Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

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

StateMachine/StateMachine.cpp@65:2ac186553959, 2018-06-19 (annotated)

Committer:
tnhnrl
Date:
Tue Jun 19 18:10:50 2018 +0000
Revision:
65:2ac186553959
Parent:
64:a8939bc127ab
Child:
66:0f20870117b7
Version with limit switches in output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 16:3363b9f14913 1 #include "StateMachine.hpp"
tnhnrl 16:3363b9f14913 2 #include "StaticDefs.hpp"
tnhnrl 20:8987a9ae2bc7 3
tnhnrl 16:3363b9f14913 4 StateMachine::StateMachine() {
tnhnrl 52:f207567d3ea4 5 _timeout = 20; // generic timeout for every state, seconds
tnhnrl 20:8987a9ae2bc7 6
tnhnrl 28:16c83a2fdefa 7 _pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state
tnhnrl 20:8987a9ae2bc7 8
tnhnrl 28:16c83a2fdefa 9 _bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
tnhnrl 28:16c83a2fdefa 10 _battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
tnhnrl 20:8987a9ae2bc7 11
tnhnrl 32:f2f8ae34aadc 12 _depth_command = 2.0; // user keyboard depth (default)
tnhnrl 32:f2f8ae34aadc 13 _pitch_command = -20.0; // user keyboard pitch (default)
tnhnrl 58:94b7fd55185e 14 _heading_command = 0.0;
tnhnrl 17:7c16b5671d0e 15
tnhnrl 57:ec69651c8c21 16 //new commands
tnhnrl 58:94b7fd55185e 17 _BCE_dive_offset = 0.0; //starting at the limits
tnhnrl 58:94b7fd55185e 18 _BMM_dive_offset = 0.0;
tnhnrl 57:ec69651c8c21 19 //new commands
tnhnrl 57:ec69651c8c21 20
tnhnrl 28:16c83a2fdefa 21 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
tnhnrl 20:8987a9ae2bc7 22
tnhnrl 28:16c83a2fdefa 23 _state = SIT_IDLE; // select starting state here
tnhnrl 28:16c83a2fdefa 24 _isTimeoutRunning = false; // default timer to not running
tnhnrl 28:16c83a2fdefa 25 _isSubStateTimerRunning = false; // default timer to not running
tnhnrl 17:7c16b5671d0e 26
tnhnrl 24:c7d9b5bf3829 27 _multi_dive_counter = 0;
tnhnrl 21:38c8544db6f4 28
tnhnrl 21:38c8544db6f4 29 _neutral_sub_state_active = false;
tnhnrl 17:7c16b5671d0e 30
tnhnrl 21:38c8544db6f4 31 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 32 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 33 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 21:38c8544db6f4 34
tnhnrl 21:38c8544db6f4 35 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 36 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 37 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 21:38c8544db6f4 38
tnhnrl 21:38c8544db6f4 39 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 40 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 23:434f04ef1fad 41
tnhnrl 28:16c83a2fdefa 42 _state_array_counter = 1; //used to iterate through and record states
tnhnrl 28:16c83a2fdefa 43 _substate_array_counter = 0; //used to iterate through and record substates
tnhnrl 28:16c83a2fdefa 44
tnhnrl 28:16c83a2fdefa 45 _state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this
tnhnrl 24:c7d9b5bf3829 46
tnhnrl 30:2964617e7676 47 _substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING
tnhnrl 28:16c83a2fdefa 48 _previous_substate = -1; //to start sub-FSM
tnhnrl 28:16c83a2fdefa 49 _previous_state = -1; //for tracking FSM states
tnhnrl 28:16c83a2fdefa 50
tnhnrl 28:16c83a2fdefa 51 _max_recorded_depth_neutral = -99; //float to record max depth
tnhnrl 28:16c83a2fdefa 52 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 32:f2f8ae34aadc 53
tnhnrl 32:f2f8ae34aadc 54 _neutral_sink_command_mm = -2.5; //defaults for neutral finding sub-FSM
tnhnrl 32:f2f8ae34aadc 55 _neutral_rise_command_mm = 2.0;
tnhnrl 32:f2f8ae34aadc 56 _neutral_pitch_command_mm = 0.5;
tnhnrl 32:f2f8ae34aadc 57
tnhnrl 32:f2f8ae34aadc 58 _max_recorded_auto_neutral_depth = -99;
tnhnrl 32:f2f8ae34aadc 59
tnhnrl 32:f2f8ae34aadc 60 _file_closed = true;
tnhnrl 57:ec69651c8c21 61
tnhnrl 57:ec69651c8c21 62 _debug_menu_on = false; //toggle between debug and simple menu screens
tnhnrl 16:3363b9f14913 63 }
tnhnrl 20:8987a9ae2bc7 64
tnhnrl 17:7c16b5671d0e 65 //Finite State Machine (FSM)
tnhnrl 45:16b8162188ca 66 int StateMachine::runStateMachine() {
tnhnrl 45:16b8162188ca 67 static int transmit_packet_number = 1; //for data transmission
tnhnrl 45:16b8162188ca 68
tnhnrl 16:3363b9f14913 69 // finite state machine ... each state has at least one exit criteria
tnhnrl 17:7c16b5671d0e 70 switch (_state) {
tnhnrl 16:3363b9f14913 71 case SIT_IDLE :
tnhnrl 28:16c83a2fdefa 72 case KEYBOARD:
tnhnrl 16:3363b9f14913 73 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 28:16c83a2fdefa 74 if (!_isTimeoutRunning) {
tnhnrl 57:ec69651c8c21 75
tnhnrl 57:ec69651c8c21 76 if (_debug_menu_on)
tnhnrl 57:ec69651c8c21 77 showDebugMenu();
tnhnrl 57:ec69651c8c21 78 else
tnhnrl 57:ec69651c8c21 79 showSimpleMenu();
tnhnrl 16:3363b9f14913 80 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 28:16c83a2fdefa 81 _isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 82
tnhnrl 16:3363b9f14913 83 // what is active?
tnhnrl 16:3363b9f14913 84 bce().pause();
tnhnrl 16:3363b9f14913 85 batt().pause();
tnhnrl 32:f2f8ae34aadc 86
tnhnrl 17:7c16b5671d0e 87 //reset sub FSM
tnhnrl 28:16c83a2fdefa 88 _isSubStateTimerRunning = false;
tnhnrl 32:f2f8ae34aadc 89
tnhnrl 32:f2f8ae34aadc 90 //close the MBED file
tnhnrl 32:f2f8ae34aadc 91 _file_closed = true;
tnhnrl 16:3363b9f14913 92 }
tnhnrl 20:8987a9ae2bc7 93
tnhnrl 16:3363b9f14913 94 // how exit?
tnhnrl 20:8987a9ae2bc7 95 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 96 break;
tnhnrl 49:47ffa4feb6db 97
tnhnrl 49:47ffa4feb6db 98 case CHECK_TUNING : // state used to check the tuning of the pressure vessel
tnhnrl 49:47ffa4feb6db 99 // start local state timer and init any other one-shot actions
tnhnrl 49:47ffa4feb6db 100 if (!_isTimeoutRunning) {
tnhnrl 49:47ffa4feb6db 101 pc().printf("\r\n\nstate: CHECK_TUNING\r\n");
tnhnrl 49:47ffa4feb6db 102 timer.reset(); // timer goes back to zero
tnhnrl 49:47ffa4feb6db 103 timer.start(); // background timer starts running
tnhnrl 49:47ffa4feb6db 104 _isTimeoutRunning = true;
tnhnrl 49:47ffa4feb6db 105
tnhnrl 49:47ffa4feb6db 106 // what needs to be started?
tnhnrl 49:47ffa4feb6db 107 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 108 batt().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 109
tnhnrl 49:47ffa4feb6db 110 // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
tnhnrl 49:47ffa4feb6db 111 bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 112 batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 113
tnhnrl 49:47ffa4feb6db 114 // getSetPosition_mm is the commanded position in the LinearActuator class
tnhnrl 49:47ffa4feb6db 115
tnhnrl 49:47ffa4feb6db 116 pc().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 117 pc().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 118
tnhnrl 49:47ffa4feb6db 119 //show that this is the start of new dive sequence
tnhnrl 49:47ffa4feb6db 120 recordState(_state);
tnhnrl 49:47ffa4feb6db 121
tnhnrl 49:47ffa4feb6db 122 //triggers logger array
tnhnrl 49:47ffa4feb6db 123 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 49:47ffa4feb6db 124 recordData(_state);
tnhnrl 49:47ffa4feb6db 125 }
tnhnrl 49:47ffa4feb6db 126
tnhnrl 49:47ffa4feb6db 127 // how exit?
tnhnrl 49:47ffa4feb6db 128 if (timer > _timeout) {
tnhnrl 49:47ffa4feb6db 129 pc().printf("CHECK_TUNING: timed out!\r\n");
tnhnrl 49:47ffa4feb6db 130 _state = FLOAT_BROADCAST;
tnhnrl 49:47ffa4feb6db 131 timer.reset();
tnhnrl 49:47ffa4feb6db 132 _isTimeoutRunning = false;
tnhnrl 49:47ffa4feb6db 133 }
tnhnrl 49:47ffa4feb6db 134
tnhnrl 49:47ffa4feb6db 135 //print status to screen continuously
tnhnrl 49:47ffa4feb6db 136 pc().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f ft, pitch: %0.1f deg) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),timer.read());
tnhnrl 49:47ffa4feb6db 137
tnhnrl 49:47ffa4feb6db 138 //record data every 5 seconds
tnhnrl 49:47ffa4feb6db 139 recordData(_state);
tnhnrl 49:47ffa4feb6db 140
tnhnrl 49:47ffa4feb6db 141 break;
tnhnrl 20:8987a9ae2bc7 142
tnhnrl 16:3363b9f14913 143 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 144 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 145 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 146 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 16:3363b9f14913 147 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 148 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 149 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 150
tnhnrl 16:3363b9f14913 151 // what needs to be started?
tnhnrl 16:3363b9f14913 152 bce().unpause();
tnhnrl 16:3363b9f14913 153 batt().unpause();
tnhnrl 20:8987a9ae2bc7 154
tnhnrl 20:8987a9ae2bc7 155 // what are the commands?
tnhnrl 16:3363b9f14913 156 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 16:3363b9f14913 157 batt().setPosition_mm(0.0);
tnhnrl 32:f2f8ae34aadc 158
tnhnrl 32:f2f8ae34aadc 159 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 160 ////////createNewFile();
tnhnrl 32:f2f8ae34aadc 161
tnhnrl 32:f2f8ae34aadc 162 //show that this is the start of a new EMERGENCY_CLIMB sequence
tnhnrl 32:f2f8ae34aadc 163 recordState(_state);
tnhnrl 32:f2f8ae34aadc 164
tnhnrl 49:47ffa4feb6db 165 //triggers logger array
tnhnrl 32:f2f8ae34aadc 166 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 167 recordData(_state);
tnhnrl 16:3363b9f14913 168 }
tnhnrl 20:8987a9ae2bc7 169
tnhnrl 16:3363b9f14913 170 // how exit?
tnhnrl 17:7c16b5671d0e 171 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 172 pc().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 173 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 174 timer.reset();
tnhnrl 28:16c83a2fdefa 175 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 176 }
tnhnrl 26:7e118fc02eea 177 else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 21:38c8544db6f4 178 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 179 timer.reset();
tnhnrl 28:16c83a2fdefa 180 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 181 }
tnhnrl 32:f2f8ae34aadc 182
tnhnrl 34:9b66c5188051 183 //print status to screen continuously
tnhnrl 34:9b66c5188051 184 pc().printf("EC: depth: %3.1f (BCE_cmd: %0.1f), pitch: %0.1f deg [%0.1f sec]\r",depthLoop().getPosition(),bce().getPosition_mm(),pitchLoop().getPosition(),timer.read());
tnhnrl 34:9b66c5188051 185
tnhnrl 32:f2f8ae34aadc 186 //record data every 5 seconds
tnhnrl 34:9b66c5188051 187 recordData(_state);
tnhnrl 32:f2f8ae34aadc 188
tnhnrl 16:3363b9f14913 189 break;
tnhnrl 20:8987a9ae2bc7 190
tnhnrl 16:3363b9f14913 191 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 192 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 193 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 194 pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
tnhnrl 16:3363b9f14913 195 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 196 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 197 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 198
tnhnrl 16:3363b9f14913 199 // what needs to be started?
tnhnrl 16:3363b9f14913 200 bce().unpause();
tnhnrl 16:3363b9f14913 201 batt().unpause();
tnhnrl 28:16c83a2fdefa 202 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 24:c7d9b5bf3829 203 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to close-to-neutral setting from config file
tnhnrl 17:7c16b5671d0e 204
tnhnrl 24:c7d9b5bf3829 205 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 24:c7d9b5bf3829 206 //set the first state of the FSM, and start the sub-FSM
tnhnrl 30:2964617e7676 207 _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
tnhnrl 28:16c83a2fdefa 208 _previous_substate = -1;
tnhnrl 28:16c83a2fdefa 209
tnhnrl 28:16c83a2fdefa 210 //save this state to the array
tnhnrl 30:2964617e7676 211 _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
tnhnrl 28:16c83a2fdefa 212 _substate_array_counter++;
tnhnrl 28:16c83a2fdefa 213
tnhnrl 32:f2f8ae34aadc 214 runNeutralStateMachine();
tnhnrl 32:f2f8ae34aadc 215
tnhnrl 32:f2f8ae34aadc 216 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 217 //createNewFile();
tnhnrl 32:f2f8ae34aadc 218
tnhnrl 32:f2f8ae34aadc 219 //show that this is the start of a new FIND_NEUTRAL sequence
tnhnrl 32:f2f8ae34aadc 220 recordState(_state);
tnhnrl 32:f2f8ae34aadc 221
tnhnrl 49:47ffa4feb6db 222 //triggers logger array
tnhnrl 32:f2f8ae34aadc 223 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 224 recordData(_state);
tnhnrl 16:3363b9f14913 225 }
tnhnrl 20:8987a9ae2bc7 226
tnhnrl 20:8987a9ae2bc7 227 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 17:7c16b5671d0e 228 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 229 pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
tnhnrl 21:38c8544db6f4 230 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 16:3363b9f14913 231 timer.reset();
tnhnrl 28:16c83a2fdefa 232 _isTimeoutRunning = false;
tnhnrl 24:c7d9b5bf3829 233
tnhnrl 24:c7d9b5bf3829 234 //record this to the NEUTRAL sub-FSM tracker
tnhnrl 28:16c83a2fdefa 235 _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
tnhnrl 28:16c83a2fdefa 236 _substate_array_counter++;
tnhnrl 16:3363b9f14913 237 }
tnhnrl 21:38c8544db6f4 238
tnhnrl 24:c7d9b5bf3829 239 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 24:c7d9b5bf3829 240 //check if substate returned exit state, if so stop running the sub-FSM
tnhnrl 26:7e118fc02eea 241 else if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 242 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 58:94b7fd55185e 243 pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
tnhnrl 21:38c8544db6f4 244 _state = RISE;
tnhnrl 30:2964617e7676 245 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 246 }
tnhnrl 32:f2f8ae34aadc 247
tnhnrl 32:f2f8ae34aadc 248 //record data every 5 seconds
tnhnrl 34:9b66c5188051 249 recordData(_state);
tnhnrl 32:f2f8ae34aadc 250
tnhnrl 17:7c16b5671d0e 251 break;
tnhnrl 17:7c16b5671d0e 252
tnhnrl 16:3363b9f14913 253 case DIVE :
tnhnrl 16:3363b9f14913 254 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 255
tnhnrl 28:16c83a2fdefa 256 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 257 pc().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 16:3363b9f14913 258 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 259 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 260 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 261
tnhnrl 16:3363b9f14913 262 // what needs to be started?
tnhnrl 16:3363b9f14913 263 bce().unpause();
tnhnrl 16:3363b9f14913 264 batt().unpause();
tnhnrl 20:8987a9ae2bc7 265
tnhnrl 16:3363b9f14913 266 // what are the commands?
