); |
danstrider | 11:3b241ecb75ed | 208 | } |
danstrider | 11:3b241ecb75ed | 209 | } |
danstrider | 11:3b241ecb75ed | 210 | } |
danstrider | 11:3b241ecb75ed | 211 | |
danstrider | 11:3b241ecb75ed | 212 | void keyboard_menu_DEPTH_PID_settings() { |
danstrider | 11:3b241ecb75ed | 213 | char PID_key; |
danstrider | 11:3b241ecb75ed | 214 | float gain_step_size = 0.01; // modify this to change gain step size |
danstrider | 11:3b241ecb75ed | 215 | float KP = depthLoop().getControllerP(); // load current global value |
danstrider | 11:3b241ecb75ed | 216 | float KI = depthLoop().getControllerI(); // load current global value |
danstrider | 11:3b241ecb75ed | 217 | float KD = depthLoop().getControllerD(); // load current global value |
danstrider | 11:3b241ecb75ed | 218 | |
danstrider | 11:3b241ecb75ed | 219 | // show the menu |
danstrider | 11:3b241ecb75ed | 220 | pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); |
danstrider | 11:3b241ecb75ed | 221 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
danstrider | 11:3b241ecb75ed | 222 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r"); |
danstrider | 11:3b241ecb75ed | 223 | pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
danstrider | 11:3b241ecb75ed | 224 | |
danstrider | 11:3b241ecb75ed | 225 | // handle the key presses |
danstrider | 11:3b241ecb75ed | 226 | while(1) { |
danstrider | 11:3b241ecb75ed | 227 | // get the user's keystroke from either of the two inputs |
danstrider | 11:3b241ecb75ed | 228 | if (pc().readable()) { |
danstrider | 11:3b241ecb75ed | 229 | PID_key = pc().getc(); |
danstrider | 11:3b241ecb75ed | 230 | } |
danstrider | 11:3b241ecb75ed | 231 | else { |
danstrider | 11:3b241ecb75ed | 232 | continue; // didn't get a user input, so keep waiting for it |
danstrider | 11:3b241ecb75ed | 233 | } |
danstrider | 11:3b241ecb75ed | 234 | |
danstrider | 11:3b241ecb75ed | 235 | // handle the user's key input |
danstrider | 11:3b241ecb75ed | 236 | if (PID_key == '-') { |
danstrider | 11:3b241ecb75ed | 237 | KP -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 238 | pc().printf("P gain: %0.5f \r\n", KP); |
danstrider | 11:3b241ecb75ed | 239 | } |
danstrider | 11:3b241ecb75ed | 240 | else if (PID_key == '=') { |
danstrider | 11:3b241ecb75ed | 241 | KP += gain_step_size; |
danstrider | 11:3b241ecb75ed | 242 | pc().printf("P gain: %0.5f \r\n", KP); |
danstrider | 11:3b241ecb75ed | 243 | } |
danstrider | 11:3b241ecb75ed | 244 | else if (PID_key == '[') { |
danstrider | 11:3b241ecb75ed | 245 | KI -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 246 | pc().printf("I gain: %0.5f \r\n", KI); |
danstrider | 11:3b241ecb75ed | 247 | } |
danstrider | 11:3b241ecb75ed | 248 | else if (PID_key == ']') { |
danstrider | 11:3b241ecb75ed | 249 | KI += gain_step_size; |
danstrider | 11:3b241ecb75ed | 250 | pc().printf("I gain: %0.5f \r\n", KI); |
danstrider | 11:3b241ecb75ed | 251 | } |
danstrider | 11:3b241ecb75ed | 252 | else if (PID_key == ';') { |
danstrider | 11:3b241ecb75ed | 253 | KD -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 254 | pc().printf("D gain: %0.5f \r\n", KD); |
danstrider | 11:3b241ecb75ed | 255 | } |
danstrider | 11:3b241ecb75ed | 256 | else if (PID_key == '\'') { |
danstrider | 11:3b241ecb75ed | 257 | KD += gain_step_size; |
danstrider | 11:3b241ecb75ed | 258 | pc().printf("D gain: %0.5f \r\n", KD); |
danstrider | 11:3b241ecb75ed | 259 | } |
danstrider | 11:3b241ecb75ed | 260 | else if (PID_key == 'S') { // user wants to save these settings |
danstrider | 11:3b241ecb75ed | 261 | // set global values |
danstrider | 11:3b241ecb75ed | 262 | depthLoop().setControllerP(KP); |
danstrider | 11:3b241ecb75ed | 263 | depthLoop().setControllerI(KI); |
danstrider | 11:3b241ecb75ed | 264 | depthLoop().setControllerD(KD); |
danstrider | 11:3b241ecb75ed | 265 | |
danstrider | 11:3b241ecb75ed | 266 | // save into "PID.cfg" |
danstrider | 11:3b241ecb75ed | 267 | //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D); |
danstrider | 11:3b241ecb75ed | 268 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 269 | } |
danstrider | 11:3b241ecb75ed | 270 | else if (PID_key == 'X') { |
danstrider | 11:3b241ecb75ed | 271 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 272 | } |
danstrider | 11:3b241ecb75ed | 273 | else { |
danstrider | 11:3b241ecb75ed | 274 | pc().printf("\n\rThis key does nothing here. "); |
danstrider | 11:3b241ecb75ed | 275 | } |
danstrider | 11:3b241ecb75ed | 276 | } |
danstrider | 11:3b241ecb75ed | 277 | } |
danstrider | 11:3b241ecb75ed | 278 | |
danstrider | 11:3b241ecb75ed | 279 | void keyboard_menu_BATT_PID_settings() { |
danstrider | 11:3b241ecb75ed | 280 | char PID_key; |
danstrider | 11:3b241ecb75ed | 281 | float gain_step_size = 0.01; // modify this to change gain step size |
danstrider | 11:3b241ecb75ed | 282 | float KP = batt().getControllerP(); // load current global value |
danstrider | 11:3b241ecb75ed | 283 | float KI = batt().getControllerI(); // load current global value |
danstrider | 11:3b241ecb75ed | 284 | float KD = batt().getControllerD(); // load current global value |