tnhnrl 32:f2f8ae34aadc 267 depthLoop().setCommand(_depth_command);
tnhnrl 32:f2f8ae34aadc 268 pitchLoop().setCommand(_pitch_command);
tnhnrl 32:f2f8ae34aadc 269
tnhnrl 34:9b66c5188051 270 pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 34:9b66c5188051 271 pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 28:16c83a2fdefa 272
tnhnrl 28:16c83a2fdefa 273 //reset max dive depth
tnhnrl 28:16c83a2fdefa 274 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 32:f2f8ae34aadc 275
tnhnrl 32:f2f8ae34aadc 276 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 277 //createNewFile();
tnhnrl 32:f2f8ae34aadc 278
tnhnrl 32:f2f8ae34aadc 279 //show that this is the start of new dive sequence
tnhnrl 32:f2f8ae34aadc 280 recordState(_state);
tnhnrl 32:f2f8ae34aadc 281
tnhnrl 49:47ffa4feb6db 282 //triggers logger array
tnhnrl 32:f2f8ae34aadc 283 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 284 recordData(_state);
tnhnrl 16:3363b9f14913 285 }
tnhnrl 20:8987a9ae2bc7 286
tnhnrl 16:3363b9f14913 287 // how exit?
tnhnrl 32:f2f8ae34aadc 288 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 289 pc().printf("DIVE: timed out\r\n\n");
tnhnrl 21:38c8544db6f4 290 _state = RISE; //new behavior 11/17/2017
tnhnrl 16:3363b9f14913 291 timer.reset();
tnhnrl 28:16c83a2fdefa 292 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 293 }
tnhnrl 32:f2f8ae34aadc 294 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 32:f2f8ae34aadc 295 pc().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 296 _state = RISE;
tnhnrl 16:3363b9f14913 297 timer.reset();
tnhnrl 28:16c83a2fdefa 298 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 299 }
tnhnrl 20:8987a9ae2bc7 300
tnhnrl 16:3363b9f14913 301 // what is active?
tnhnrl 58:94b7fd55185e 302 pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depth: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
tnhnrl 32:f2f8ae34aadc 303 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 16:3363b9f14913 304 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 28:16c83a2fdefa 305
tnhnrl 28:16c83a2fdefa 306 if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
tnhnrl 28:16c83a2fdefa 307 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 308 }
tnhnrl 32:f2f8ae34aadc 309
tnhnrl 32:f2f8ae34aadc 310 //record data every 5 seconds
tnhnrl 34:9b66c5188051 311 recordData(_state);
tnhnrl 32:f2f8ae34aadc 312
tnhnrl 16:3363b9f14913 313 break;
tnhnrl 16:3363b9f14913 314
tnhnrl 16:3363b9f14913 315 case RISE :
tnhnrl 16:3363b9f14913 316 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 317
tnhnrl 28:16c83a2fdefa 318 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 319 pc().printf("\r\n\nstate: RISE\r\n");
tnhnrl 16:3363b9f14913 320 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 321 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 322 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 323
tnhnrl 16:3363b9f14913 324 // what needs to be started?
tnhnrl 16:3363b9f14913 325 bce().unpause();
tnhnrl 16:3363b9f14913 326 batt().unpause();
tnhnrl 16:3363b9f14913 327
tnhnrl 16:3363b9f14913 328 // what are the commands?
tnhnrl 28:16c83a2fdefa 329 depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
tnhnrl 32:f2f8ae34aadc 330 pitchLoop().setCommand(-_pitch_command);
tnhnrl 34:9b66c5188051 331
tnhnrl 34:9b66c5188051 332 pc().printf("RISE: depth cmd: %0.1f\r\n",depthLoop().getCommand());
tnhnrl 34:9b66c5188051 333 pc().printf("RISE: pitch cmd: %0.1f\r\n",pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 334
tnhnrl 32:f2f8ae34aadc 335 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 336 //createNewFile();
tnhnrl 32:f2f8ae34aadc 337
tnhnrl 32:f2f8ae34aadc 338 //show that this is the start of new rise sequence
tnhnrl 32:f2f8ae34aadc 339 recordState(_state);
tnhnrl 32:f2f8ae34aadc 340
tnhnrl 49:47ffa4feb6db 341 //triggers logger array
tnhnrl 32:f2f8ae34aadc 342 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 343 recordData(_state);
tnhnrl 16:3363b9f14913 344 }
tnhnrl 20:8987a9ae2bc7 345
tnhnrl 16:3363b9f14913 346 // how exit?
tnhnrl 32:f2f8ae34aadc 347 if (timer.read() > _timeout) {
tnhnrl 16:3363b9f14913 348 pc().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 349 _state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 350 timer.reset();
tnhnrl 28:16c83a2fdefa 351 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 352 }
tnhnrl 32:f2f8ae34aadc 353
tnhnrl 32:f2f8ae34aadc 354 //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
tnhnrl 32:f2f8ae34aadc 355 //did not work correctly in bench test (stuck in rise state)
tnhnrl 32:f2f8ae34aadc 356 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 32:f2f8ae34aadc 357 pc().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 28:16c83a2fdefa 358 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 359 timer.reset();
tnhnrl 28:16c83a2fdefa 360 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 361 }
tnhnrl 20:8987a9ae2bc7 362
tnhnrl 20:8987a9ae2bc7 363 // what is active?
tnhnrl 58:94b7fd55185e 364 pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
tnhnrl 17:7c16b5671d0e 365 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 32:f2f8ae34aadc 366 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 367
tnhnrl 32:f2f8ae34aadc 368 //record data every 5 seconds
tnhnrl 34:9b66c5188051 369 recordData(_state);
tnhnrl 32:f2f8ae34aadc 370
tnhnrl 58:94b7fd55185e 371 break;
tnhnrl 58:94b7fd55185e 372
tnhnrl 58:94b7fd55185e 373 // NEW DIVE AND RISE SEQUENCES
tnhnrl 58:94b7fd55185e 374 case POSITION_DIVE :
tnhnrl 58:94b7fd55185e 375 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 376 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 377 pc().printf("\r\n\nstate: POSITION DIVE\r\n");
tnhnrl 58:94b7fd55185e 378 timer.reset(); // timer goes back to zero
tnhnrl 58:94b7fd55185e 379 timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 380 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 381
tnhnrl 58:94b7fd55185e 382 // what needs to be started?
tnhnrl 58:94b7fd55185e 383 bce().unpause();
tnhnrl 58:94b7fd55185e 384 batt().unpause();
tnhnrl 58:94b7fd55185e 385 rudder().unpause();
tnhnrl 58:94b7fd55185e 386
tnhnrl 58:94b7fd55185e 387 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 388 // These actions happen ONCE in the POSITION_DIVE sequence
tnhnrl 58:94b7fd55185e 389 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 390 bce().setPosition_mm(_neutral_bce_pos_mm- _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 391 //rudder().setPosition_deg(_heading_command);
tnhnrl 58:94b7fd55185e 392
tnhnrl 58:94b7fd55185e 393 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 394
tnhnrl 58:94b7fd55185e 395 pc().printf("PD: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 396 pc().printf("PD: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 397 pc().printf("PD: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 398
tnhnrl 58:94b7fd55185e 399 //reset max dive depth
tnhnrl 58:94b7fd55185e 400 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 58:94b7fd55185e 401
tnhnrl 58:94b7fd55185e 402 //show that this is the start of new dive sequence
tnhnrl 58:94b7fd55185e 403 recordState(_state);
tnhnrl 58:94b7fd55185e 404
tnhnrl 58:94b7fd55185e 405 //triggers logger array
tnhnrl 58:94b7fd55185e 406 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 58:94b7fd55185e 407 recordData(_state);
tnhnrl 58:94b7fd55185e 408 }
tnhnrl 58:94b7fd55185e 409
tnhnrl 58:94b7fd55185e 410 // how exit?
tnhnrl 58:94b7fd55185e 411 // timer runs out goes to POSITION_RISE
tnhnrl 58:94b7fd55185e 412 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 413 pc().printf("PD: timed out\r\n\n");
tnhnrl 58:94b7fd55185e 414 _state = POSITION_RISE; //new behavior 11/17/2017
tnhnrl 58:94b7fd55185e 415 timer.reset();
tnhnrl 58:94b7fd55185e 416 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 417 }
tnhnrl 58:94b7fd55185e 418
tnhnrl 58:94b7fd55185e 419 // when you reach the dive threshold, surface
tnhnrl 58:94b7fd55185e 420 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 58:94b7fd55185e 421 pc().printf("PD: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 422 _state = POSITION_RISE;
tnhnrl 58:94b7fd55185e 423 timer.reset();
tnhnrl 58:94b7fd55185e 424 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 425 }
tnhnrl 58:94b7fd55185e 426
tnhnrl 58:94b7fd55185e 427 // what is active?
tnhnrl 58:94b7fd55185e 428 pc().printf("PD: bce pos (cmd pos): %3.1f mm (%0.1f), batt pos: %3.1f mm (%0.1f), rudder: %f (depth: %3.1f ft, pitch: %3.1f, heading: %3.1f [cmd: %0.1f])[%0.2f sec] [imu heading: %0.1f] \r", bce().getPosition_mm(),bce().getSetPosition_mm(), batt().getPosition_mm(),batt().getSetPosition_mm(), rudder().getPosition_pwm(), depthLoop().getPosition(), pitchLoop().getPosition(), headingLoop().getPosition(), headingLoop().getOutput(), timer.read(), imu().getHeading());
tnhnrl 58:94b7fd55185e 429
tnhnrl 58:94b7fd55185e 430 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
tnhnrl 58:94b7fd55185e 431 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
tnhnrl 58:94b7fd55185e 432 }
tnhnrl 58:94b7fd55185e 433
tnhnrl 58:94b7fd55185e 434 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 435 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 436
tnhnrl 58:94b7fd55185e 437 //record data internally (for access by MbedLogger)
tnhnrl 58:94b7fd55185e 438 recordData(_state);
tnhnrl 58:94b7fd55185e 439
tnhnrl 58:94b7fd55185e 440 break;
tnhnrl 58:94b7fd55185e 441
tnhnrl 58:94b7fd55185e 442 case POSITION_RISE :
tnhnrl 58:94b7fd55185e 443 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 444
tnhnrl 58:94b7fd55185e 445 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 446 pc().printf("\r\n\nstate: POSITION RISE\r\n");
tnhnrl 58:94b7fd55185e 447 timer.reset(); // timer goes back to zero
tnhnrl 58:94b7fd55185e 448 timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 449 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 450
tnhnrl 58:94b7fd55185e 451 // what needs to be started?
tnhnrl 58:94b7fd55185e 452 bce().unpause();
tnhnrl 58:94b7fd55185e 453 batt().unpause();
tnhnrl 58:94b7fd55185e 454
tnhnrl 58:94b7fd55185e 455 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 456 pc().printf("PR: <<DEBUG>> CMD BCE: %0.1f, CMD BMM: %0.1f)\r\n", _BCE_dive_offset, _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 457
tnhnrl 58:94b7fd55185e 458 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 459 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 460 //rudder().setPosition_deg(_heading_command); //heading stays the same
tnhnrl 58:94b7fd55185e 461
tnhnrl 58:94b7fd55185e 462 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 463
tnhnrl 58:94b7fd55185e 464 pc().printf("PR: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 465 pc().printf("PR: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 466 pc().printf("PR: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 467
tnhnrl 58:94b7fd55185e 468 //show that this is the start of new rise sequence
tnhnrl 58:94b7fd55185e 469 recordState(_state);
tnhnrl 58:94b7fd55185e 470
tnhnrl 58:94b7fd55185e 471 //triggers logger array
tnhnrl 58:94b7fd55185e 472 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 58:94b7fd55185e 473 recordData(_state);
tnhnrl 58:94b7fd55185e 474 }
tnhnrl 58:94b7fd55185e 475
tnhnrl 58:94b7fd55185e 476 // how exit?
tnhnrl 58:94b7fd55185e 477 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 478 pc().printf("PR: timed out\r\n");
tnhnrl 58:94b7fd55185e 479 _state = EMERGENCY_CLIMB;
tnhnrl 58:94b7fd55185e 480 timer.reset();
tnhnrl 58:94b7fd55185e 481 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 482 }
tnhnrl 58:94b7fd55185e 483 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 58:94b7fd55185e 484 pc().printf("PR: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 485 _state = FLOAT_BROADCAST;
tnhnrl 58:94b7fd55185e 486 timer.reset();
tnhnrl 58:94b7fd55185e 487 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 488 }
tnhnrl 58:94b7fd55185e 489
tnhnrl 58:94b7fd55185e 490 // what is active?
tnhnrl 58:94b7fd55185e 491 pc().printf("PR: bce pos (cmd pos): %3.1f mm (%0.1f), batt pos: %3.1f mm (%0.1f), rudder: %f (depth: %3.1f ft, pitch: %3.1f, heading: %3.1f [cmd: %0.1f])[%0.2f sec] [imu heading: %0.1f] \r", bce().getPosition_mm(),bce().getSetPosition_mm(), batt().getPosition_mm(),batt().getSetPosition_mm(), rudder().getPosition_pwm(), depthLoop().getPosition(), pitchLoop().getPosition(), headingLoop().getPosition(), headingLoop().getOutput(), timer.read(), imu().getHeading());
tnhnrl 58:94b7fd55185e 492
tnhnrl 58:94b7fd55185e 493 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 494 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 495
tnhnrl 58:94b7fd55185e 496 //record data internally (for access by MbedLogger)
tnhnrl 58:94b7fd55185e 497 recordData(_state);
tnhnrl 58:94b7fd55185e 498
tnhnrl 58:94b7fd55185e 499 break;
tnhnrl 58:94b7fd55185e 500 // NEW DIVE AND RISE SEQUENCES
tnhnrl 16:3363b9f14913 501
tnhnrl 16:3363b9f14913 502 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 503 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 504 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 505 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 16:3363b9f14913 506 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 507 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 508 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 509
tnhnrl 16:3363b9f14913 510 // what needs to be started?
tnhnrl 16:3363b9f14913 511 bce().unpause();
tnhnrl 16:3363b9f14913 512 batt().unpause();
tnhnrl 16:3363b9f14913 513
tnhnrl 20:8987a9ae2bc7 514 // what are the commands?
tnhnrl 28:16c83a2fdefa 515 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 16:3363b9f14913 516 pitchLoop().setCommand(0.0);
tnhnrl 32:f2f8ae34aadc 517
tnhnrl 32:f2f8ae34aadc 518 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 519 //createNewFile();
tnhnrl 32:f2f8ae34aadc 520
tnhnrl 32:f2f8ae34aadc 521 //show that this is the start of a new float level sequence
tnhnrl 32:f2f8ae34aadc 522 recordState(_state);
tnhnrl 32:f2f8ae34aadc 523
tnhnrl 49:47ffa4feb6db 524 //triggers logger array
tnhnrl 32:f2f8ae34aadc 525 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 526 recordData(_state);
tnhnrl 16:3363b9f14913 527 }
tnhnrl 20:8987a9ae2bc7 528
tnhnrl 16:3363b9f14913 529 // how exit?
tnhnrl 17:7c16b5671d0e 530 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 531 pc().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 532 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 533 timer.reset();
tnhnrl 28:16c83a2fdefa 534 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 535 }
tnhnrl 28:16c83a2fdefa 536 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
tnhnrl 28:16c83a2fdefa 537 pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
tnhnrl 21:38c8544db6f4 538 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 539 timer.reset();
tnhnrl 28:16c83a2fdefa 540 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 541 }
tnhnrl 20:8987a9ae2bc7 542
tnhnrl 16:3363b9f14913 543 // what is active?
tnhnrl 16:3363b9f14913 544 pc().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), timer.read());
tnhnrl 16:3363b9f14913 545 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 546
tnhnrl 32:f2f8ae34aadc 547 //record data every 5 seconds
tnhnrl 34:9b66c5188051 548 recordData(_state);
tnhnrl 32:f2f8ae34aadc 549
tnhnrl 16:3363b9f14913 550 break;
tnhnrl 16:3363b9f14913 551
tnhnrl 16:3363b9f14913 552 case FLOAT_BROADCAST :
tnhnrl 16:3363b9f14913 553 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 554 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 555 pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
tnhnrl 16:3363b9f14913 556 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 557 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 558 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 559
tnhnrl 16:3363b9f14913 560 // what needs to be started?
tnhnrl 16:3363b9f14913 561 bce().unpause();
tnhnrl 16:3363b9f14913 562 batt().unpause();
tnhnrl 20:8987a9ae2bc7 563
tnhnrl 16:3363b9f14913 564 // what are the commands?
tnhnrl 55:f4ec445c42fe 565 bce().setPosition_mm(_bceFloatPosition); // 320.0
tnhnrl 55:f4ec445c42fe 566 batt().setPosition_mm(_battFloatPosition); // 73.0
tnhnrl 32:f2f8ae34aadc 567
tnhnrl 32:f2f8ae34aadc 568 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 569 //createNewFile();
tnhnrl 32:f2f8ae34aadc 570
tnhnrl 32:f2f8ae34aadc 571 //show that this is the start of a new float broadcast sequence
tnhnrl 32:f2f8ae34aadc 572 recordState(_state);
tnhnrl 32:f2f8ae34aadc 573
tnhnrl 55:f4ec445c42fe 574 //triggers logger arrayc
tnhnrl 32:f2f8ae34aadc 575 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 576 recordData(_state);
tnhnrl 16:3363b9f14913 577 }
tnhnrl 20:8987a9ae2bc7 578
tnhnrl 16:3363b9f14913 579 // how exit?
tnhnrl 17:7c16b5671d0e 580 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 581 pc().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 582 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 583 timer.reset();
tnhnrl 32:f2f8ae34aadc 584
tnhnrl 32:f2f8ae34aadc 585 //stop recording data
tnhnrl 35:2f66ea4863d5 586 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 587
tnhnrl 28:16c83a2fdefa 588 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 589 }
tnhnrl 20:8987a9ae2bc7 590 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
tnhnrl 20:8987a9ae2bc7 591 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 16:3363b9f14913 592 pc().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband());
tnhnrl 21:38c8544db6f4 593 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 594 timer.reset();
tnhnrl 32:f2f8ae34aadc 595
tnhnrl 32:f2f8ae34aadc 596 //stop recording data
tnhnrl 35:2f66ea4863d5 597 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 598
tnhnrl 28:16c83a2fdefa 599 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 600 }
tnhnrl 20:8987a9ae2bc7 601
tnhnrl 20:8987a9ae2bc7 602 // what is active?
tnhnrl 58:94b7fd55185e 603 pc().printf("FB: bce pos: %0.1f mm, batt pos: %0.1f mm, heading(IMU): %0.1f (depthLoop POS: %3.1f ft) [%0.1f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), imu().getHeading(), depthLoop().getPosition(), timer.read(), bce().getSetPosition_mm(),batt().getSetPosition_mm());
tnhnrl 32:f2f8ae34aadc 604
tnhnrl 32:f2f8ae34aadc 605 //record data every 5 seconds
tnhnrl 34:9b66c5188051 606 recordData(_state);
tnhnrl 32:f2f8ae34aadc 607
tnhnrl 16:3363b9f14913 608 break;
tnhnrl 17:7c16b5671d0e 609
tnhnrl 17:7c16b5671d0e 610 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 611 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 612 if (!_isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 613 pc().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 17:7c16b5671d0e 614 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 615 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 616 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 617
tnhnrl 17:7c16b5671d0e 618 // what needs to be started?
tnhnrl 17:7c16b5671d0e 619 bce().unpause();
tnhnrl 17:7c16b5671d0e 620 batt().unpause();
tnhnrl 17:7c16b5671d0e 621
tnhnrl 21:38c8544db6f4 622 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 32:f2f8ae34aadc 623 float sequence_depth_command = currentStateStruct.depth;
tnhnrl 32:f2f8ae34aadc 624 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 625
tnhnrl 17:7c16b5671d0e 626 // what are the commands?
tnhnrl 32:f2f8ae34aadc 627 depthLoop().setCommand(sequence_depth_command);
tnhnrl 32:f2f8ae34aadc 628 pitchLoop().setCommand(sequence_pitch_command);
tnhnrl 21:38c8544db6f4 629 pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 630
tnhnrl 32:f2f8ae34aadc 631 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 632 //createNewFile();
tnhnrl 32:f2f8ae34aadc 633
tnhnrl 32:f2f8ae34aadc 634 //show that this is the start of a new MULTI_DIVE sequence
tnhnrl 32:f2f8ae34aadc 635 recordState(_state);
tnhnrl 32:f2f8ae34aadc 636
tnhnrl 32:f2f8ae34aadc 637 //no max depth recording right now
tnhnrl 32:f2f8ae34aadc 638
tnhnrl 49:47ffa4feb6db 639 //triggers logger array
tnhnrl 32:f2f8ae34aadc 640 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 641 recordData(_state);
tnhnrl 17:7c16b5671d0e 642 }
tnhnrl 20:8987a9ae2bc7 643
tnhnrl 17:7c16b5671d0e 644 // how exit?
tnhnrl 17:7c16b5671d0e 645 if (timer > _timeout) {
tnhnrl 58:94b7fd55185e 646 pc().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", timer.read());
tnhnrl 21:38c8544db6f4 647 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 17:7c16b5671d0e 648 timer.reset();
tnhnrl 28:16c83a2fdefa 649 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 650 }
tnhnrl 17:7c16b5671d0e 651 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 17:7c16b5671d0e 652 pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 653 _state = MULTI_RISE;
tnhnrl 17:7c16b5671d0e 654 timer.reset();
tnhnrl 28:16c83a2fdefa 655 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 656 }
tnhnrl 20:8987a9ae2bc7 657
tnhnrl 17:7c16b5671d0e 658 // what is active?
tnhnrl 17:7c16b5671d0e 659 pc().printf("MULTI-DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
tnhnrl 17:7c16b5671d0e 660 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 661 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 662
tnhnrl 32:f2f8ae34aadc 663 //record data every 5 seconds
tnhnrl 34:9b66c5188051 664 recordData(_state);
tnhnrl 32:f2f8ae34aadc 665
tnhnrl 17:7c16b5671d0e 666 break;
tnhnrl 17:7c16b5671d0e 667
tnhnrl 17:7c16b5671d0e 668 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 669 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 670 if (!_isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 671 pc().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 17:7c16b5671d0e 672 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 673 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 674 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 675
tnhnrl 17:7c16b5671d0e 676 // what needs to be started?
tnhnrl 17:7c16b5671d0e 677 bce().unpause();
tnhnrl 17:7c16b5671d0e 678 batt().unpause();
tnhnrl 17:7c16b5671d0e 679
tnhnrl 17:7c16b5671d0e 680 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 681 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 682 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 683
tnhnrl 17:7c16b5671d0e 684 //retrieve just pitch command from struct
tnhnrl 32:f2f8ae34aadc 685 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 686
tnhnrl 17:7c16b5671d0e 687 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 688 depthLoop().setCommand(0.5);
tnhnrl 32:f2f8ae34aadc 689 pitchLoop().setCommand(-sequence_pitch_command);
tnhnrl 21:38c8544db6f4 690 pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 691
tnhnrl 32:f2f8ae34aadc 692 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 693 //createNewFile();
tnhnrl 32:f2f8ae34aadc 694
tnhnrl 32:f2f8ae34aadc 695 //show that this is the start of a new MULTI_DIVE sequence
tnhnrl 32:f2f8ae34aadc 696 recordState(_state);
tnhnrl 32:f2f8ae34aadc 697
tnhnrl 49:47ffa4feb6db 698 //triggers logger array
tnhnrl 32:f2f8ae34aadc 699 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 700 recordData(_state);
tnhnrl 17:7c16b5671d0e 701 }
tnhnrl 20:8987a9ae2bc7 702
tnhnrl 17:7c16b5671d0e 703 // how exit?
tnhnrl 17:7c16b5671d0e 704 if (timer > _timeout) {
tnhnrl 58:94b7fd55185e 705 pc().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", timer.read());
tnhnrl 21:38c8544db6f4 706 _state = EMERGENCY_CLIMB;
tnhnrl 17:7c16b5671d0e 707 timer.reset();
tnhnrl 28:16c83a2fdefa 708 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 709
tnhnrl 17:7c16b5671d0e 710 //reset multi-dive sequence to start
tnhnrl 24:c7d9b5bf3829 711 _multi_dive_counter = 0;
tnhnrl 63:6cb0405fc6e6 712
tnhnrl 63:6cb0405fc6e6 713 //Reload the dive sequence on exit
tnhnrl 63:6cb0405fc6e6 714 sequenceController().loadSequence();
tnhnrl 17:7c16b5671d0e 715 }
tnhnrl 20:8987a9ae2bc7 716 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 17:7c16b5671d0e 717 pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 718
tnhnrl 17:7c16b5671d0e 719 //going to next state
tnhnrl 28:16c83a2fdefa 720 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 721
tnhnrl 17:7c16b5671d0e 722 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 24:c7d9b5bf3829 723 _multi_dive_counter++;
tnhnrl 17:7c16b5671d0e 724
tnhnrl 17:7c16b5671d0e 725 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 726 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 727
tnhnrl 17:7c16b5671d0e 728 //check if this is the end of the dive sequence
tnhnrl 30:2964617e7676 729 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
tnhnrl 30:2964617e7676 730 if (currentStateStruct.state == FLOAT_BROADCAST) {
tnhnrl 63:6cb0405fc6e6 731 //Reload the dive sequence on exit
tnhnrl 63:6cb0405fc6e6 732 sequenceController().loadSequence();
tnhnrl 63:6cb0405fc6e6 733
tnhnrl 28:16c83a2fdefa 734 _state = FLOAT_BROADCAST;
tnhnrl 17:7c16b5671d0e 735 }
tnhnrl 17:7c16b5671d0e 736
tnhnrl 17:7c16b5671d0e 737 else
tnhnrl 63:6cb0405fc6e6 738 _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
tnhnrl 17:7c16b5671d0e 739
tnhnrl 24:c7d9b5bf3829 740 //have to stop this with the _multi_dive_counter variable!
tnhnrl 17:7c16b5671d0e 741 }
tnhnrl 20:8987a9ae2bc7 742
tnhnrl 20:8987a9ae2bc7 743 // what is active?
tnhnrl 17:7c16b5671d0e 744 pc().printf("MULTI-RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
tnhnrl 17:7c16b5671d0e 745 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 746 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 747
tnhnrl 32:f2f8ae34aadc 748 //record data every 5 seconds
tnhnrl 34:9b66c5188051 749 recordData(_state);
tnhnrl 32:f2f8ae34aadc 750
tnhnrl 17:7c16b5671d0e 751 break;
tnhnrl 32:f2f8ae34aadc 752
tnhnrl 63:6cb0405fc6e6 753 case TRANSMIT_MBED_LOG:
tnhnrl 63:6cb0405fc6e6 754 if (!_isTimeoutRunning) {
tnhnrl 63:6cb0405fc6e6 755 pc().printf("\r\n\nstate: TRANSMIT_MBED_LOG\r\n");
tnhnrl 32:f2f8ae34aadc 756 timer.reset(); // timer goes back to zero
tnhnrl 32:f2f8ae34aadc 757 timer.start(); // background timer starts running
tnhnrl 32:f2f8ae34aadc 758 _isTimeoutRunning = true;
tnhnrl 32:f2f8ae34aadc 759
tnhnrl 45:16b8162188ca 760 mbedLogger().getNumberOfPacketsInCurrentLog(); //open the file, read the number of lines in the log file
tnhnrl 45:16b8162188ca 761 transmit_packet_number = mbedLogger().getNumberOfPackets();
tnhnrl 45:16b8162188ca 762
tnhnrl 63:6cb0405fc6e6 763 //set the timeout internally (integer value)!
tnhnrl 63:6cb0405fc6e6 764 _timeout = mbedLogger().getLogSize(); //works after current log function above
tnhnrl 63:6cb0405fc6e6 765 _timeout = _timeout - (_timeout % 10) + 10; //remove the last digit and keep it as multiples of 10 (add a buffer of 10 seconds just in case it's below 10)
tnhnrl 63:6cb0405fc6e6 766
tnhnrl 63:6cb0405fc6e6 767 //STATE
tnhnrl 63:6cb0405fc6e6 768 //TRANSMIT_MBED_LOG
tnhnrl 45:16b8162188ca 769 }
tnhnrl 45:16b8162188ca 770
tnhnrl 45:16b8162188ca 771 if (timer.read() > _timeout) {
tnhnrl 63:6cb0405fc6e6 772 mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
tnhnrl 64:a8939bc127ab 773 pc().printf("\r\nTRANSMIT_MBED_LOG: timed out!\r\n");
tnhnrl 63:6cb0405fc6e6 774
tnhnrl 63:6cb0405fc6e6 775 //STATE
tnhnrl 45:16b8162188ca 776 _state = SIT_IDLE;
tnhnrl 63:6cb0405fc6e6 777
tnhnrl 63:6cb0405fc6e6 778 timer.reset();
tnhnrl 63:6cb0405fc6e6 779 _isTimeoutRunning = false;
tnhnrl 63:6cb0405fc6e6 780
tnhnrl 63:6cb0405fc6e6 781 //send a command to the Python GUI to stop looking for data
tnhnrl 63:6cb0405fc6e6 782 //SEND COMMAND WHEN TRANSMISSION ENDS PREMATURELY
tnhnrl 63:6cb0405fc6e6 783 pc().printf("%c%c%c%c",0x15,0x15,0x15,0x15);
tnhnrl 63:6cb0405fc6e6 784 }
tnhnrl 63:6cb0405fc6e6 785
tnhnrl 63:6cb0405fc6e6 786 //IF THIS IS ZERO
tnhnrl 63:6cb0405fc6e6 787 if (mbedLogger().currentPacketNumber() > transmit_packet_number) {
tnhnrl 63:6cb0405fc6e6 788 pc().printf("mbedLogger().currentPacketNumber() > transmit_packet_number");
tnhnrl 63:6cb0405fc6e6 789
tnhnrl 63:6cb0405fc6e6 790 //STATE
tnhnrl 63:6cb0405fc6e6 791 _state = SIT_IDLE;
tnhnrl 63:6cb0405fc6e6 792
tnhnrl 45:16b8162188ca 793 timer.reset();
tnhnrl 45:16b8162188ca 794 _isTimeoutRunning = false;
tnhnrl 45:16b8162188ca 795
tnhnrl 45:16b8162188ca 796 mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
tnhnrl 45:16b8162188ca 797 }
tnhnrl 45:16b8162188ca 798
tnhnrl 63:6cb0405fc6e6 799 //What is active?
tnhnrl 45:16b8162188ca 800 mbedLogger().readTransmitPacketOneChar(); //led2 shows you pc readable
tnhnrl 45:16b8162188ca 801
tnhnrl 45:16b8162188ca 802 break;
tnhnrl 45:16b8162188ca 803
tnhnrl 45:16b8162188ca 804 case RECEIVE_SEQUENCE :
tnhnrl 58:94b7fd55185e 805 pc().printf("state: RECEIVE_SEQUENCE\r\n");
tnhnrl 45:16b8162188ca 806
tnhnrl 45:16b8162188ca 807 if (!_isTimeoutRunning) {
tnhnrl 45:16b8162188ca 808 pc().printf("RECEIVE_SEQUENCE _isTimeoutRunning\r\n");
tnhnrl 45:16b8162188ca 809 timer.reset(); // timer goes back to zero
tnhnrl 45:16b8162188ca 810 timer.start(); // background timer starts running
tnhnrl 45:16b8162188ca 811 _isTimeoutRunning = true;
tnhnrl 45:16b8162188ca 812 }
tnhnrl 45:16b8162188ca 813
tnhnrl 34:9b66c5188051 814 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 815 pc().printf("RECEIVE_SEQUENCE: timed out!\r\n");
tnhnrl 34:9b66c5188051 816 _state = SIT_IDLE;
tnhnrl 34:9b66c5188051 817 timer.reset();
tnhnrl 32:f2f8ae34aadc 818 _isTimeoutRunning = false;
tnhnrl 32:f2f8ae34aadc 819 }
tnhnrl 32:f2f8ae34aadc 820
tnhnrl 45:16b8162188ca 821 // what is active?