danstrider | 11:3b241ecb75ed | 285 | |
danstrider | 11:3b241ecb75ed | 286 | // print the menu |
danstrider | 11:3b241ecb75ed | 287 | pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); |
danstrider | 11:3b241ecb75ed | 288 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
danstrider | 11:3b241ecb75ed | 289 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); |
danstrider | 11:3b241ecb75ed | 290 | pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
danstrider | 11:3b241ecb75ed | 291 | |
danstrider | 11:3b241ecb75ed | 292 | // handle the key presses |
danstrider | 11:3b241ecb75ed | 293 | while(1) { |
danstrider | 11:3b241ecb75ed | 294 | // get the user's keystroke from either of the two inputs |
danstrider | 11:3b241ecb75ed | 295 | if (pc().readable()) { |
danstrider | 11:3b241ecb75ed | 296 | PID_key = pc().getc(); |
danstrider | 11:3b241ecb75ed | 297 | } |
danstrider | 11:3b241ecb75ed | 298 | else { |
danstrider | 11:3b241ecb75ed | 299 | continue; // didn't get a user input, so keep waiting for it |
danstrider | 11:3b241ecb75ed | 300 | } |
danstrider | 11:3b241ecb75ed | 301 | |
danstrider | 11:3b241ecb75ed | 302 | // handle the user's key input |
danstrider | 11:3b241ecb75ed | 303 | if (PID_key == '-') { |
danstrider | 11:3b241ecb75ed | 304 | KP -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 305 | pc().printf("\rP gain: %0.5f ", KP); |
danstrider | 11:3b241ecb75ed | 306 | } |
danstrider | 11:3b241ecb75ed | 307 | else if (PID_key == '=') { |
danstrider | 11:3b241ecb75ed | 308 | KP += gain_step_size; |
danstrider | 11:3b241ecb75ed | 309 | pc().printf("\rP gain: %0.5f ", KP); |
danstrider | 11:3b241ecb75ed | 310 | } |
danstrider | 11:3b241ecb75ed | 311 | else if (PID_key == '[') { |
danstrider | 11:3b241ecb75ed | 312 | KI -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 313 | pc().printf("\rI gain: %0.5f ", KI); |
danstrider | 11:3b241ecb75ed | 314 | } |
danstrider | 11:3b241ecb75ed | 315 | else if (PID_key == ']') { |
danstrider | 11:3b241ecb75ed | 316 | KI += gain_step_size; |
danstrider | 11:3b241ecb75ed | 317 | pc().printf("\rI gain: %0.5f ", KI); |
danstrider | 11:3b241ecb75ed | 318 | } |
danstrider | 11:3b241ecb75ed | 319 | else if (PID_key == ';') { |
danstrider | 11:3b241ecb75ed | 320 | KD -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 321 | pc().printf("\rD gain: %0.5f ", KD); |
danstrider | 11:3b241ecb75ed | 322 | } |
danstrider | 11:3b241ecb75ed | 323 | else if (PID_key == '\'') { |
danstrider | 11:3b241ecb75ed | 324 | KD += gain_step_size; |
danstrider | 11:3b241ecb75ed | 325 | pc().printf("\rD gain: %0.5f ", KD); |
danstrider | 11:3b241ecb75ed | 326 | } |
danstrider | 11:3b241ecb75ed | 327 | else if (PID_key == 'S') { // user wants to save the modified values |
danstrider | 11:3b241ecb75ed | 328 | // set global values |
danstrider | 11:3b241ecb75ed | 329 | batt().setControllerP(KP); |
danstrider | 11:3b241ecb75ed | 330 | batt().setControllerI(KI); |
danstrider | 11:3b241ecb75ed | 331 | batt().setControllerD(KD); |
danstrider | 11:3b241ecb75ed | 332 | |
danstrider | 11:3b241ecb75ed | 333 | // save to "PID.cfg" file |
danstrider | 11:3b241ecb75ed | 334 | //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D); |
danstrider | 11:3b241ecb75ed | 335 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 336 | } |
danstrider | 11:3b241ecb75ed | 337 | else if (PID_key == 'X') { |
danstrider | 11:3b241ecb75ed | 338 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 339 | } |
danstrider | 11:3b241ecb75ed | 340 | else { |
danstrider | 11:3b241ecb75ed | 341 | pc().printf("This key does nothing here.\r"); |
danstrider | 11:3b241ecb75ed | 342 | } |
danstrider | 11:3b241ecb75ed | 343 | } |
danstrider | 11:3b241ecb75ed | 344 | } |
danstrider | 11:3b241ecb75ed | 345 | |
danstrider | 11:3b241ecb75ed | 346 | void keyboard_menu_PITCH_PID_settings() { |
danstrider | 11:3b241ecb75ed | 347 | char PID_key; |
danstrider | 11:3b241ecb75ed | 348 | float gain_step_size = 0.01; // modify this to change gain step size |
danstrider | 11:3b241ecb75ed | 349 | float KP = pitchLoop().getControllerP(); // load current global value |
danstrider | 11:3b241ecb75ed | 350 | float KI = pitchLoop().getControllerI(); // load current global value |
danstrider | 11:3b241ecb75ed | 351 | float KD = pitchLoop().getControllerD(); // load current global value |
danstrider | 11:3b241ecb75ed | 352 | |
danstrider | 11:3b241ecb75ed | 353 | // print the menu |
danstrider | 11:3b241ecb75ed | 354 | pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); |
danstrider | 11:3b241ecb75ed | 355 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
danstrider | 11:3b241ecb75ed | 356 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); |
danstrider | 11:3b241ecb75ed | 357 | pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
danstrider | 11:3b241ecb75ed | 358 | |
danstrider | 11:3b241ecb75ed | 359 | // handle the key presses |
danstrider | 11:3b241ecb75ed | 360 | while(1) { |
danstrider | 11:3b241ecb75ed | 361 | // get the user's keystroke from either of the two inputs |