tnhnrl 58:94b7fd55185e 822 pc().printf("Receive sequence active?\r\n");
tnhnrl 32:f2f8ae34aadc 823
tnhnrl 32:f2f8ae34aadc 824 break;
tnhnrl 16:3363b9f14913 825
tnhnrl 16:3363b9f14913 826 default :
tnhnrl 58:94b7fd55185e 827 pc().printf("DEBUG: SIT_IDLE\r\n");
tnhnrl 21:38c8544db6f4 828 _state = SIT_IDLE;
tnhnrl 28:16c83a2fdefa 829 }
tnhnrl 28:16c83a2fdefa 830
tnhnrl 28:16c83a2fdefa 831 //save the state to print to user
tnhnrl 28:16c83a2fdefa 832 if (_previous_state != _state) {
tnhnrl 28:16c83a2fdefa 833 _state_array[_state_array_counter] = _state; //save to state array
tnhnrl 28:16c83a2fdefa 834 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 835
tnhnrl 28:16c83a2fdefa 836 _previous_state = _state;
tnhnrl 28:16c83a2fdefa 837 }
tnhnrl 34:9b66c5188051 838
tnhnrl 34:9b66c5188051 839 return _state;
tnhnrl 34:9b66c5188051 840 // //if the state is SIT_IDLE, return 0 / false (for recording)
tnhnrl 34:9b66c5188051 841 // if (_state == SIT_IDLE)
tnhnrl 34:9b66c5188051 842 // return 0;
tnhnrl 34:9b66c5188051 843 // else
tnhnrl 34:9b66c5188051 844 // return 1; //return true to indicate that you're recording
tnhnrl 16:3363b9f14913 845 }
tnhnrl 20:8987a9ae2bc7 846
tnhnrl 16:3363b9f14913 847 // output the keyboard menu for user's reference
tnhnrl 58:94b7fd55185e 848 void StateMachine::showSimpleMenu() {
tnhnrl 58:94b7fd55185e 849 pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (06/15/2018):\r\r\n"); //make sure depth sensor tares itself on startup
tnhnrl 63:6cb0405fc6e6 850 pc().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f \r\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm);
tnhnrl 58:94b7fd55185e 851
tnhnrl 58:94b7fd55185e 852 pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 57:ec69651c8c21 853 pc().printf(" J to float level\r\n");
tnhnrl 57:ec69651c8c21 854 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 57:ec69651c8c21 855 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 57:ec69651c8c21 856 pc().printf(" P to print the current log file.\r\n");
tnhnrl 57:ec69651c8c21 857 pc().printf(" O to transmit current log file.\r\n");
tnhnrl 57:ec69651c8c21 858 pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 58:94b7fd55185e 859
tnhnrl 58:94b7fd55185e 860 pc().printf("k/l to decrease/increase BCE offset: %3.1f (Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
tnhnrl 58:94b7fd55185e 861 pc().printf(";/' to decrease/increase BMM offset: %3.1f (Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 862 pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
tnhnrl 58:94b7fd55185e 863
tnhnrl 58:94b7fd55185e 864 pc().printf("-/+ to decrease/increase timeout: %d s\r\n",_timeout);
tnhnrl 57:ec69651c8c21 865 pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 58:94b7fd55185e 866 pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 58:94b7fd55185e 867
tnhnrl 57:ec69651c8c21 868 pc().printf(" ? to reset mbed\r\n");
tnhnrl 58:94b7fd55185e 869 pc().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
tnhnrl 57:ec69651c8c21 870 }
tnhnrl 57:ec69651c8c21 871
tnhnrl 57:ec69651c8c21 872 void StateMachine::showDebugMenu() {
tnhnrl 58:94b7fd55185e 873 pc().printf("\r\r\n\nDEBUG KEYBOARD MENU (06/15/2018):\r\r\n");
tnhnrl 65:2ac186553959 874 pc().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
tnhnrl 58:94b7fd55185e 875 pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 16:3363b9f14913 876 pc().printf(" N to find neutral\r\n");
tnhnrl 17:7c16b5671d0e 877 pc().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 16:3363b9f14913 878 pc().printf(" D to initiate dive cycle\r\n");
tnhnrl 16:3363b9f14913 879 pc().printf(" R to initiate rise\r\n");
tnhnrl 57:ec69651c8c21 880 pc().printf(" J to float level\r\n");
tnhnrl 16:3363b9f14913 881 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 16:3363b9f14913 882 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 49:47ffa4feb6db 883 pc().printf(" '|' to tare the depth sensor (vertical bar)\r\n");
tnhnrl 28:16c83a2fdefa 884 pc().printf(" Z to show FSM and sub-FSM states.\r\n");
tnhnrl 32:f2f8ae34aadc 885 pc().printf(" P to print the current log file.\r\n");
tnhnrl 32:f2f8ae34aadc 886 pc().printf(" X to print the list of log files.\r\n");
tnhnrl 49:47ffa4feb6db 887 pc().printf(" I to receive data.\r\n");
tnhnrl 49:47ffa4feb6db 888 pc().printf(" O to transmit data.\r\n");
tnhnrl 49:47ffa4feb6db 889 pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 32:f2f8ae34aadc 890 pc().printf("[/] to change bce neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
tnhnrl 32:f2f8ae34aadc 891 pc().printf("</> to change batt neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
tnhnrl 32:f2f8ae34aadc 892 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",_pitch_command);
tnhnrl 32:f2f8ae34aadc 893 pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",_depth_command);
tnhnrl 58:94b7fd55185e 894 pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
tnhnrl 58:94b7fd55185e 895 pc().printf("k/l to decrease/increase BCE offset: %3.1f (Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
tnhnrl 58:94b7fd55185e 896 pc().printf(";/' to decrease/increase BMM offset: %3.1f (Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset);
tnhnrl 65:2ac186553959 897 pc().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 58:94b7fd55185e 898
tnhnrl 58:94b7fd55185e 899 // FIXED WITH NEW CODE
tnhnrl 16:3363b9f14913 900 pc().printf(" 1 BCE PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 901 pc().printf(" 2 BATT PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 902 pc().printf(" 3 Depth PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 903 pc().printf(" 4 Pitch PID sub-menu\r\n");
tnhnrl 58:94b7fd55185e 904 pc().printf(" 5 Rudder (servo) sub-menu\r\n");
tnhnrl 58:94b7fd55185e 905 pc().printf(" 6 HEADING PID sub-menu\r\n");
tnhnrl 58:94b7fd55185e 906 pc().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE ***\r\n");
tnhnrl 58:94b7fd55185e 907 //pc().printf(" 8 VIEW_OUTPUTS sub-menu (does not a have a timer!)\r\n");
tnhnrl 58:94b7fd55185e 908 pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 53:c0586fe62b01 909
tnhnrl 58:94b7fd55185e 910 // FIXED WITH NEW CODE
tnhnrl 58:94b7fd55185e 911
tnhnrl 53:c0586fe62b01 912
tnhnrl 28:16c83a2fdefa 913 pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 16:3363b9f14913 914 pc().printf(" ? to reset mbed\r\n");
tnhnrl 58:94b7fd55185e 915 pc().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
tnhnrl 16:3363b9f14913 916 }
tnhnrl 20:8987a9ae2bc7 917
tnhnrl 17:7c16b5671d0e 918 //Find Neutral sub finite state machine
tnhnrl 17:7c16b5671d0e 919 // Note: the sub-fsm only moves the pistons once at the start of each timer loop
tnhnrl 17:7c16b5671d0e 920 // (timer completes, move piston, timer completes, move piston, etc)
tnhnrl 28:16c83a2fdefa 921 int StateMachine::runNeutralStateMachine() {
tnhnrl 24:c7d9b5bf3829 922 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 923 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 924 //start the 10 second timer
tnhnrl 28:16c83a2fdefa 925 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 926 _neutral_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 927
tnhnrl 58:94b7fd55185e 928 pc().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (getSetPosition: %0.1f)\r\n", _neutral_timer, timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
tnhnrl 20:8987a9ae2bc7 929
tnhnrl 32:f2f8ae34aadc 930 // what are the commands? (BCE linear actuator active, no pitch movement)
tnhnrl 39:58375ca6b6ff 931 bce().setPosition_mm(bce().getSetPosition_mm() - 2.5); //Troy: There is some strange error where this has to be a hardcoded number.
tnhnrl 23:434f04ef1fad 932
tnhnrl 58:94b7fd55185e 933 pc().printf("NEUTRAL_SINKING: Retracting piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f] (pitch: %0.1f)\r\n", _neutral_sink_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand(), pitchLoop().getPosition());
tnhnrl 17:7c16b5671d0e 934
tnhnrl 28:16c83a2fdefa 935 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 936 }
tnhnrl 20:8987a9ae2bc7 937
tnhnrl 20:8987a9ae2bc7 938 // how exit?
tnhnrl 20:8987a9ae2bc7 939 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 940 if (bce().getPosition_mm() <= 0) {
tnhnrl 58:94b7fd55185e 941 pc().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
tnhnrl 25:249e4d56b27c 942 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 943 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 25:249e4d56b27c 944 }
tnhnrl 20:8987a9ae2bc7 945 //once deeper than the commanded setpoint...
tnhnrl 32:f2f8ae34aadc 946 else if (depthLoop().getPosition() > _depth_command) {
tnhnrl 24:c7d9b5bf3829 947 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 28:16c83a2fdefa 948 _isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 949 }
tnhnrl 20:8987a9ae2bc7 950
tnhnrl 20:8987a9ae2bc7 951 // what is active?
tnhnrl 20:8987a9ae2bc7 952 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 953 if (timer.read() >= _neutral_timer) {
tnhnrl 32:f2f8ae34aadc 954 pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", timer.read());
tnhnrl 17:7c16b5671d0e 955
tnhnrl 28:16c83a2fdefa 956 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 957 }
tnhnrl 39:58375ca6b6ff 958
tnhnrl 39:58375ca6b6ff 959 // what is active? (only the buoyancy engine moved every 5 seconds at start)
tnhnrl 39:58375ca6b6ff 960 pc().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f ft)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
tnhnrl 17:7c16b5671d0e 961 break;
tnhnrl 17:7c16b5671d0e 962
tnhnrl 17:7c16b5671d0e 963 case NEUTRAL_SLOWLY_RISE:
tnhnrl 28:16c83a2fdefa 964 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 965 _neutral_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 966
tnhnrl 24:c7d9b5bf3829 967 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,timer.read());
tnhnrl 17:7c16b5671d0e 968
tnhnrl 20:8987a9ae2bc7 969 // what are the commands?
tnhnrl 32:f2f8ae34aadc 970 //move piston at start of sequence (default: extend 2.0 mm)
tnhnrl 39:58375ca6b6ff 971 bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command
tnhnrl 23:434f04ef1fad 972
tnhnrl 23:434f04ef1fad 973 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 974 pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 975
tnhnrl 58:94b7fd55185e 976 pc().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f]\r\n", _neutral_rise_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand());
tnhnrl 24:c7d9b5bf3829 977
tnhnrl 28:16c83a2fdefa 978 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 979 }
tnhnrl 17:7c16b5671d0e 980
tnhnrl 20:8987a9ae2bc7 981 // how exit?
tnhnrl 24:c7d9b5bf3829 982 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 983 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 24:c7d9b5bf3829 984 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 985 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 986 }
tnhnrl 17:7c16b5671d0e 987 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 988 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 24:c7d9b5bf3829 989 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", timer.read());
tnhnrl 24:c7d9b5bf3829 990 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 28:16c83a2fdefa 991 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 992 }
tnhnrl 17:7c16b5671d0e 993
tnhnrl 20:8987a9ae2bc7 994 // what is active?
tnhnrl 20:8987a9ae2bc7 995 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 996 if (timer.read() >= _neutral_timer) {
tnhnrl 32:f2f8ae34aadc 997 pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", timer.read());
tnhnrl 20:8987a9ae2bc7 998
tnhnrl 28:16c83a2fdefa 999 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 1000 }
tnhnrl 23:434f04ef1fad 1001
tnhnrl 32:f2f8ae34aadc 1002 // what is active? (only the buoyancy engine moved every 5 seconds)
tnhnrl 32:f2f8ae34aadc 1003 pc().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
tnhnrl 32:f2f8ae34aadc 1004 bce().setPosition_mm(depthLoop().getOutput()); // (DID NOT WORK ON BENCH)
tnhnrl 17:7c16b5671d0e 1005 break;
tnhnrl 17:7c16b5671d0e 1006
danstrider 22:a10ee088403b 1007 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 1008 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 1009
tnhnrl 28:16c83a2fdefa 1010 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 1011 _neutral_timer = timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 24:c7d9b5bf3829 1012 pc().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - timer.read());
danstrider 22:a10ee088403b 1013
tnhnrl 32:f2f8ae34aadc 1014 // what are the commands? (default: retract or extend 0.5 mm)
tnhnrl 24:c7d9b5bf3829 1015 if (pitchLoop().getPosition() > 2) { // nose is high
tnhnrl 39:58375ca6b6ff 1016 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 58:94b7fd55185e 1017 pc().printf("\r\nNeutral Check Pitch: moving battery FWD in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
danstrider 22:a10ee088403b 1018 }
tnhnrl 24:c7d9b5bf3829 1019 else if (pitchLoop().getPosition() < -2) { // nose is low
tnhnrl 39:58375ca6b6ff 1020 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 58:94b7fd55185e 1021 pc().printf("\r\nNeutral Check Pitch: moving battery AFT in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
danstrider 22:a10ee088403b 1022 }
tnhnrl 24:c7d9b5bf3829 1023
tnhnrl 28:16c83a2fdefa 1024 _isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 1025 }
tnhnrl 20:8987a9ae2bc7 1026
tnhnrl 28:16c83a2fdefa 1027 // how exit?
tnhnrl 20:8987a9ae2bc7 1028 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 1029 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 1030 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 58:94b7fd55185e 1031 pc().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
danstrider 22:a10ee088403b 1032 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 1033
tnhnrl 28:16c83a2fdefa 1034 if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
tnhnrl 28:16c83a2fdefa 1035 _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 1036 }
tnhnrl 28:16c83a2fdefa 1037
tnhnrl 23:434f04ef1fad 1038 // found level and at depth too, so save it all now
tnhnrl 32:f2f8ae34aadc 1039 if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 1040 //save positions locally
danstrider 22:a10ee088403b 1041 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 1042 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 1043
danstrider 22:a10ee088403b 1044 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 1045 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 1046 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 1047
danstrider 22:a10ee088403b 1048 // save into the depth.txt and pitch.txt files
danstrider 22:a10ee088403b 1049 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset
danstrider 22:a10ee088403b 1050 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset
danstrider 22:a10ee088403b 1051
tnhnrl 58:94b7fd55185e 1052 pc().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 1053
tnhnrl 24:c7d9b5bf3829 1054 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 1055 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 1056 }
tnhnrl 24:c7d9b5bf3829 1057
tnhnrl 24:c7d9b5bf3829 1058 else {
tnhnrl 58:94b7fd55185e 1059 pc().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
tnhnrl 24:c7d9b5bf3829 1060 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1061 }
tnhnrl 17:7c16b5671d0e 1062 }
danstrider 22:a10ee088403b 1063
danstrider 22:a10ee088403b 1064 // what is active?
danstrider 22:a10ee088403b 1065 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 1066 if (timer.read() >= _neutral_timer) {
danstrider 22:a10ee088403b 1067 pc().printf("\r\n\nlevel timer COMPLETE!");
danstrider 22:a10ee088403b 1068 pc().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), timer.read());
tnhnrl 28:16c83a2fdefa 1069 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 1070 }
tnhnrl 17:7c16b5671d0e 1071 break;
danstrider 22:a10ee088403b 1072
danstrider 22:a10ee088403b 1073 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 1074 case NEUTRAL_EXIT :
tnhnrl 58:94b7fd55185e 1075 pc().printf("substate: NEUTRAL_EXIT\r\n");
tnhnrl 20:8987a9ae2bc7 1076 break;
tnhnrl 21:38c8544db6f4 1077
danstrider 22:a10ee088403b 1078 default :
tnhnrl 58:94b7fd55185e 1079 pc().printf("how did we get to substate: default?\r\n"); //debug
tnhnrl 23:434f04ef1fad 1080 //a default within the sub-state machine
tnhnrl 24:c7d9b5bf3829 1081 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1082 break;
tnhnrl 17:7c16b5671d0e 1083 }
tnhnrl 20:8987a9ae2bc7 1084
tnhnrl 30:2964617e7676 1085 // reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
tnhnrl 24:c7d9b5bf3829 1086 if (_substate == NEUTRAL_EXIT) {
tnhnrl 58:94b7fd55185e 1087 pc().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
tnhnrl 24:c7d9b5bf3829 1088
tnhnrl 30:2964617e7676 1089 //reset internal sub-state back to first entry conditions (first state is immediately sinking)
tnhnrl 30:2964617e7676 1090 _substate = NEUTRAL_SINKING;
tnhnrl 28:16c83a2fdefa 1091 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 21:38c8544db6f4 1092
tnhnrl 24:c7d9b5bf3829 1093 //record sub-states to view after sequence
tnhnrl 30:2964617e7676 1094 _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
tnhnrl 28:16c83a2fdefa 1095 _substate_array_counter++;
tnhnrl 23:434f04ef1fad 1096
tnhnrl 24:c7d9b5bf3829 1097 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 1098 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 1099
tnhnrl 24:c7d9b5bf3829 1100 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 1101 return NEUTRAL_EXIT; // message to calling function we just exited
tnhnrl 21:38c8544db6f4 1102 }
tnhnrl 23:434f04ef1fad 1103 else {
tnhnrl 24:c7d9b5bf3829 1104 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 1105 if (_previous_substate != _substate) {
tnhnrl 28:16c83a2fdefa 1106 _substate_array[_substate_array_counter] = _substate; //save current state to state array
tnhnrl 28:16c83a2fdefa 1107 _substate_array_counter++;
tnhnrl 24:c7d9b5bf3829 1108
tnhnrl 24:c7d9b5bf3829 1109 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 1110 _previous_substate = _substate;
tnhnrl 24:c7d9b5bf3829 1111 }
tnhnrl 24:c7d9b5bf3829 1112
tnhnrl 24:c7d9b5bf3829 1113 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 1114 }
tnhnrl 17:7c16b5671d0e 1115 }
tnhnrl 20:8987a9ae2bc7 1116
tnhnrl 57:ec69651c8c21 1117 /* keyboard runs independently of the state machine, handling one key at a time
tnhnrl 57:ec69651c8c21 1118 keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 57:ec69651c8c21 1119 and only allows input when the state is "idle" */
tnhnrl 57:ec69651c8c21 1120
tnhnrl 17:7c16b5671d0e 1121 void StateMachine::keyboard() {
tnhnrl 57:ec69651c8c21 1122 char user_input;
tnhnrl 20:8987a9ae2bc7 1123
tnhnrl 16:3363b9f14913 1124 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 1125 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 1126
tnhnrl 37:357e98a929cc 1127 //TEST
tnhnrl 37:357e98a929cc 1128 int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 1129
tnhnrl 28:16c83a2fdefa 1130 if (pc().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) {
tnhnrl 16:3363b9f14913 1131 // get the key
tnhnrl 57:ec69651c8c21 1132 user_input = pc().getc();
tnhnrl 17:7c16b5671d0e 1133
tnhnrl 28:16c83a2fdefa 1134 //record that the keyboard was used
tnhnrl 28:16c83a2fdefa 1135 _state_array[_state_array_counter] = KEYBOARD;
tnhnrl 28:16c83a2fdefa 1136 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 1137
tnhnrl 21:38c8544db6f4 1138 // keyboard has to reset timer each time it's used
tnhnrl 28:16c83a2fdefa 1139 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 1140
tnhnrl 16:3363b9f14913 1141 // check command against desired control buttons
tnhnrl 57:ec69651c8c21 1142
tnhnrl 57:ec69651c8c21 1143 /***************************** DEBUG MENU *****************************/
tnhnrl 57:ec69651c8c21 1144 if (_debug_menu_on) {
tnhnrl 17:7c16b5671d0e 1145
tnhnrl 65:2ac186553959 1146 if (user_input == 'T') {
tnhnrl 65:2ac186553959 1147 pc().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 65:2ac186553959 1148 _timeout = fabs(getFloatUserInput());
tnhnrl 65:2ac186553959 1149 }
tnhnrl 65:2ac186553959 1150
tnhnrl 57:ec69651c8c21 1151 if (user_input == 'D') {
tnhnrl 57:ec69651c8c21 1152 _keyboard_state = DIVE;
tnhnrl 57:ec69651c8c21 1153 }
tnhnrl 57:ec69651c8c21 1154 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1155 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1156 }
tnhnrl 57:ec69651c8c21 1157 else if (user_input == 'M') {
tnhnrl 57:ec69651c8c21 1158 //currently does not run if there is no file.
tnhnrl 57:ec69651c8c21 1159
tnhnrl 57:ec69651c8c21 1160 //need to add method to Sequence Controller that returns -1
tnhnrl 57:ec69651c8c21 1161 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 57:ec69651c8c21 1162
tnhnrl 57:ec69651c8c21 1163 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 57:ec69651c8c21 1164 _keyboard_state = currentStateStruct.state;
tnhnrl 57:ec69651c8c21 1165
tnhnrl 58:94b7fd55185e 1166 pc().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 57:ec69651c8c21 1167 }
tnhnrl 57:ec69651c8c21 1168 else if (user_input == 'R') {
tnhnrl 57:ec69651c8c21 1169 _keyboard_state = RISE;
tnhnrl 57:ec69651c8c21 1170 }
tnhnrl 57:ec69651c8c21 1171 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1172 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1173 }
tnhnrl 57:ec69651c8c21 1174 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1175 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1176 }
tnhnrl 57:ec69651c8c21 1177 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1178 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1179 }
tnhnrl 17:7c16b5671d0e 1180
tnhnrl 65:2ac186553959 1181 else if (user_input == 'Y') {
tnhnrl 57:ec69651c8c21 1182 _keyboard_state = CHECK_TUNING;
tnhnrl 57:ec69651c8c21 1183 }
tnhnrl 17:7c16b5671d0e 1184
tnhnrl 58:94b7fd55185e 1185 else if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1186 _keyboard_state = POSITION_DIVE;
tnhnrl 58:94b7fd55185e 1187 }
tnhnrl 58:94b7fd55185e 1188
tnhnrl 57:ec69651c8c21 1189 // some debug tools below
tnhnrl 57:ec69651c8c21 1190 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1191 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1192 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1193 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 57:ec69651c8c21 1194 }
tnhnrl 57:ec69651c8c21 1195 else if (user_input == 'X') {
tnhnrl 57:ec69651c8c21 1196 mbedLogger().printMbedDirectory(); //print all log files to the screen
tnhnrl 57:ec69651c8c21 1197 }
tnhnrl 57:ec69651c8c21 1198 else if (user_input == 'O') {
tnhnrl 63:6cb0405fc6e6 1199 _keyboard_state = TRANSMIT_MBED_LOG; //Transmit data (work in progress)
tnhnrl 57:ec69651c8c21 1200 }
tnhnrl 57:ec69651c8c21 1201 else if (user_input == 'I') {
tnhnrl 57:ec69651c8c21 1202 mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files
tnhnrl 57:ec69651c8c21 1203 }
tnhnrl 57:ec69651c8c21 1204 else if (user_input == '~') {
tnhnrl 58:94b7fd55185e 1205 pc().printf("ERASING MBED LOG FILE\r\n");
tnhnrl 57:ec69651c8c21 1206 mbedLogger().eraseFile();
tnhnrl 57:ec69651c8c21 1207 }
tnhnrl 57:ec69651c8c21 1208 else if (user_input == 'Z') {
tnhnrl 58:94b7fd55185e 1209 pc().printf("FSG FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1210 string string_state;
tnhnrl 57:ec69651c8c21 1211
tnhnrl 57:ec69651c8c21 1212 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1213 if (_state_array[i] == SIT_IDLE)
tnhnrl 57:ec69651c8c21 1214 string_state = "SIT_IDLE <END>";
tnhnrl 57:ec69651c8c21 1215 else if (_state_array[i] == FIND_NEUTRAL)
tnhnrl 57:ec69651c8c21 1216 string_state = "FIND_NEUTRAL";
tnhnrl 57:ec69651c8c21 1217 else if (_state_array[i] == DIVE)
tnhnrl 57:ec69651c8c21 1218 string_state = "DIVE";
tnhnrl 57:ec69651c8c21 1219 else if (_state_array[i] == RISE)
tnhnrl 57:ec69651c8c21 1220 string_state = "RISE";
tnhnrl 57:ec69651c8c21 1221 else if (_state_array[i] == FLOAT_LEVEL)
tnhnrl 57:ec69651c8c21 1222 string_state = "FLOAT_LEVEL";
tnhnrl 57:ec69651c8c21 1223 else if (_state_array[i] == FLOAT_BROADCAST)
tnhnrl 57:ec69651c8c21 1224 string_state = "FLOAT_BROADCAST";
tnhnrl 57:ec69651c8c21 1225 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1226 string_state = "EMERGENCY_CLIMB";
tnhnrl 57:ec69651c8c21 1227 else if (_state_array[i] == MULTI_DIVE)
tnhnrl 57:ec69651c8c21 1228 string_state = "MULTI_DIVE";
tnhnrl 57:ec69651c8c21 1229 else if (_state_array[i] == MULTI_RISE)
tnhnrl 57:ec69651c8c21 1230 string_state = "MULTI_RISE";
tnhnrl 57:ec69651c8c21 1231 else if (_state_array[i] == KEYBOARD)
tnhnrl 57:ec69651c8c21 1232 string_state = "KEYBOARD";
tnhnrl 58:94b7fd55185e 1233 pc().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
tnhnrl 57:ec69651c8c21 1234 }
tnhnrl 57:ec69651c8c21 1235
tnhnrl 58:94b7fd55185e 1236 pc().printf("\r\nNeutral sub-FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1237 string string_substate;
tnhnrl 57:ec69651c8c21 1238
tnhnrl 57:ec69651c8c21 1239 for (int i = 0; i < _substate_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1240 if (_substate_array[i] == NEUTRAL_SINKING)
tnhnrl 57:ec69651c8c21 1241 string_substate = "NEUTRAL_SINKING";
tnhnrl 57:ec69651c8c21 1242 else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 57:ec69651c8c21 1243 string_substate = "NEUTRAL_SLOWLY_RISE";
tnhnrl 57:ec69651c8c21 1244 else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 57:ec69651c8c21 1245 string_substate = "NEUTRAL_CHECK_PITCH";
tnhnrl 57:ec69651c8c21 1246 else if (_substate_array[i] == NEUTRAL_EXIT)
tnhnrl 57:ec69651c8c21 1247 string_substate = "NEUTRAL_EXIT <-- ";
tnhnrl 57:ec69651c8c21 1248 else if (_substate_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1249 string_substate = " -- > EMERGENCY_CLIMB <-- ";
tnhnrl 58:94b7fd55185e 1250 pc().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
tnhnrl 57:ec69651c8c21 1251 }
tnhnrl 58:94b7fd55185e 1252 pc().printf("\r\n"); //make space between printouts
tnhnrl 57:ec69651c8c21 1253 }
tnhnrl 57:ec69651c8c21 1254 else if (user_input == '|') {
tnhnrl 57:ec69651c8c21 1255 pc().printf("taring depth sensor\r\n");
tnhnrl 57:ec69651c8c21 1256 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 57:ec69651c8c21 1257 wait(0.1);
tnhnrl 57:ec69651c8c21 1258 depth().tare(); // tares to ambient (do on surface)
tnhnrl 57:ec69651c8c21 1259 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 57:ec69651c8c21 1260 }
tnhnrl 28:16c83a2fdefa 1261
tnhnrl 57:ec69651c8c21 1262 else if (user_input == '[' or user_input == '{') {
tnhnrl 57:ec69651c8c21 1263 _neutral_bce_pos_mm = depthLoop().getOutputOffset() - 1;
tnhnrl 57:ec69651c8c21 1264 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
tnhnrl 57:ec69651c8c21 1265 pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1266 // save neutral depth value to config file
tnhnrl 57:ec69651c8c21 1267 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 57:ec69651c8c21 1268 }
tnhnrl 57:ec69651c8c21 1269 else if (user_input == ']' or user_input == '}') {
tnhnrl 57:ec69651c8c21 1270 _neutral_bce_pos_mm = depthLoop().getOutputOffset() + 1;
tnhnrl 57:ec69651c8c21 1271 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // increase the bce neutral setpoint
tnhnrl 57:ec69651c8c21 1272 pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1273 // save neutral depth value to config file
tnhnrl 57:ec69651c8c21 1274 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 57:ec69651c8c21 1275 }
tnhnrl 57:ec69651c8c21 1276 else if (user_input == '<' or user_input == ',') {
tnhnrl 57:ec69651c8c21 1277 _neutral_batt_pos_mm = pitchLoop().getOutputOffset() - 1;
tnhnrl 57:ec69651c8c21 1278 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
tnhnrl 57:ec69651c8c21 1279 pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1280 // save neutral pitch value to config file
tnhnrl 57:ec69651c8c21 1281 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 57:ec69651c8c21 1282 }
tnhnrl 57:ec69651c8c21 1283 else if (user_input == '>' or user_input == '.') {
tnhnrl 57:ec69651c8c21 1284 _neutral_batt_pos_mm = pitchLoop().getOutputOffset() + 1;
tnhnrl 57:ec69651c8c21 1285 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // increase the batt neutral setpoint
tnhnrl 57:ec69651c8c21 1286 pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1287 // save neutral pitch value to config file
tnhnrl 57:ec69651c8c21 1288 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 28:16c83a2fdefa 1289 }
tnhnrl 28:16c83a2fdefa 1290
tnhnrl 57:ec69651c8c21 1291 else if (user_input == '?') {
tnhnrl 57:ec69651c8c21 1292 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 57:ec69651c8c21 1293 wait(0.5);
tnhnrl 57:ec69651c8c21 1294 mbed_reset();
tnhnrl 57:ec69651c8c21 1295 }
tnhnrl 57:ec69651c8c21 1296
tnhnrl 57:ec69651c8c21 1297 // change settings
tnhnrl 57:ec69651c8c21 1298 else if (user_input == 'Q' or user_input == 'q') {
tnhnrl 57:ec69651c8c21 1299 _pitch_command -= 0.5; //decrement the pitch setpoint
tnhnrl 57:ec69651c8c21 1300 pitchLoop().setCommand(_pitch_command);
tnhnrl 57:ec69651c8c21 1301 pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
tnhnrl 57:ec69651c8c21 1302 }
tnhnrl 57:ec69651c8c21 1303 else if (user_input == 'W' or user_input == 'w') {
tnhnrl 57:ec69651c8c21 1304 _pitch_command += 0.5; //increment the pitch setpoint
tnhnrl 57:ec69651c8c21 1305 pitchLoop().setCommand(_pitch_command);
tnhnrl 57:ec69651c8c21 1306 pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
tnhnrl 57:ec69651c8c21 1307 }
tnhnrl 57:ec69651c8c21 1308 else if (user_input == 'A' or user_input == 'a') {
tnhnrl 57:ec69651c8c21 1309 _depth_command -= 0.5; //decrement the depth setpoint
tnhnrl 57:ec69651c8c21 1310 depthLoop().setCommand(_depth_command);
tnhnrl 57:ec69651c8c21 1311 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
tnhnrl 57:ec69651c8c21 1312 }
tnhnrl 57:ec69651c8c21 1313 else if (user_input == 'S' or user_input == 's') {