danstrider | 11:3b241ecb75ed | 362 | if (pc().readable()) { |
danstrider | 11:3b241ecb75ed | 363 | PID_key = pc().getc(); |
danstrider | 11:3b241ecb75ed | 364 | } |
danstrider | 11:3b241ecb75ed | 365 | else { |
danstrider | 11:3b241ecb75ed | 366 | continue; // didn't get a user input, so keep waiting for it |
danstrider | 11:3b241ecb75ed | 367 | } |
danstrider | 11:3b241ecb75ed | 368 | |
danstrider | 11:3b241ecb75ed | 369 | // handle the user's key input |
danstrider | 11:3b241ecb75ed | 370 | if (PID_key == '-') { |
danstrider | 11:3b241ecb75ed | 371 | KP -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 372 | pc().printf("\rP gain: %0.5f ", KP); |
danstrider | 11:3b241ecb75ed | 373 | } |
danstrider | 11:3b241ecb75ed | 374 | else if (PID_key == '=') { |
danstrider | 11:3b241ecb75ed | 375 | KP += gain_step_size; |
danstrider | 11:3b241ecb75ed | 376 | pc().printf("\rP gain: %0.5f ", KP); |
danstrider | 11:3b241ecb75ed | 377 | } |
danstrider | 11:3b241ecb75ed | 378 | else if (PID_key == '[') { |
danstrider | 11:3b241ecb75ed | 379 | KI -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 380 | pc().printf("\rI gain: %0.5f ", KI); |
danstrider | 11:3b241ecb75ed | 381 | } |
danstrider | 11:3b241ecb75ed | 382 | else if (PID_key == ']') { |
danstrider | 11:3b241ecb75ed | 383 | KI += gain_step_size; |
danstrider | 11:3b241ecb75ed | 384 | pc().printf("\rI gain: %0.5f ", KI); |
danstrider | 11:3b241ecb75ed | 385 | } |
danstrider | 11:3b241ecb75ed | 386 | else if (PID_key == ';') { |
danstrider | 11:3b241ecb75ed | 387 | KD -= gain_step_size; |
danstrider | 11:3b241ecb75ed | 388 | pc().printf("\rD gain: %0.5f ", KD); |
danstrider | 11:3b241ecb75ed | 389 | } |
danstrider | 11:3b241ecb75ed | 390 | else if (PID_key == '\'') { |
danstrider | 11:3b241ecb75ed | 391 | KD += gain_step_size; |
danstrider | 11:3b241ecb75ed | 392 | pc().printf("\rD gain: %0.5f ", KD); |
danstrider | 11:3b241ecb75ed | 393 | } |
danstrider | 11:3b241ecb75ed | 394 | else if (PID_key == 'S') { // user wants to save the modified values |
danstrider | 11:3b241ecb75ed | 395 | // set global values |
danstrider | 11:3b241ecb75ed | 396 | pitchLoop().setControllerP(KP); |
danstrider | 11:3b241ecb75ed | 397 | pitchLoop().setControllerI(KI); |
danstrider | 11:3b241ecb75ed | 398 | pitchLoop().setControllerD(KD); |
danstrider | 11:3b241ecb75ed | 399 | |
danstrider | 11:3b241ecb75ed | 400 | //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D); |
danstrider | 11:3b241ecb75ed | 401 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 402 | } |
danstrider | 11:3b241ecb75ed | 403 | else if (PID_key == 'X') { |
danstrider | 11:3b241ecb75ed | 404 | break; //exit the while loop |
danstrider | 11:3b241ecb75ed | 405 | } |
danstrider | 11:3b241ecb75ed | 406 | else { |
danstrider | 11:3b241ecb75ed | 407 | pc().printf("This key does nothing here.\r"); |
danstrider | 11:3b241ecb75ed | 408 | } |
danstrider | 11:3b241ecb75ed | 409 | } |
danstrider | 11:3b241ecb75ed | 410 | } |
danstrider | 11:3b241ecb75ed | 411 | |
danstrider | 11:3b241ecb75ed | 412 | |
danstrider | 11:3b241ecb75ed | 413 | // output the keyboard menu for user's reference |
danstrider | 11:3b241ecb75ed | 414 | void showMenu() { |
danstrider | 11:3b241ecb75ed | 415 | pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n"); |
danstrider | 11:3b241ecb75ed | 416 | pc().printf(" N to find neutral\r\n"); |
danstrider | 11:3b241ecb75ed | 417 | pc().printf(" D to initiate dive cycle\r\n"); |
danstrider | 11:3b241ecb75ed | 418 | pc().printf(" R to initiate rise\r\n"); |
danstrider | 11:3b241ecb75ed | 419 | pc().printf(" L to float level\r\n"); |
danstrider | 11:3b241ecb75ed | 420 | pc().printf(" B to float at broadcast pitch\r\n"); |
danstrider | 11:3b241ecb75ed | 421 | pc().printf(" E to initiate emergency climb\r\n"); |
mkelly10 | 12:a0519d11d2b6 | 422 | pc().printf(" H to run homing sequence on both BCE and Batt\r\n"); |
danstrider | 14:85b64a4d08e8 | 423 | pc().printf(" T to tare the depth sensor\r\n"); |
danstrider | 15:2a8cfd3f1cf5 | 424 | pc().printf("[/] to change bce neutral position\r\n"); |
danstrider | 15:2a8cfd3f1cf5 | 425 | pc().printf("</> to change batt neutral position\r\n"); |
danstrider | 11:3b241ecb75ed | 426 | pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 427 | pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 428 | pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout); |
danstrider | 11:3b241ecb75ed | 429 | pc().printf(" 1 BCE PID sub-menu\r\n"); |
danstrider | 11:3b241ecb75ed | 430 | pc().printf(" 2 BATT PID sub-menu\r\n"); |
danstrider | 11:3b241ecb75ed | 431 | pc().printf(" 3 Depth PID sub-menu\r\n"); |
danstrider | 11:3b241ecb75ed | 432 | pc().printf(" 4 Pitch PID sub-menu\r\n"); |
danstrider | 11:3b241ecb75ed | 433 | pc().printf(" C See sensor readings\r\n"); |
danstrider | 11:3b241ecb75ed | 434 | pc().printf(" ? to reset mbed\r\n"); |
danstrider | 11:3b241ecb75ed | 435 | } |
danstrider | 11:3b241ecb75ed | 436 | |
danstrider | 11:3b241ecb75ed | 437 | // keyboard currently handles a key at a time |