tnhnrl 57:ec69651c8c21 1314 _depth_command += 0.5; //increment the depth setpoint
tnhnrl 57:ec69651c8c21 1315 depthLoop().setCommand(_depth_command);
tnhnrl 57:ec69651c8c21 1316 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
tnhnrl 65:2ac186553959 1317 }
tnhnrl 57:ec69651c8c21 1318 else if (user_input == '5') {
tnhnrl 58:94b7fd55185e 1319 keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 57:ec69651c8c21 1320 }
tnhnrl 57:ec69651c8c21 1321
tnhnrl 57:ec69651c8c21 1322 else if (user_input == '6') {
tnhnrl 58:94b7fd55185e 1323 keyboard_menu_HEADING_PID_settings();
tnhnrl 58:94b7fd55185e 1324 }
tnhnrl 57:ec69651c8c21 1325
tnhnrl 58:94b7fd55185e 1326 // go to tuning sub-menu
tnhnrl 57:ec69651c8c21 1327 else if (user_input == '7') {
tnhnrl 58:94b7fd55185e 1328 keyboard_menu_MANUAL_TUNING();
tnhnrl 57:ec69651c8c21 1329 }
tnhnrl 57:ec69651c8c21 1330
tnhnrl 57:ec69651c8c21 1331 else if (user_input == '8') {
tnhnrl 58:94b7fd55185e 1332 keyboard_menu_STREAM_STATUS(); //and channel readings for debugging
tnhnrl 57:ec69651c8c21 1333 }
tnhnrl 58:94b7fd55185e 1334
tnhnrl 58:94b7fd55185e 1335 // else if (user_input == '8') {
tnhnrl 58:94b7fd55185e 1336 // keyboard_menu_CHANNEL_READINGS();
tnhnrl 58:94b7fd55185e 1337 // }
tnhnrl 58:94b7fd55185e 1338
tnhnrl 57:ec69651c8c21 1339 else if (user_input == '9') {
tnhnrl 58:94b7fd55185e 1340 _heading_command -= 5.0; //decrement the rudder setpoint
tnhnrl 58:94b7fd55185e 1341 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1342 pc().printf(">>> (-) new HEADING setpoint: %0.3f deg (-)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1343 }
tnhnrl 58:94b7fd55185e 1344 else if (user_input == '0') {
tnhnrl 58:94b7fd55185e 1345 _heading_command += 5.0; //increment the rudder setpoint
tnhnrl 58:94b7fd55185e 1346 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1347 pc().printf(">>> (+) new HEADING setpoint: %0.3f deg (+)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1348 }
tnhnrl 65:2ac186553959 1349 else if (user_input == 'U') {
tnhnrl 57:ec69651c8c21 1350 keyboard_menu_POSITION_READINGS();
tnhnrl 57:ec69651c8c21 1351 }
tnhnrl 57:ec69651c8c21 1352
tnhnrl 57:ec69651c8c21 1353 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 57:ec69651c8c21 1354 else if (user_input == '1') {
tnhnrl 57:ec69651c8c21 1355 keyboard_menu_BCE_PID_settings();
tnhnrl 57:ec69651c8c21 1356 }
tnhnrl 57:ec69651c8c21 1357 else if (user_input == '2') {
tnhnrl 57:ec69651c8c21 1358 keyboard_menu_BATT_PID_settings();
tnhnrl 57:ec69651c8c21 1359 }
tnhnrl 57:ec69651c8c21 1360 else if (user_input == '3') {
tnhnrl 57:ec69651c8c21 1361 keyboard_menu_DEPTH_PID_settings();
tnhnrl 57:ec69651c8c21 1362 }
tnhnrl 57:ec69651c8c21 1363 else if (user_input == '4') {
tnhnrl 57:ec69651c8c21 1364 keyboard_menu_PITCH_PID_settings();
tnhnrl 28:16c83a2fdefa 1365 }
tnhnrl 57:ec69651c8c21 1366
tnhnrl 57:ec69651c8c21 1367 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 57:ec69651c8c21 1368
tnhnrl 58:94b7fd55185e 1369 pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 57:ec69651c8c21 1370
tnhnrl 57:ec69651c8c21 1371 // Testing out ADC
tnhnrl 57:ec69651c8c21 1372 float vref = 5.6;
tnhnrl 57:ec69651c8c21 1373 float vmeasured = 0;
tnhnrl 57:ec69651c8c21 1374 unsigned int raw = adc().readCh5();
tnhnrl 57:ec69651c8c21 1375 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 57:ec69651c8c21 1376 pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 57:ec69651c8c21 1377 pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 57:ec69651c8c21 1378 pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 57:ec69651c8c21 1379 pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 57:ec69651c8c21 1380 pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 57:ec69651c8c21 1381 pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 57:ec69651c8c21 1382 pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
tnhnrl 57:ec69651c8c21 1383 pc().printf("raw board current: %d \r\n",adc().readCh7());
tnhnrl 57:ec69651c8c21 1384 pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 57:ec69651c8c21 1385 pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 57:ec69651c8c21 1386 pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 57:ec69651c8c21 1387 // End of ADC Test
tnhnrl 57:ec69651c8c21 1388
tnhnrl 57:ec69651c8c21 1389 pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 57:ec69651c8c21 1390 pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 57:ec69651c8c21 1391 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 57:ec69651c8c21 1392 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 57:ec69651c8c21 1393 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 57:ec69651c8c21 1394 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 57:ec69651c8c21 1395 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 57:ec69651c8c21 1396 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 57:ec69651c8c21 1397
tnhnrl 58:94b7fd55185e 1398 pc().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 57:ec69651c8c21 1399 pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1400 pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1401 pc().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
tnhnrl 57:ec69651c8c21 1402
tnhnrl 58:94b7fd55185e 1403 pc().printf("\r\n");
tnhnrl 57:ec69651c8c21 1404 pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 57:ec69651c8c21 1405 pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 57:ec69651c8c21 1406 pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1407 pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1408 }
tnhnrl 57:ec69651c8c21 1409
tnhnrl 57:ec69651c8c21 1410 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1411 else if (user_input == 'k') {
tnhnrl 58:94b7fd55185e 1412 _BCE_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1413 pc().printf("Decreased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1414 }
tnhnrl 57:ec69651c8c21 1415 else if (user_input == 'l') {
tnhnrl 58:94b7fd55185e 1416 _BCE_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1417 pc().printf("Increased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1418 }
tnhnrl 57:ec69651c8c21 1419 else if (user_input == ';') {
tnhnrl 58:94b7fd55185e 1420 _BMM_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1421 pc().printf("Decreased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1422 }
tnhnrl 57:ec69651c8c21 1423 else if (user_input == '\'') {
tnhnrl 58:94b7fd55185e 1424 _BMM_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1425 pc().printf("Increased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1426 }
tnhnrl 57:ec69651c8c21 1427 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1428
tnhnrl 57:ec69651c8c21 1429 else if (user_input == '*') {
tnhnrl 58:94b7fd55185e 1430 pc().printf("SWITCHING TO SIMPLE MENU!\r\n");
tnhnrl 57:ec69651c8c21 1431 wait(2);
tnhnrl 57:ec69651c8c21 1432 _debug_menu_on = false;
tnhnrl 57:ec69651c8c21 1433 }
tnhnrl 57:ec69651c8c21 1434 } //end of debug menu
tnhnrl 57:ec69651c8c21 1435 /***************************** DEBUG MENU *****************************/
tnhnrl 57:ec69651c8c21 1436
tnhnrl 57:ec69651c8c21 1437 /***************************** SIMPLE MENU *****************************/
tnhnrl 65:2ac186553959 1438 else {
tnhnrl 65:2ac186553959 1439 if (user_input == 'T') {
tnhnrl 65:2ac186553959 1440 pc().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 65:2ac186553959 1441 _timeout = fabs(getFloatUserInput());
tnhnrl 65:2ac186553959 1442 }
tnhnrl 58:94b7fd55185e 1443 if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1444 _keyboard_state = POSITION_DIVE;
tnhnrl 57:ec69651c8c21 1445 }
tnhnrl 57:ec69651c8c21 1446 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1447 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1448 }
tnhnrl 57:ec69651c8c21 1449 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1450 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1451 }
tnhnrl 57:ec69651c8c21 1452 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1453 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1454 }
tnhnrl 57:ec69651c8c21 1455 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1456 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1457 }
tnhnrl 57:ec69651c8c21 1458
tnhnrl 57:ec69651c8c21 1459 // some debug tools below
tnhnrl 57:ec69651c8c21 1460 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1461 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1462 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1463 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 57:ec69651c8c21 1464 }
tnhnrl 57:ec69651c8c21 1465 else if (user_input == 'O') {
tnhnrl 63:6cb0405fc6e6 1466 _keyboard_state = TRANSMIT_MBED_LOG; //Transmit data (work in progress)
tnhnrl 57:ec69651c8c21 1467 }
tnhnrl 57:ec69651c8c21 1468 else if (user_input == '~') {
tnhnrl 58:94b7fd55185e 1469 pc().printf("ERASING MBED LOG FILE\r\n");
tnhnrl 57:ec69651c8c21 1470 mbedLogger().eraseFile();
tnhnrl 57:ec69651c8c21 1471 }
tnhnrl 57:ec69651c8c21 1472
tnhnrl 58:94b7fd55185e 1473 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 58:94b7fd55185e 1474
tnhnrl 58:94b7fd55185e 1475 pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 58:94b7fd55185e 1476
tnhnrl 58:94b7fd55185e 1477 // Testing out ADC
tnhnrl 58:94b7fd55185e 1478 float vref = 5.6;
tnhnrl 58:94b7fd55185e 1479 float vmeasured = 0;
tnhnrl 58:94b7fd55185e 1480 unsigned int raw = adc().readCh5();
tnhnrl 58:94b7fd55185e 1481 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 58:94b7fd55185e 1482 pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 58:94b7fd55185e 1483 pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 58:94b7fd55185e 1484 pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 58:94b7fd55185e 1485 pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 58:94b7fd55185e 1486 pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 58:94b7fd55185e 1487 pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 58:94b7fd55185e 1488 pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
tnhnrl 58:94b7fd55185e 1489 pc().printf("raw board current: %d \r\n",adc().readCh7());
tnhnrl 58:94b7fd55185e 1490 pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 58:94b7fd55185e 1491 pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 58:94b7fd55185e 1492 pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 58:94b7fd55185e 1493 // End of ADC Test
tnhnrl 58:94b7fd55185e 1494
tnhnrl 58:94b7fd55185e 1495 pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 58:94b7fd55185e 1496 pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 58:94b7fd55185e 1497 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 58:94b7fd55185e 1498 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 58:94b7fd55185e 1499 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 58:94b7fd55185e 1500 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 58:94b7fd55185e 1501 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 1502 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 58:94b7fd55185e 1503
tnhnrl 58:94b7fd55185e 1504 pc().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 58:94b7fd55185e 1505 pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1506 pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1507 pc().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
tnhnrl 58:94b7fd55185e 1508
tnhnrl 58:94b7fd55185e 1509 pc().printf("\r\n");
tnhnrl 58:94b7fd55185e 1510 pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 58:94b7fd55185e 1511 pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 58:94b7fd55185e 1512 pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1513 pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1514 }
tnhnrl 65:2ac186553959 1515
tnhnrl 57:ec69651c8c21 1516 else if (user_input == '?') {
tnhnrl 57:ec69651c8c21 1517 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 57:ec69651c8c21 1518 wait(0.5);
tnhnrl 57:ec69651c8c21 1519 mbed_reset();
tnhnrl 57:ec69651c8c21 1520 }
tnhnrl 57:ec69651c8c21 1521
tnhnrl 57:ec69651c8c21 1522 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1523 else if (user_input == 'k') {
tnhnrl 58:94b7fd55185e 1524 _BCE_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1525 pc().printf("Decreased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1526 }
tnhnrl 57:ec69651c8c21 1527 else if (user_input == 'l') {
tnhnrl 58:94b7fd55185e 1528 _BCE_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1529 pc().printf("Increased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1530 }
tnhnrl 57:ec69651c8c21 1531 else if (user_input == ';') {
tnhnrl 58:94b7fd55185e 1532 _BMM_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1533 pc().printf("Decreased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1534 }
tnhnrl 57:ec69651c8c21 1535 else if (user_input == '\'') {
tnhnrl 58:94b7fd55185e 1536 _BMM_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1537 pc().printf("Increased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1538 }
tnhnrl 57:ec69651c8c21 1539 //POSITION DIVE COMMANDS
tnhnrl 58:94b7fd55185e 1540
tnhnrl 58:94b7fd55185e 1541 else if (user_input == '9') {
tnhnrl 58:94b7fd55185e 1542 _heading_command -= 5.0; //decrement the rudder setpoint
tnhnrl 58:94b7fd55185e 1543 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1544 pc().printf(">>> (-) new HEADING setpoint: %0.3f deg (-)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1545 }
tnhnrl 58:94b7fd55185e 1546 else if (user_input == '0') {
tnhnrl 58:94b7fd55185e 1547 _heading_command += 5.0; //increment the rudder setpoint
tnhnrl 58:94b7fd55185e 1548 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1549 pc().printf(">>> (+) new HEADING setpoint: %0.3f deg (+)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1550 }
tnhnrl 58:94b7fd55185e 1551
tnhnrl 58:94b7fd55185e 1552 else if (user_input == '8') {
tnhnrl 58:94b7fd55185e 1553 keyboard_menu_STREAM_STATUS();
tnhnrl 58:94b7fd55185e 1554 }
tnhnrl 57:ec69651c8c21 1555
tnhnrl 57:ec69651c8c21 1556 else if (user_input == '*') {
tnhnrl 58:94b7fd55185e 1557 pc().printf("SWITCHING TO DEBUG MENU!\r\n");
tnhnrl 57:ec69651c8c21 1558 _debug_menu_on = true;
tnhnrl 57:ec69651c8c21 1559 wait(2);
tnhnrl 57:ec69651c8c21 1560 }
tnhnrl 16:3363b9f14913 1561 }
tnhnrl 57:ec69651c8c21 1562 /***************************** SIMPLE MENU *****************************/
tnhnrl 17:7c16b5671d0e 1563
tnhnrl 17:7c16b5671d0e 1564 //when you read the keyboard successfully, change the state
tnhnrl 28:16c83a2fdefa 1565 _state = _keyboard_state; //set state at the end of this function
tnhnrl 58:94b7fd55185e 1566 //pc().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
tnhnrl 16:3363b9f14913 1567 }
tnhnrl 16:3363b9f14913 1568 }
tnhnrl 52:f207567d3ea4 1569
tnhnrl 52:f207567d3ea4 1570 void StateMachine::keyboard_menu_STREAM_STATUS() {
tnhnrl 52:f207567d3ea4 1571 char STATUS_key;
tnhnrl 52:f207567d3ea4 1572
tnhnrl 52:f207567d3ea4 1573 // show the menu
tnhnrl 58:94b7fd55185e 1574 pc().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
tnhnrl 52:f207567d3ea4 1575
tnhnrl 52:f207567d3ea4 1576 while (1) {
tnhnrl 52:f207567d3ea4 1577 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1578 STATUS_key = pc().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1579 }
tnhnrl 52:f207567d3ea4 1580
tnhnrl 52:f207567d3ea4 1581 else {
tnhnrl 52:f207567d3ea4 1582
tnhnrl 52:f207567d3ea4 1583 wait(1);
tnhnrl 54:d4990fb68404 1584
tnhnrl 58:94b7fd55185e 1585
tnhnrl 65:2ac186553959 1586 pc().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f [0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
tnhnrl 58:94b7fd55185e 1587 //pc().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f (unfiltered: %0.2f) [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depth().getRawPSI(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm());
tnhnrl 58:94b7fd55185e 1588 //pc().printf("\n0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
tnhnrl 58:94b7fd55185e 1589
tnhnrl 54:d4990fb68404 1590
tnhnrl 56:48a8a5a65b82 1591 //pc().printf("(set) BCE POS: %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS: %0.2f )(channel reading: %d) (volt: %0.2f) << %0.2f >> (Pressure: %0.2f (raw: %0.2f) PITCH: %0.2f HEADING: %0.2f)\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(), depthLoop().getPosition(),depth().readADCCounts(),depth().readVoltage(),depth().getPsi(),depth().getRawPSI(),depth().getRawPSI(),imu().getPitch(),imu().getHeading());
tnhnrl 52:f207567d3ea4 1592
tnhnrl 54:d4990fb68404 1593 //pc().printf("Neutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 54:d4990fb68404 1594 // pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 54:d4990fb68404 1595 // pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 54:d4990fb68404 1596 // pc().printf("heading (rudder): %3.1f deg\r\n",rudderLoop().getPosition()); //for heading
tnhnrl 52:f207567d3ea4 1597
tnhnrl 54:d4990fb68404 1598 // pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 54:d4990fb68404 1599 // pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 54:d4990fb68404 1600 //
tnhnrl 54:d4990fb68404 1601 // pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 54:d4990fb68404 1602 // pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 52:f207567d3ea4 1603
tnhnrl 54:d4990fb68404 1604 // pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 54:d4990fb68404 1605 // pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 54:d4990fb68404 1606 //
tnhnrl 54:d4990fb68404 1607 // pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 54:d4990fb68404 1608 // pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 52:f207567d3ea4 1609
tnhnrl 52:f207567d3ea4 1610 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1611 }
tnhnrl 52:f207567d3ea4 1612
tnhnrl 52:f207567d3ea4 1613 // process the keys
tnhnrl 58:94b7fd55185e 1614 if (STATUS_key == 'X') {
tnhnrl 58:94b7fd55185e 1615 pc().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
tnhnrl 52:f207567d3ea4 1616 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1617 }
tnhnrl 52:f207567d3ea4 1618
tnhnrl 52:f207567d3ea4 1619 else {
tnhnrl 58:94b7fd55185e 1620 pc().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
tnhnrl 52:f207567d3ea4 1621 }
tnhnrl 52:f207567d3ea4 1622 }
tnhnrl 52:f207567d3ea4 1623 }
tnhnrl 52:f207567d3ea4 1624
tnhnrl 52:f207567d3ea4 1625 void StateMachine::keyboard_menu_RUDDER_SERVO_settings() {
tnhnrl 52:f207567d3ea4 1626 //load current parameters from the rudder
tnhnrl 52:f207567d3ea4 1627 float rudder_min_pwm = rudder().getMinPWM();
tnhnrl 52:f207567d3ea4 1628 float rudder_max_pwm = rudder().getMaxPWM();
tnhnrl 52:f207567d3ea4 1629 float rudder_ctr_pwm = rudder().getCenterPWM();
tnhnrl 52:f207567d3ea4 1630 float rudder_min_deg = rudder().getMinDeg();
tnhnrl 52:f207567d3ea4 1631 float rudder_max_deg = rudder().getMaxDeg();
tnhnrl 52:f207567d3ea4 1632
tnhnrl 52:f207567d3ea4 1633 char RUDDER_PID_key;
tnhnrl 52:f207567d3ea4 1634
tnhnrl 52:f207567d3ea4 1635 // print the menu
tnhnrl 58:94b7fd55185e 1636 pc().printf("\r\nRUDDER (servo driver) settings (MENU)");
tnhnrl 58:94b7fd55185e 1637 pc().printf("\r\n(Adjust min/max/center PWM settings with the following keys: N and M and C");
tnhnrl 58:94b7fd55185e 1638 pc().printf("\r\n(Adjust DEGREE limit settings with the following keys: min = K, max = L");
tnhnrl 58:94b7fd55185e 1639 pc().printf("\r\n(Hit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
tnhnrl 52:f207567d3ea4 1640 pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1641
tnhnrl 52:f207567d3ea4 1642 // handle the key presses
tnhnrl 52:f207567d3ea4 1643 while(1) {
tnhnrl 52:f207567d3ea4 1644 // get the user's keystroke from either of the two inputs
tnhnrl 52:f207567d3ea4 1645 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1646 RUDDER_PID_key = pc().getc();
tnhnrl 52:f207567d3ea4 1647 }
tnhnrl 52:f207567d3ea4 1648 else {
tnhnrl 52:f207567d3ea4 1649 wait(0.5);
tnhnrl 52:f207567d3ea4 1650 pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1651 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1652 }
tnhnrl 52:f207567d3ea4 1653
tnhnrl 52:f207567d3ea4 1654 // handle the user's key input
tnhnrl 52:f207567d3ea4 1655 if (RUDDER_PID_key == 'S') { // user wants to save the modified values
tnhnrl 52:f207567d3ea4 1656 // set global values
tnhnrl 52:f207567d3ea4 1657 rudder().setMinPWM(rudder_min_pwm);
tnhnrl 52:f207567d3ea4 1658 rudder().setMaxPWM(rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1659 rudder().setCenterPWM(rudder_ctr_pwm);
tnhnrl 52:f207567d3ea4 1660 rudder().setMinDeg(rudder_min_deg);
tnhnrl 52:f207567d3ea4 1661 rudder().setMaxDeg(rudder_max_deg);
tnhnrl 52:f207567d3ea4 1662
tnhnrl 52:f207567d3ea4 1663 // save rudder servo driver values for inner loop
tnhnrl 52:f207567d3ea4 1664 configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1665 pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1666 }
tnhnrl 52:f207567d3ea4 1667 else if (RUDDER_PID_key == 'X') {
tnhnrl 52:f207567d3ea4 1668 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1669 }
tnhnrl 52:f207567d3ea4 1670 // MIN PWM
tnhnrl 52:f207567d3ea4 1671 else if (RUDDER_PID_key == 'N') {
tnhnrl 58:94b7fd55185e 1672 pc().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1673 rudder_min_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1674 }
tnhnrl 52:f207567d3ea4 1675 // MAX PWM
tnhnrl 52:f207567d3ea4 1676 else if (RUDDER_PID_key == 'M') {
tnhnrl 58:94b7fd55185e 1677 pc().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1678 rudder_max_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1679 }
tnhnrl 52:f207567d3ea4 1680 // CENTER PWM
tnhnrl 52:f207567d3ea4 1681 else if (RUDDER_PID_key == 'C') {
tnhnrl 58:94b7fd55185e 1682 pc().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1683 rudder_ctr_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1684 }
tnhnrl 52:f207567d3ea4 1685 // MIN DEG
tnhnrl 52:f207567d3ea4 1686 else if (RUDDER_PID_key == 'K') {
tnhnrl 58:94b7fd55185e 1687 pc().printf(">> Type in rudder_min_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1688 rudder_min_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1689 }
tnhnrl 52:f207567d3ea4 1690 // MAX DEG
tnhnrl 52:f207567d3ea4 1691 else if (RUDDER_PID_key == 'L') {
tnhnrl 58:94b7fd55185e 1692 pc().printf(">> Type in rudder_max_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1693 rudder_max_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1694 }
tnhnrl 52:f207567d3ea4 1695
tnhnrl 52:f207567d3ea4 1696 else {
tnhnrl 52:f207567d3ea4 1697 pc().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
tnhnrl 52:f207567d3ea4 1698 }
tnhnrl 52:f207567d3ea4 1699 }
tnhnrl 52:f207567d3ea4 1700 }
tnhnrl 54:d4990fb68404 1701
tnhnrl 58:94b7fd55185e 1702 void StateMachine::keyboard_menu_HEADING_PID_settings() {
tnhnrl 58:94b7fd55185e 1703 char HEADING_PID_key;
tnhnrl 58:94b7fd55185e 1704
tnhnrl 58:94b7fd55185e 1705 float heading_KP = headingLoop().getControllerP();
tnhnrl 58:94b7fd55185e 1706 float heading_KI = headingLoop().getControllerI();
tnhnrl 58:94b7fd55185e 1707 float heading_KD = headingLoop().getControllerD();
tnhnrl 58:94b7fd55185e 1708 float heading_offset_deg = headingLoop().getOutputOffset();
tnhnrl 58:94b7fd55185e 1709
tnhnrl 58:94b7fd55185e 1710 // print the menu
tnhnrl 58:94b7fd55185e 1711 pc().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
tnhnrl 58:94b7fd55185e 1712 pc().printf("\n\r Adjust PID settings with the following keys: P and I and D");
tnhnrl 58:94b7fd55185e 1713 pc().printf("\n\r Adjust zero offset with O (oh)");
tnhnrl 58:94b7fd55185e 1714 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 63:6cb0405fc6e6 1715 pc().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1716
tnhnrl 58:94b7fd55185e 1717 // handle the key presses
tnhnrl 58:94b7fd55185e 1718 while(1) {
tnhnrl 58:94b7fd55185e 1719 // get the user's keystroke from either of the two inputs
tnhnrl 58:94b7fd55185e 1720 if (pc().readable()) {
tnhnrl 58:94b7fd55185e 1721 HEADING_PID_key = pc().getc();
tnhnrl 58:94b7fd55185e 1722 }
tnhnrl 58:94b7fd55185e 1723 else {
tnhnrl 58:94b7fd55185e 1724 continue; // didn't get a user input, so keep waiting for it
tnhnrl 58:94b7fd55185e 1725 }
tnhnrl 58:94b7fd55185e 1726
tnhnrl 58:94b7fd55185e 1727 // handle the user's key input
tnhnrl 58:94b7fd55185e 1728 if (HEADING_PID_key == 'S') { // user wants to save the modified values
tnhnrl 58:94b7fd55185e 1729 // set global values
tnhnrl 58:94b7fd55185e 1730 headingLoop().setControllerP(heading_KP);
tnhnrl 58:94b7fd55185e 1731 headingLoop().setControllerI(heading_KI);
tnhnrl 58:94b7fd55185e 1732 headingLoop().setControllerD(heading_KD);
tnhnrl 58:94b7fd55185e 1733 headingLoop().setOutputOffset(heading_offset_deg);
tnhnrl 58:94b7fd55185e 1734
tnhnrl 58:94b7fd55185e 1735 // save pitch PID values for outer loop (must save neutral position also)
tnhnrl 58:94b7fd55185e 1736 configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg); //_neutral_heading_pos_deg);
tnhnrl 63:6cb0405fc6e6 1737 pc().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1738 }
tnhnrl 58:94b7fd55185e 1739 else if (HEADING_PID_key == 'X') {
tnhnrl 58:94b7fd55185e 1740 break; //exit the while loop
tnhnrl 58:94b7fd55185e 1741 }
tnhnrl 58:94b7fd55185e 1742
tnhnrl 58:94b7fd55185e 1743 else if (HEADING_PID_key == 'P') {
tnhnrl 58:94b7fd55185e 1744 heading_KP = getFloatUserInput();;
tnhnrl 58:94b7fd55185e 1745 }
tnhnrl 58:94b7fd55185e 1746 else if (HEADING_PID_key == 'I') {
tnhnrl 58:94b7fd55185e 1747 heading_KI = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1748 }
tnhnrl 58:94b7fd55185e 1749 else if (HEADING_PID_key == 'D') {
tnhnrl 58:94b7fd55185e 1750 heading_KD = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1751 }
tnhnrl 58:94b7fd55185e 1752 else if (HEADING_PID_key == 'O') {
tnhnrl 58:94b7fd55185e 1753 heading_offset_deg = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1754 }
tnhnrl 58:94b7fd55185e 1755
tnhnrl 58:94b7fd55185e 1756 else {
tnhnrl 58:94b7fd55185e 1757 pc().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
tnhnrl 58:94b7fd55185e 1758 }
tnhnrl 58:94b7fd55185e 1759 }
tnhnrl 58:94b7fd55185e 1760 }
tnhnrl 58:94b7fd55185e 1761
tnhnrl 54:d4990fb68404 1762 void StateMachine::keyboard_menu_COUNTS_STATUS() {
tnhnrl 54:d4990fb68404 1763
tnhnrl 54:d4990fb68404 1764 }
tnhnrl 56:48a8a5a65b82 1765
tnhnrl 49:47ffa4feb6db 1766 void StateMachine::keyboard_menu_MANUAL_TUNING() {
tnhnrl 49:47ffa4feb6db 1767 char TUNING_key;
tnhnrl 49:47ffa4feb6db 1768
tnhnrl 49:47ffa4feb6db 1769 // show the menu
tnhnrl 58:94b7fd55185e 1770 pc().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
tnhnrl 58:94b7fd55185e 1771 pc().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
tnhnrl 58:94b7fd55185e 1772 pc().printf("\r\nMANUAL_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r",bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 56:48a8a5a65b82 1773
tnhnrl 56:48a8a5a65b82 1774 //made these into internal parameters
tnhnrl 56:48a8a5a65b82 1775 float _tuning_bce_pos_mm = 300.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1776 float _tuning_batt_pos_mm = 60.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1777 float _tuning_rudder_pos_deg = 0.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1778
tnhnrl 56:48a8a5a65b82 1779 //immediately start at those positions
tnhnrl 56:48a8a5a65b82 1780 bce().setPosition_mm(_tuning_bce_pos_mm);
tnhnrl 56:48a8a5a65b82 1781 batt().setPosition_mm(_tuning_batt_pos_mm);
tnhnrl 56:48a8a5a65b82 1782 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 49:47ffa4feb6db 1783
tnhnrl 49:47ffa4feb6db 1784 // what needs to be started?
tnhnrl 49:47ffa4feb6db 1785 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 1786 batt().unpause(); //this is now active
tnhnrl 56:48a8a5a65b82 1787 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1788
tnhnrl 56:48a8a5a65b82 1789 while (1) {
tnhnrl 49:47ffa4feb6db 1790 if (pc().readable()) {
tnhnrl 49:47ffa4feb6db 1791 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 49:47ffa4feb6db 1792 }
tnhnrl 49:47ffa4feb6db 1793
tnhnrl 58:94b7fd55185e 1794 else {
tnhnrl 58:94b7fd55185e 1795 pc().printf("MANUAL_TUNING: (current stats) BCE pos: %3.1f mm (cmd: %3.1f mm), BATT pos: %3.1f mm (cmd: %3.1f mm) SERVO: %0.1f deg, %f pwm\r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getPosition_deg(), rudder().getPosition_pwm());
tnhnrl 49:47ffa4feb6db 1796 continue; // didn't get a user input, so keep waiting for it
tnhnrl 49:47ffa4feb6db 1797 }
tnhnrl 49:47ffa4feb6db 1798
tnhnrl 49:47ffa4feb6db 1799 // process the keys
tnhnrl 49:47ffa4feb6db 1800 if (TUNING_key == 'X') {
tnhnrl 49:47ffa4feb6db 1801 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 49:47ffa4feb6db 1802 bce().pause();
tnhnrl 49:47ffa4feb6db 1803 batt().pause();
tnhnrl 56:48a8a5a65b82 1804 rudder().pause();
tnhnrl 56:48a8a5a65b82 1805
tnhnrl 56:48a8a5a65b82 1806 //right now the rudder is always active................................................hmm
tnhnrl 56:48a8a5a65b82 1807 //deactivate the pin? new/delete?