danstrider | 11:3b241ecb75ed | 438 | // returns -1 if not a state command |
danstrider | 11:3b241ecb75ed | 439 | // returns a positive number to command a new state |
danstrider | 11:3b241ecb75ed | 440 | int keyboard() { |
danstrider | 10:085ab7328054 | 441 | char userInput; |
danstrider | 10:085ab7328054 | 442 | |
danstrider | 10:085ab7328054 | 443 | // check keyboard and make settings changes as requested |
danstrider | 10:085ab7328054 | 444 | if (pc().readable()) { |
danstrider | 10:085ab7328054 | 445 | // get the key |
danstrider | 10:085ab7328054 | 446 | userInput = pc().getc(); |
mkelly10 | 5:15bd96205bb2 | 447 | |
danstrider | 10:085ab7328054 | 448 | // check command against desired control buttons |
danstrider | 11:3b241ecb75ed | 449 | // change state |
danstrider | 11:3b241ecb75ed | 450 | if (userInput == 'D' or userInput == 'd') { |
danstrider | 11:3b241ecb75ed | 451 | return DIVE; |
danstrider | 10:085ab7328054 | 452 | } |
danstrider | 11:3b241ecb75ed | 453 | else if (userInput == 'N' or userInput == 'n') { |
danstrider | 11:3b241ecb75ed | 454 | return FIND_NEUTRAL; |
danstrider | 11:3b241ecb75ed | 455 | } |
danstrider | 11:3b241ecb75ed | 456 | else if (userInput == 'R' or userInput == 'r') { |
danstrider | 11:3b241ecb75ed | 457 | return RISE; |
danstrider | 11:3b241ecb75ed | 458 | } |
danstrider | 11:3b241ecb75ed | 459 | else if (userInput == 'L' or userInput == 'l') { |
danstrider | 11:3b241ecb75ed | 460 | return FLOAT_LEVEL; |
danstrider | 10:085ab7328054 | 461 | } |
danstrider | 11:3b241ecb75ed | 462 | else if (userInput == 'B' or userInput == 'b') { |
danstrider | 11:3b241ecb75ed | 463 | return FLOAT_BROADCAST; |
danstrider | 11:3b241ecb75ed | 464 | } |
danstrider | 11:3b241ecb75ed | 465 | else if (userInput == 'E' or userInput == 'e') { |
danstrider | 11:3b241ecb75ed | 466 | return EMERGENCY_CLIMB; |
mkelly10 | 5:15bd96205bb2 | 467 | } |
mkelly10 | 12:a0519d11d2b6 | 468 | else if (userInput == 'H' or userInput == 'h') { |
mkelly10 | 12:a0519d11d2b6 | 469 | pc().printf("running homing procedure\r\n"); |
mkelly10 | 12:a0519d11d2b6 | 470 | bce().unpause(); bce().homePiston(); bce().pause(); |
mkelly10 | 12:a0519d11d2b6 | 471 | batt().unpause(); batt().homePiston(); batt().pause(); |
mkelly10 | 12:a0519d11d2b6 | 472 | return SIT_IDLE; |
mkelly10 | 12:a0519d11d2b6 | 473 | } |
danstrider | 14:85b64a4d08e8 | 474 | else if (userInput == 'T' or userInput == 't') { |
danstrider | 14:85b64a4d08e8 | 475 | pc().printf("taring depth sensor\r\n"); |
danstrider | 14:85b64a4d08e8 | 476 | pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); |
danstrider | 14:85b64a4d08e8 | 477 | wait(0.1); |
danstrider | 14:85b64a4d08e8 | 478 | depth().tare(); // tares to ambient (do on surface) |
danstrider | 14:85b64a4d08e8 | 479 | pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); |
danstrider | 14:85b64a4d08e8 | 480 | } |
danstrider | 15:2a8cfd3f1cf5 | 481 | |
danstrider | 15:2a8cfd3f1cf5 | 482 | else if (userInput == '[' or userInput == '{') { |
danstrider | 15:2a8cfd3f1cf5 | 483 | depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint |
danstrider | 15:2a8cfd3f1cf5 | 484 | pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); |
danstrider | 15:2a8cfd3f1cf5 | 485 | } |
danstrider | 15:2a8cfd3f1cf5 | 486 | else if (userInput == ']' or userInput == '}') { |
danstrider | 15:2a8cfd3f1cf5 | 487 | depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint |
danstrider | 15:2a8cfd3f1cf5 | 488 | pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); |
danstrider | 15:2a8cfd3f1cf5 | 489 | } |
danstrider | 15:2a8cfd3f1cf5 | 490 | else if (userInput == '<' or userInput == ',') { |
danstrider | 15:2a8cfd3f1cf5 | 491 | pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint |
danstrider | 15:2a8cfd3f1cf5 | 492 | pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); |
danstrider | 15:2a8cfd3f1cf5 | 493 | } |
danstrider | 15:2a8cfd3f1cf5 | 494 | else if (userInput == '>' or userInput == '.') { |
danstrider | 15:2a8cfd3f1cf5 | 495 | pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint |
danstrider | 15:2a8cfd3f1cf5 | 496 | pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); |
danstrider | 15:2a8cfd3f1cf5 | 497 | } |
danstrider | 15:2a8cfd3f1cf5 | 498 | |
danstrider | 10:085ab7328054 | 499 | else if (userInput == '?') { |
danstrider | 10:085ab7328054 | 500 | pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n"); |
danstrider | 11:3b241ecb75ed | 501 | wait(0.5); |
danstrider | 10:085ab7328054 | 502 | mbed_reset(); |
danstrider | 10:085ab7328054 | 503 | } |
danstrider | 11:3b241ecb75ed | 504 | |
danstrider | 11:3b241ecb75ed | 505 | // change settings |
danstrider | 11:3b241ecb75ed | 506 | else if (userInput == 'Q' or userInput == 'q') { |
danstrider | 11:3b241ecb75ed | 507 | pitchCommand -= 0.5; //decrement the pitch setpoint |
danstrider | 11:3b241ecb75ed | 508 | pitchLoop().setCommand(pitchCommand); |
danstrider | 11:3b241ecb75ed | 509 | pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 510 | } |
danstrider | 11:3b241ecb75ed | 511 | else if (userInput == 'W' or userInput == 'w') { |
danstrider | 11:3b241ecb75ed | 512 | pitchCommand += 0.5; //increment the pitch setpoint |
danstrider | 11:3b241ecb75ed | 513 | pitchLoop().setCommand(pitchCommand); |
danstrider | 11:3b241ecb75ed | 514 | pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 515 | } |
danstrider | 11:3b241ecb75ed | 516 | else if (userInput == 'A' or userInput == 'a') { |
danstrider | 11:3b241ecb75ed | 517 | depthCommand -= 0.5; //decrement the depth setpoint |
danstrider | 11:3b241ecb75ed | 518 | depthLoop().setCommand(depthCommand); |
danstrider | 11:3b241ecb75ed | 519 | pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 520 | } |
danstrider | 11:3b241ecb75ed | 521 | else if (userInput == 'S' or userInput == 's') { |
danstrider | 11:3b241ecb75ed | 522 | depthCommand += 0.5; //increment the depth setpoint |
danstrider | 11:3b241ecb75ed | 523 | depthLoop().setCommand(depthCommand); |
danstrider | 11:3b241ecb75ed | 524 | pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 525 | } |
danstrider | 11:3b241ecb75ed | 526 | else if (userInput == '-') { |
danstrider | 11:3b241ecb75ed | 527 | timeout -= 10.0; //decrement the timeout |
danstrider | 11:3b241ecb75ed | 528 | pc().printf(">>> timeout decreased: %d\r\n", timeout); |
danstrider | 11:3b241ecb75ed | 529 | } |
danstrider | 11:3b241ecb75ed | 530 | else if (userInput == '=' or userInput == '+') { |
danstrider | 11:3b241ecb75ed | 531 | timeout += 10.0; //increment the timeout |
danstrider | 11:3b241ecb75ed | 532 | pc().printf(">>> timeout increased: %d\r\n", timeout); |
danstrider | 11:3b241ecb75ed | 533 | } |
danstrider | 11:3b241ecb75ed | 534 | |
danstrider | 11:3b241ecb75ed | 535 | // add keyboard commands to move the neutral zero offsets, both bce and batt |
danstrider | 11:3b241ecb75ed | 536 | |
danstrider | 11:3b241ecb75ed | 537 | // go to sub-menus for the PID gains (this is blocking) |
danstrider | 11:3b241ecb75ed | 538 | else if (userInput == '1') { |
danstrider | 11:3b241ecb75ed | 539 | keyboard_menu_BCE_PID_settings(); |
danstrider | 11:3b241ecb75ed | 540 | } |
danstrider | 11:3b241ecb75ed | 541 | else if (userInput == '2') { |
danstrider | 11:3b241ecb75ed | 542 | keyboard_menu_BATT_PID_settings(); |
danstrider | 11:3b241ecb75ed | 543 | } |
danstrider | 11:3b241ecb75ed | 544 | else if (userInput == '3') { |
danstrider | 11:3b241ecb75ed | 545 | keyboard_menu_DEPTH_PID_settings(); |
danstrider | 11:3b241ecb75ed | 546 | } |
danstrider | 11:3b241ecb75ed | 547 | else if (userInput == '4') { |
danstrider | 11:3b241ecb75ed | 548 | keyboard_menu_PITCH_PID_settings(); |
danstrider | 11:3b241ecb75ed | 549 | } |
danstrider | 11:3b241ecb75ed | 550 | |
danstrider | 11:3b241ecb75ed | 551 | else if (userInput == 'C' or userInput == 'c') { |
tnhnrl | 13:84fcbe1dcd62 | 552 | pc().printf("depth: %3.1f\r\n",depthLoop().getPosition()); |
danstrider | 11:3b241ecb75ed | 553 | pc().printf("pitch: %3.1f\r\n",imu().getPitch()); |
danstrider | 11:3b241ecb75ed | 554 | pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm()); |
danstrider | 11:3b241ecb75ed | 555 | pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm()); |
danstrider | 11:3b241ecb75ed | 556 | pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm()); |
danstrider | 11:3b241ecb75ed | 557 | pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm()); |
danstrider | 11:3b241ecb75ed | 558 | pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 559 | pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 560 | } |
danstrider | 11:3b241ecb75ed | 561 | else { |
danstrider | 11:3b241ecb75ed | 562 | return (-1); |
danstrider | 11:3b241ecb75ed | 563 | } |
mkelly10 | 5:15bd96205bb2 | 564 | } |
danstrider | 11:3b241ecb75ed | 565 | return (-1); |
mkelly10 | 5:15bd96205bb2 | 566 | } |
mkelly10 | 5:15bd96205bb2 | 567 | |
danstrider | 11:3b241ecb75ed | 568 | void stateMachine() { |
danstrider | 11:3b241ecb75ed | 569 | static int state = SIT_IDLE; // select starting state here |
danstrider | 11:3b241ecb75ed | 570 | static bool isTimeoutRunning = false; // default timer to not running |
danstrider | 11:3b241ecb75ed | 571 | |
danstrider | 11:3b241ecb75ed | 572 | // finite state machine ... each state has at least one exit criteria |
danstrider | 11:3b241ecb75ed | 573 | switch (state) { |
danstrider | 11:3b241ecb75ed | 574 | case SIT_IDLE : |
danstrider | 11:3b241ecb75ed | 575 | // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions |
danstrider | 11:3b241ecb75ed | 576 | if (!isTimeoutRunning) { |
danstrider | 11:3b241ecb75ed | 577 | showMenu(); |
danstrider | 14:85b64a4d08e8 | 578 | pc().printf("\r\n\nstate: SIT_IDLE\r\n"); |
danstrider | 11:3b241ecb75ed | 579 | isTimeoutRunning = true; |
danstrider | 11:3b241ecb75ed | 580 | |
danstrider | 11:3b241ecb75ed | 581 | // what is active? |
mkelly10 | 12:a0519d11d2b6 | 582 | bce().pause(); |
mkelly10 | 12:a0519d11d2b6 | 583 | batt().pause(); |
danstrider | 11:3b241ecb75ed | 584 | } |
danstrider | 11:3b241ecb75ed | 585 | // how exit? |
danstrider | 11:3b241ecb75ed | 586 | if (pc().readable()) { |
danstrider | 11:3b241ecb75ed | 587 | state = KEYBOARD; |
danstrider | 11:3b241ecb75ed | 588 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 589 | } |
danstrider | 11:3b241ecb75ed | 590 | break; |
danstrider | 11:3b241ecb75ed | 591 | |
danstrider | 11:3b241ecb75ed | 592 | case KEYBOARD : |
danstrider | 14:85b64a4d08e8 | 593 | pc().printf("\r\n\nstate: KEYBOARD\r\n"); |
danstrider | 11:3b241ecb75ed | 594 | if (pc().readable()) { |
danstrider | 11:3b241ecb75ed | 595 | state = keyboard(); // get new state command |
danstrider | 11:3b241ecb75ed | 596 | if (state == -1) { // error, that wasn't a new state command |
danstrider | 11:3b241ecb75ed | 597 | state = SIT_IDLE; |
danstrider | 11:3b241ecb75ed | 598 | } |
danstrider | 11:3b241ecb75ed | 599 | //pc().printf("new state is: %d \r\n",state); |
danstrider | 11:3b241ecb75ed | 600 | } |
danstrider | 11:3b241ecb75ed | 601 | break; |
danstrider | 10:085ab7328054 | 602 | |
danstrider | 11:3b241ecb75ed | 603 | case EMERGENCY_CLIMB : |
danstrider | 11:3b241ecb75ed | 604 | // start local state timer and init any other one-shot actions |
danstrider | 11:3b241ecb75ed | 605 | if (!isTimeoutRunning) { |
danstrider | 14:85b64a4d08e8 | 606 | pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n"); |
danstrider | 11:3b241ecb75ed | 607 | timer.reset(); // timer goes back to zero |
danstrider | 11:3b241ecb75ed | 608 | timer.start(); // background timer starts running |
danstrider | 11:3b241ecb75ed | 609 | isTimeoutRunning = true; |
danstrider | 11:3b241ecb75ed | 610 | |
danstrider | 11:3b241ecb75ed | 611 | // what needs to be started? |
mkelly10 | 12:a0519d11d2b6 | 612 | bce().unpause(); |
mkelly10 | 12:a0519d11d2b6 | 613 | batt().unpause(); |
danstrider | 11:3b241ecb75ed | 614 | |
danstrider | 11:3b241ecb75ed | 615 | // what is active? |
danstrider | 11:3b241ecb75ed | 616 | bce().setPosition_mm(bce().getTravelLimit()); |
danstrider | 11:3b241ecb75ed | 617 | batt().setPosition_mm(0.0); |
danstrider | 11:3b241ecb75ed | 618 | } |
danstrider | 11:3b241ecb75ed | 619 | // how exit? |
danstrider | 11:3b241ecb75ed | 620 | if (timer > timeout) { |
danstrider | 11:3b241ecb75ed | 621 | pc().printf("timed out\r\n"); |
danstrider | 11:3b241ecb75ed | 622 | state = FLOAT_LEVEL; |
danstrider | 11:3b241ecb75ed | 623 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 624 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 625 | } |
tnhnrl | 13:84fcbe1dcd62 | 626 | else if (depthLoop().getPosition() < 0.2) { |
tnhnrl | 13:84fcbe1dcd62 | 627 | pc().printf("depth: %3.1f, cmd: 0.5\r\n",depthLoop().getPosition()); |
danstrider | 11:3b241ecb75ed | 628 | state = FLOAT_LEVEL; |
danstrider | 11:3b241ecb75ed | 629 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 630 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 631 | } |
danstrider | 11:3b241ecb75ed | 632 | break; |
danstrider | 11:3b241ecb75ed | 633 | |
danstrider | 11:3b241ecb75ed | 634 | case FIND_NEUTRAL : |
danstrider | 11:3b241ecb75ed | 635 | // start local state timer and init any other one-shot actions |
danstrider | 11:3b241ecb75ed | 636 | if (!isTimeoutRunning) { |
danstrider | 14:85b64a4d08e8 | 637 | pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n"); |
danstrider | 11:3b241ecb75ed | 638 | timer.reset(); // timer goes back to zero |
danstrider | 11:3b241ecb75ed | 639 | timer.start(); // background timer starts running |
danstrider | 11:3b241ecb75ed | 640 | isTimeoutRunning = true; |
danstrider | 11:3b241ecb75ed | 641 | |
danstrider | 11:3b241ecb75ed | 642 | // what needs to be started? |
mkelly10 | 12:a0519d11d2b6 | 643 | bce().unpause(); |
mkelly10 | 12:a0519d11d2b6 | 644 | batt().unpause(); |
tnhnrl | 13:84fcbe1dcd62 | 645 | |
danstrider | 11:3b241ecb75ed | 646 | // what is active? |
danstrider | 11:3b241ecb75ed | 647 | depthLoop().setCommand(depthCommand); |
danstrider | 11:3b241ecb75ed | 648 | pitchLoop().setCommand(pitchCommand); |
danstrider | 11:3b241ecb75ed | 649 | } |
danstrider | 11:3b241ecb75ed | 650 | // how exit? |
danstrider | 11:3b241ecb75ed | 651 | if (timer > timeout) { |
danstrider | 11:3b241ecb75ed | 652 | pc().printf("timed out\r\n"); |
danstrider | 11:3b241ecb75ed | 653 | state = FLOAT_LEVEL; |
danstrider | 11:3b241ecb75ed | 654 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 655 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 656 | } |
tnhnrl | 13:84fcbe1dcd62 | 657 | else if ((abs(depthLoop().getPosition() - depthLoop().getCommand()) < depthTolerance) and |
danstrider | 11:3b241ecb75ed | 658 | (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) { |
danstrider | 11:3b241ecb75ed | 659 | state = RISE; |
danstrider | 11:3b241ecb75ed | 660 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 661 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 662 | } |
danstrider | 11:3b241ecb75ed | 663 | // what is active? |
tnhnrl | 13:84fcbe1dcd62 | 664 | pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); |
danstrider | 11:3b241ecb75ed | 665 | bce().setPosition_mm(depthLoop().getOutput()); |
danstrider | 11:3b241ecb75ed | 666 | batt().setPosition_mm(pitchLoop().getOutput()); |
danstrider | 11:3b241ecb75ed | 667 | break; |
mkelly10 | 5:15bd96205bb2 | 668 | |
danstrider | 11:3b241ecb75ed | 669 | case DIVE : |
danstrider | 11:3b241ecb75ed | 670 | // start local state timer and init any other one-shot actions |
danstrider | 11:3b241ecb75ed | 671 | if (!isTimeoutRunning) { |
danstrider | 14:85b64a4d08e8 | 672 | pc().printf("\r\n\nstate: DIVE\r\n"); |
danstrider | 11:3b241ecb75ed | 673 | timer.reset(); // timer goes back to zero |
danstrider | 11:3b241ecb75ed | 674 | timer.start(); // background timer starts running |
danstrider | 11:3b241ecb75ed | 675 | isTimeoutRunning = true; |
danstrider | 11:3b241ecb75ed | 676 | |
danstrider | 11:3b241ecb75ed | 677 | // what needs to be started? |
mkelly10 | 12:a0519d11d2b6 | 678 | bce().unpause(); |
mkelly10 | 12:a0519d11d2b6 | 679 | batt().unpause(); |
danstrider | 11:3b241ecb75ed | 680 | |
danstrider | 11:3b241ecb75ed | 681 | // what are the commands? |
danstrider | 11:3b241ecb75ed | 682 | depthLoop().setCommand(depthCommand); |
danstrider | 11:3b241ecb75ed | 683 | pitchLoop().setCommand(pitchCommand); |
danstrider | 11:3b241ecb75ed | 684 | pc().printf("depth cmd: %3.1f\r\n",depthLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 685 | pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 686 | } |
danstrider | 11:3b241ecb75ed | 687 | // how exit? |
danstrider | 11:3b241ecb75ed | 688 | if (timer > timeout) { |
danstrider | 11:3b241ecb75ed | 689 | pc().printf("timed out\r\n"); |
danstrider | 15:2a8cfd3f1cf5 | 690 | state = EMERGENCY_CLIMB; |
danstrider | 11:3b241ecb75ed | 691 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 692 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 693 | } |
tnhnrl | 13:84fcbe1dcd62 | 694 | else if (depthLoop().getPosition() > depthLoop().getCommand()) { |
tnhnrl | 13:84fcbe1dcd62 | 695 | pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 696 | state = RISE; |
danstrider | 11:3b241ecb75ed | 697 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 698 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 699 | } |
danstrider | 11:3b241ecb75ed | 700 | // what is active? |
tnhnrl | 13:84fcbe1dcd62 | 701 | pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); |
danstrider | 11:3b241ecb75ed | 702 | bce().setPosition_mm(depthLoop().getOutput()); |
danstrider | 11:3b241ecb75ed | 703 | batt().setPosition_mm(pitchLoop().getOutput()); |
danstrider | 11:3b241ecb75ed | 704 | break; |
danstrider | 11:3b241ecb75ed | 705 | |
danstrider | 11:3b241ecb75ed | 706 | case RISE : |
danstrider | 11:3b241ecb75ed | 707 | // start local state timer and init any other one-shot actions |
danstrider | 11:3b241ecb75ed | 708 | if (!isTimeoutRunning) { |
danstrider | 14:85b64a4d08e8 | 709 | pc().printf("\r\n\nstate: RISE\r\n"); |
danstrider | 11:3b241ecb75ed | 710 | timer.reset(); // timer goes back to zero |
danstrider | 11:3b241ecb75ed | 711 | timer.start(); // background timer starts running |
danstrider | 11:3b241ecb75ed | 712 | isTimeoutRunning = true; |
danstrider | 11:3b241ecb75ed | 713 | |
danstrider | 11:3b241ecb75ed | 714 | // what needs to be started? |
mkelly10 | 12:a0519d11d2b6 | 715 | bce().unpause(); |
mkelly10 | 12:a0519d11d2b6 | 716 | batt().unpause(); |
tnhnrl | 13:84fcbe1dcd62 | 717 | |
danstrider | 11:3b241ecb75ed | 718 | // what are the commands? |
danstrider | 11:3b241ecb75ed | 719 | depthLoop().setCommand(0.0); |
danstrider | 11:3b241ecb75ed | 720 | pitchLoop().setCommand(-pitchCommand); |
danstrider | 11:3b241ecb75ed | 721 | pc().printf("depth cmd: 0.0\r\n"); |
danstrider | 11:3b241ecb75ed | 722 | pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 723 | } |
danstrider | 11:3b241ecb75ed | 724 | // how exit? |
danstrider | 11:3b241ecb75ed | 725 | if (timer > timeout) { |
danstrider | 11:3b241ecb75ed | 726 | pc().printf("timed out\r\n"); |
danstrider | 11:3b241ecb75ed | 727 | state = FLOAT_LEVEL; |
danstrider | 11:3b241ecb75ed | 728 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 729 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 730 | } |
tnhnrl | 13:84fcbe1dcd62 | 731 | else if (depthLoop().getPosition() < depthLoop().getCommand()) { |
tnhnrl | 13:84fcbe1dcd62 | 732 | pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
danstrider | 11:3b241ecb75ed | 733 | state = FLOAT_LEVEL; |
danstrider | 11:3b241ecb75ed | 734 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 735 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 736 | } |
tnhnrl | 13:84fcbe1dcd62 | 737 | pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); |
danstrider | 11:3b241ecb75ed | 738 | // what is active? |
danstrider | 11:3b241ecb75ed | 739 | bce().setPosition_mm(depthLoop().getOutput()); |
danstrider | 11:3b241ecb75ed | 740 | batt().setPosition_mm(pitchLoop().getOutput()); |
danstrider | 11:3b241ecb75ed | 741 | break; |
danstrider | 11:3b241ecb75ed | 742 | |
danstrider | 11:3b241ecb75ed | 743 | case FLOAT_LEVEL : |
danstrider | 11:3b241ecb75ed | 744 | // start local state timer and init any other one-shot actions |
danstrider | 11:3b241ecb75ed | 745 | if (!isTimeoutRunning) { |
danstrider | 14:85b64a4d08e8 | 746 | pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n"); |
danstrider | 11:3b241ecb75ed | 747 | timer.reset(); // timer goes back to zero |
danstrider | 11:3b241ecb75ed | 748 | timer.start(); // background timer starts running |
danstrider | 11:3b241ecb75ed | 749 | isTimeoutRunning = true; |
danstrider | 11:3b241ecb75ed | 750 | |
danstrider | 11:3b241ecb75ed | 751 | // what needs to be started? |
mkelly10 | 12:a0519d11d2b6 | 752 | bce().unpause(); |
mkelly10 | 12:a0519d11d2b6 | 753 | batt().unpause(); |
tnhnrl | 13:84fcbe1dcd62 | 754 | |
danstrider | 11:3b241ecb75ed | 755 | // what are the commands |
danstrider | 11:3b241ecb75ed | 756 | bce().setPosition_mm(bceFloatPosition); |
danstrider | 11:3b241ecb75ed | 757 | pitchLoop().setCommand(0.0); |
danstrider | 11:3b241ecb75ed | 758 | } |
danstrider | 11:3b241ecb75ed | 759 | // how exit? |
danstrider | 11:3b241ecb75ed | 760 | if (timer > timeout) { |
danstrider | 11:3b241ecb75ed | 761 | pc().printf("timed out\r\n"); |
danstrider | 11:3b241ecb75ed | 762 | state = FLOAT_BROADCAST; |
danstrider | 11:3b241ecb75ed | 763 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 764 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 765 | } |
danstrider | 11:3b241ecb75ed | 766 | else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) { |
danstrider | 11:3b241ecb75ed | 767 | pc().printf("pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance); |
danstrider | 11:3b241ecb75ed | 768 | state = FLOAT_BROADCAST; |
danstrider | 11:3b241ecb75ed | 769 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 770 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 771 | } |
danstrider | 11:3b241ecb75ed | 772 | // what is active? |
danstrider | 11:3b241ecb75ed | 773 | pc().printf("pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm()); |
danstrider | 11:3b241ecb75ed | 774 | batt().setPosition_mm(pitchLoop().getOutput()); |
danstrider | 11:3b241ecb75ed | 775 | break; |
danstrider | 11:3b241ecb75ed | 776 | |
danstrider | 11:3b241ecb75ed | 777 | case FLOAT_BROADCAST : |
danstrider | 11:3b241ecb75ed | 778 | // start local state timer and init any other one-shot actions |
danstrider | 11:3b241ecb75ed | 779 | if (!isTimeoutRunning) { |
danstrider | 14:85b64a4d08e8 | 780 | pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n"); |
danstrider | 11:3b241ecb75ed | 781 | timer.reset(); // timer goes back to zero |
danstrider | 11:3b241ecb75ed | 782 | timer.start(); // background timer starts running |
danstrider | 11:3b241ecb75ed | 783 | isTimeoutRunning = true; |
danstrider | 11:3b241ecb75ed | 784 | |
danstrider | 11:3b241ecb75ed | 785 | // what needs to be started? |
mkelly10 | 12:a0519d11d2b6 | 786 | bce().unpause(); |
mkelly10 | 12:a0519d11d2b6 | 787 | batt().unpause(); |
danstrider | 11:3b241ecb75ed | 788 | |
danstrider | 11:3b241ecb75ed | 789 | // what are the commands? |
danstrider | 11:3b241ecb75ed | 790 | bce().setPosition_mm(bceFloatPosition); |
danstrider | 11:3b241ecb75ed | 791 | batt().setPosition_mm(battFloatPosition); |
danstrider | 11:3b241ecb75ed | 792 | } |
danstrider | 11:3b241ecb75ed | 793 | // how exit? |
danstrider | 11:3b241ecb75ed | 794 | if (timer > timeout) { |
danstrider | 11:3b241ecb75ed | 795 | pc().printf("timed out\r\n"); |
danstrider | 11:3b241ecb75ed | 796 | state = SIT_IDLE; |
danstrider | 11:3b241ecb75ed | 797 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 798 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 799 | } |
danstrider | 15:2a8cfd3f1cf5 | 800 | if ( (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and |
danstrider | 15:2a8cfd3f1cf5 | 801 | (abs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) { |
danstrider | 11:3b241ecb75ed | 802 | pc().printf("position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband()); |
danstrider | 11:3b241ecb75ed | 803 | state = SIT_IDLE; |
danstrider | 11:3b241ecb75ed | 804 | timer.reset(); |
danstrider | 11:3b241ecb75ed | 805 | isTimeoutRunning = false; |
danstrider | 11:3b241ecb75ed | 806 | } |
tnhnrl | 13:84fcbe1dcd62 | 807 | pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); |
danstrider | 11:3b241ecb75ed | 808 | break; |
danstrider | 11:3b241ecb75ed | 809 | |
danstrider | 11:3b241ecb75ed | 810 | default : |
danstrider | 11:3b241ecb75ed | 811 | state = SIT_IDLE; |
danstrider | 11:3b241ecb75ed | 812 | } |
danstrider | 10:085ab7328054 | 813 | } |
tzyoung | 0:ea293bbf9717 | 814 | |
danstrider | 11:3b241ecb75ed | 815 | |
danstrider | 10:085ab7328054 | 816 | int main() { |
danstrider | 10:085ab7328054 | 817 | setup(); |
danstrider | 10:085ab7328054 | 818 | while(1) { |
danstrider | 11:3b241ecb75ed | 819 | led1() = !led1(); // blink |
danstrider | 11:3b241ecb75ed | 820 | //pc().printf("roll: %3.1f, pitch %3.1f, yaw: %3.1f\r", imu().getRoll(), imu().getPitch(), imu().getHeading()); |
danstrider | 11:3b241ecb75ed | 821 | stateMachine(); |
danstrider | 10:085ab7328054 | 822 | } |
danstrider | 10:085ab7328054 | 823 | } |