tnhnrl 49:47ffa4feb6db 1808
tnhnrl 49:47ffa4feb6db 1809 break; //exit the while loop
tnhnrl 49:47ffa4feb6db 1810 }
tnhnrl 56:48a8a5a65b82 1811
tnhnrl 56:48a8a5a65b82 1812 //Buoyancy Engine
tnhnrl 52:f207567d3ea4 1813 else if (TUNING_key == 'A') {
tnhnrl 56:48a8a5a65b82 1814 _tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1815 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1816 pc().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 52:f207567d3ea4 1817 }
tnhnrl 52:f207567d3ea4 1818
tnhnrl 49:47ffa4feb6db 1819 else if (TUNING_key == 'S') {
tnhnrl 56:48a8a5a65b82 1820 _tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1821 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1822 pc().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 49:47ffa4feb6db 1823 }
tnhnrl 49:47ffa4feb6db 1824
tnhnrl 56:48a8a5a65b82 1825 //BATTERY
tnhnrl 49:47ffa4feb6db 1826 else if (TUNING_key == 'Q') {
tnhnrl 56:48a8a5a65b82 1827 _tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1828 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1829 pc().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 49:47ffa4feb6db 1830 }
tnhnrl 49:47ffa4feb6db 1831
tnhnrl 49:47ffa4feb6db 1832 else if (TUNING_key == 'W') {
tnhnrl 56:48a8a5a65b82 1833 _tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1834 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1835 pc().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 56:48a8a5a65b82 1836 }
tnhnrl 56:48a8a5a65b82 1837
tnhnrl 56:48a8a5a65b82 1838 else if (TUNING_key == 'c' or TUNING_key == 'C') {
tnhnrl 56:48a8a5a65b82 1839 pc().printf("MANUAL_TUNING: (current stats) BCE pos: %3.1f mm (cmd: %3.1f mm), BATT pos: %3.1f mm (cmd: %3.1f mm) SERVO: %0.1f deg, %f pwm\r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getPosition_deg(), rudder().getPosition_pwm());
tnhnrl 56:48a8a5a65b82 1840 }
tnhnrl 56:48a8a5a65b82 1841
tnhnrl 56:48a8a5a65b82 1842 //RUDER
tnhnrl 56:48a8a5a65b82 1843 else if (TUNING_key == 'E') {
tnhnrl 56:48a8a5a65b82 1844 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
tnhnrl 56:48a8a5a65b82 1845 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 58:94b7fd55185e 1846 pc().printf("MANUAL_TUNING: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getPosition_pwm(), rudder().getPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 56:48a8a5a65b82 1847 }
tnhnrl 56:48a8a5a65b82 1848
tnhnrl 56:48a8a5a65b82 1849 else if (TUNING_key == 'R') {
tnhnrl 56:48a8a5a65b82 1850 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
tnhnrl 56:48a8a5a65b82 1851 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 58:94b7fd55185e 1852 pc().printf("MANUAL_TUNING: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getPosition_pwm(), rudder().getPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 56:48a8a5a65b82 1853 }
tnhnrl 56:48a8a5a65b82 1854
tnhnrl 56:48a8a5a65b82 1855 else if (TUNING_key == 'P') {
tnhnrl 56:48a8a5a65b82 1856 rudder().pause();
tnhnrl 56:48a8a5a65b82 1857 }
tnhnrl 56:48a8a5a65b82 1858
tnhnrl 56:48a8a5a65b82 1859 else if (TUNING_key == 'U') {
tnhnrl 56:48a8a5a65b82 1860 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1861 }
tnhnrl 49:47ffa4feb6db 1862
tnhnrl 49:47ffa4feb6db 1863 else {
tnhnrl 58:94b7fd55185e 1864 pc().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
tnhnrl 56:48a8a5a65b82 1865 }
tnhnrl 49:47ffa4feb6db 1866 }
tnhnrl 49:47ffa4feb6db 1867 }
tnhnrl 52:f207567d3ea4 1868
tnhnrl 52:f207567d3ea4 1869 void StateMachine::keyboard_menu_CHANNEL_READINGS() {
tnhnrl 52:f207567d3ea4 1870 char TUNING_key;
tnhnrl 52:f207567d3ea4 1871
tnhnrl 52:f207567d3ea4 1872 // show the menu
tnhnrl 58:94b7fd55185e 1873 pc().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
tnhnrl 55:f4ec445c42fe 1874
tnhnrl 55:f4ec445c42fe 1875 while (1) {
tnhnrl 55:f4ec445c42fe 1876 if (pc().readable()) {
tnhnrl 55:f4ec445c42fe 1877 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 55:f4ec445c42fe 1878 }
tnhnrl 55:f4ec445c42fe 1879
tnhnrl 55:f4ec445c42fe 1880 // process the keys
tnhnrl 55:f4ec445c42fe 1881 if (TUNING_key == 'X') {
tnhnrl 55:f4ec445c42fe 1882 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 55:f4ec445c42fe 1883 bce().pause();
tnhnrl 55:f4ec445c42fe 1884 batt().pause();
tnhnrl 55:f4ec445c42fe 1885
tnhnrl 55:f4ec445c42fe 1886 break; //exit the while loop
tnhnrl 55:f4ec445c42fe 1887 }
tnhnrl 55:f4ec445c42fe 1888
tnhnrl 55:f4ec445c42fe 1889 else {
tnhnrl 55:f4ec445c42fe 1890 wait(0.5);
tnhnrl 55:f4ec445c42fe 1891 pc().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
tnhnrl 55:f4ec445c42fe 1892 continue; // didn't get a user input, so keep waiting for it
tnhnrl 55:f4ec445c42fe 1893 }
tnhnrl 55:f4ec445c42fe 1894 }
tnhnrl 55:f4ec445c42fe 1895 }
tnhnrl 55:f4ec445c42fe 1896
tnhnrl 55:f4ec445c42fe 1897 void StateMachine::keyboard_menu_POSITION_READINGS() {
tnhnrl 55:f4ec445c42fe 1898 char TUNING_key;
tnhnrl 55:f4ec445c42fe 1899
tnhnrl 55:f4ec445c42fe 1900 // show the menu
tnhnrl 58:94b7fd55185e 1901 pc().printf("\r\n9: BCE and BMM POSITION READINGS (EXIT WITH 'X' !)");
tnhnrl 52:f207567d3ea4 1902
tnhnrl 52:f207567d3ea4 1903 while (1) {
tnhnrl 52:f207567d3ea4 1904 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1905 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1906 }
tnhnrl 52:f207567d3ea4 1907
tnhnrl 54:d4990fb68404 1908 // process the keys
tnhnrl 54:d4990fb68404 1909 if (TUNING_key == 'X') {
tnhnrl 54:d4990fb68404 1910 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 54:d4990fb68404 1911 bce().pause();
tnhnrl 54:d4990fb68404 1912 batt().pause();
tnhnrl 54:d4990fb68404 1913
tnhnrl 54:d4990fb68404 1914 break; //exit the while loop
tnhnrl 54:d4990fb68404 1915 }
tnhnrl 54:d4990fb68404 1916
tnhnrl 52:f207567d3ea4 1917 else {
tnhnrl 52:f207567d3ea4 1918 // Testing out ADC
tnhnrl 54:d4990fb68404 1919 wait(0.5);
tnhnrl 52:f207567d3ea4 1920 float vref = 5.6;
tnhnrl 52:f207567d3ea4 1921 float vmeasured = 0;
tnhnrl 52:f207567d3ea4 1922 unsigned int raw = adc().readCh5();
tnhnrl 52:f207567d3ea4 1923 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 52:f207567d3ea4 1924
tnhnrl 54:d4990fb68404 1925
tnhnrl 55:f4ec445c42fe 1926 //pc().printf("BCE POS(%d),BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) \r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4());
tnhnrl 55:f4ec445c42fe 1927
tnhnrl 55:f4ec445c42fe 1928 pc().printf("BCE POS(%d), BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) << POS: BCE %0.2f, BATT %0.2f >>\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),bce().getPosition_mm(),batt().getPosition_mm());
tnhnrl 54:d4990fb68404 1929
tnhnrl 54:d4990fb68404 1930 //pc().printf("vessel pressure(%d) batt voltage(%d) board current(%d) LIMIT: BCE(%d) BMM(%d) (HW reading limit: BCE(%d) BMM (%d) \r\n",adc().readCh5(),adc().readCh6(),adc().readCh7(),bce().getSwitch(), batt().getSwitch(),bce().getSwitchState(),batt().getSwitchState());
tnhnrl 54:d4990fb68404 1931 //pc().printf("LIMIT: BCE(%d) BMM(%d) << HW reading limit: BCE(%d) BMM (%d) >> \r\n",bce().getSwitch(), batt().getSwitch(),bce().getHWSwitchReading(),batt().getHWSwitchReading());
tnhnrl 54:d4990fb68404 1932 //pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 52:f207567d3ea4 1933 // End of ADC Test
tnhnrl 52:f207567d3ea4 1934
tnhnrl 54:d4990fb68404 1935 // pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 54:d4990fb68404 1936 // pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 54:d4990fb68404 1937 // pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 54:d4990fb68404 1938 // pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 54:d4990fb68404 1939 // pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 54:d4990fb68404 1940 // pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 54:d4990fb68404 1941 // pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
tnhnrl 54:d4990fb68404 1942 // pc().printf("raw board current: %d \r\n",adc().readCh7());
tnhnrl 54:d4990fb68404 1943
tnhnrl 52:f207567d3ea4 1944 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1945 }
tnhnrl 52:f207567d3ea4 1946 }
tnhnrl 52:f207567d3ea4 1947 }
tnhnrl 49:47ffa4feb6db 1948
tnhnrl 16:3363b9f14913 1949 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 16:3363b9f14913 1950 char PID_key;
tnhnrl 63:6cb0405fc6e6 1951
tnhnrl 63:6cb0405fc6e6 1952 float bce_KP = bce().getControllerP(); // load current value
tnhnrl 63:6cb0405fc6e6 1953 float bce_KI = bce().getControllerI(); // load current global value
tnhnrl 63:6cb0405fc6e6 1954 float bce_KD = bce().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 1955
tnhnrl 16:3363b9f14913 1956 // show the menu
tnhnrl 63:6cb0405fc6e6 1957 pc().printf("\n\rBuoyancy Engine PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 1958 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 1959 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 1960 pc().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 63:6cb0405fc6e6 1961
tnhnrl 63:6cb0405fc6e6 1962 // handle the key presses
tnhnrl 63:6cb0405fc6e6 1963 while(1) {
tnhnrl 63:6cb0405fc6e6 1964 // get the user's keystroke from either of the two inputs
tnhnrl 63:6cb0405fc6e6 1965 if (pc().readable()) {
tnhnrl 63:6cb0405fc6e6 1966 PID_key = pc().getc();
tnhnrl 63:6cb0405fc6e6 1967 }
tnhnrl 63:6cb0405fc6e6 1968 else {
tnhnrl 63:6cb0405fc6e6 1969 continue; // didn't get a user input, so keep waiting for it
tnhnrl 63:6cb0405fc6e6 1970 }
tnhnrl 63:6cb0405fc6e6 1971
tnhnrl 63:6cb0405fc6e6 1972 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 1973 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 1974 // set values
tnhnrl 63:6cb0405fc6e6 1975 bce().setControllerP(bce_KP);
tnhnrl 63:6cb0405fc6e6 1976 bce().setControllerI(bce_KI);
tnhnrl 63:6cb0405fc6e6 1977 bce().setControllerD(bce_KD);
tnhnrl 63:6cb0405fc6e6 1978
tnhnrl 63:6cb0405fc6e6 1979 // save to "BATT.TXT" file
tnhnrl 63:6cb0405fc6e6 1980 configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD);
tnhnrl 63:6cb0405fc6e6 1981 pc().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 63:6cb0405fc6e6 1982 }
tnhnrl 63:6cb0405fc6e6 1983 else if (PID_key == 'X') {
tnhnrl 63:6cb0405fc6e6 1984 break; //exit the while loop
tnhnrl 63:6cb0405fc6e6 1985 }
tnhnrl 63:6cb0405fc6e6 1986 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 1987 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1988 bce_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1989 }
tnhnrl 63:6cb0405fc6e6 1990 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 1991 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1992 bce_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1993 }
tnhnrl 63:6cb0405fc6e6 1994 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 1995 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1996 bce_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1997 }
tnhnrl 63:6cb0405fc6e6 1998 else {
tnhnrl 63:6cb0405fc6e6 1999 pc().printf("\n\rBCE: [%c] This key does nothing here. \r", PID_key);
tnhnrl 63:6cb0405fc6e6 2000 }
tnhnrl 63:6cb0405fc6e6 2001 }
tnhnrl 63:6cb0405fc6e6 2002 }
tnhnrl 63:6cb0405fc6e6 2003
tnhnrl 63:6cb0405fc6e6 2004 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 63:6cb0405fc6e6 2005 char PID_key;
tnhnrl 63:6cb0405fc6e6 2006
tnhnrl 63:6cb0405fc6e6 2007 float batt_KP = batt().getControllerP(); // load current global value
tnhnrl 63:6cb0405fc6e6 2008 float batt_KI = batt().getControllerI(); // load current global value
tnhnrl 63:6cb0405fc6e6 2009 float batt_KD = batt().getControllerD(); // load current global value
tnhnrl 63:6cb0405fc6e6 2010
tnhnrl 63:6cb0405fc6e6 2011 // print the menu
tnhnrl 63:6cb0405fc6e6 2012 pc().printf("\n\rBattery Motor PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 2013 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 2014 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 2015 pc().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 16:3363b9f14913 2016
tnhnrl 16:3363b9f14913 2017 // handle the key presses
tnhnrl 16:3363b9f14913 2018 while(1) {
tnhnrl 16:3363b9f14913 2019 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 2020 if (pc().readable()) {
tnhnrl 16:3363b9f14913 2021 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 2022 }
tnhnrl 16:3363b9f14913 2023 else {
tnhnrl 16:3363b9f14913 2024 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2025 }
tnhnrl 16:3363b9f14913 2026
tnhnrl 16:3363b9f14913 2027 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 2028 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 2029 // set values
tnhnrl 63:6cb0405fc6e6 2030 batt().setControllerP(batt_KP);
tnhnrl 63:6cb0405fc6e6 2031 batt().setControllerI(batt_KI);
tnhnrl 63:6cb0405fc6e6 2032 batt().setControllerD(batt_KD);
tnhnrl 16:3363b9f14913 2033
tnhnrl 38:83d06c294807 2034 // save to "BATT.TXT" file
tnhnrl 63:6cb0405fc6e6 2035 configFileIO().saveBattData(batt_KP, batt_KI, batt_KD);
tnhnrl 63:6cb0405fc6e6 2036 pc().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 16:3363b9f14913 2037 }
tnhnrl 16:3363b9f14913 2038 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 2039 break; //exit the while loop
tnhnrl 16:3363b9f14913 2040 }
tnhnrl 63:6cb0405fc6e6 2041 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 2042 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2043 batt_KP = getFloatUserInput();
tnhnrl 16:3363b9f14913 2044 }
tnhnrl 63:6cb0405fc6e6 2045 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 2046 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2047 batt_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2048 }
tnhnrl 63:6cb0405fc6e6 2049 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 2050 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2051 batt_KD = getFloatUserInput();
tnhnrl 16:3363b9f14913 2052 }
tnhnrl 16:3363b9f14913 2053 else {
tnhnrl 63:6cb0405fc6e6 2054 pc().printf("\n\rBATT: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 2055 }
tnhnrl 16:3363b9f14913 2056 }
tnhnrl 16:3363b9f14913 2057 }
tnhnrl 20:8987a9ae2bc7 2058
tnhnrl 16:3363b9f14913 2059 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 16:3363b9f14913 2060 char PID_key;
tnhnrl 63:6cb0405fc6e6 2061
tnhnrl 63:6cb0405fc6e6 2062 float depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2063 float depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2064 float depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 2065
tnhnrl 63:6cb0405fc6e6 2066 // print the menu
tnhnrl 63:6cb0405fc6e6 2067 pc().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 2068 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 2069 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 2070 pc().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 2071
tnhnrl 16:3363b9f14913 2072 // handle the key presses
tnhnrl 16:3363b9f14913 2073 while(1) {
tnhnrl 16:3363b9f14913 2074 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 2075 if (pc().readable()) {
tnhnrl 16:3363b9f14913 2076 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 2077 }
tnhnrl 16:3363b9f14913 2078 else {
tnhnrl 16:3363b9f14913 2079 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2080 }
tnhnrl 16:3363b9f14913 2081
tnhnrl 16:3363b9f14913 2082 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 2083 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2084 // set values
tnhnrl 63:6cb0405fc6e6 2085 depthLoop().setControllerP(depth_KP);
tnhnrl 63:6cb0405fc6e6 2086 depthLoop().setControllerI(depth_KI);
tnhnrl 63:6cb0405fc6e6 2087 depthLoop().setControllerD(depth_KD);
tnhnrl 63:6cb0405fc6e6 2088
tnhnrl 63:6cb0405fc6e6 2089 // save to "DEPTH.TXT" file
tnhnrl 63:6cb0405fc6e6 2090 configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm);
tnhnrl 63:6cb0405fc6e6 2091 pc().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 2092
tnhnrl 63:6cb0405fc6e6 2093 //set class variables that will be used in find neutral sequence
tnhnrl 63:6cb0405fc6e6 2094 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2095 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2096 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 2097 }
tnhnrl 16:3363b9f14913 2098 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 2099 break; //exit the while loop
tnhnrl 16:3363b9f14913 2100 }
tnhnrl 63:6cb0405fc6e6 2101 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 2102 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2103 depth_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2104 }
tnhnrl 63:6cb0405fc6e6 2105 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 2106 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2107 depth_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2108 }
tnhnrl 63:6cb0405fc6e6 2109 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 2110 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2111 depth_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2112 }
tnhnrl 16:3363b9f14913 2113 else {
tnhnrl 63:6cb0405fc6e6 2114 pc().printf("\n\rDEPTH: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 2115 }
tnhnrl 16:3363b9f14913 2116 }
tnhnrl 16:3363b9f14913 2117 }
tnhnrl 16:3363b9f14913 2118
tnhnrl 16:3363b9f14913 2119 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 16:3363b9f14913 2120 char PID_key;
tnhnrl 63:6cb0405fc6e6 2121
tnhnrl 63:6cb0405fc6e6 2122 float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2123 float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2124 float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 2125
tnhnrl 16:3363b9f14913 2126 // print the menu
tnhnrl 63:6cb0405fc6e6 2127 pc().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 2128 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 2129 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 2130 pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 63:6cb0405fc6e6 2131
tnhnrl 16:3363b9f14913 2132 // handle the key presses
tnhnrl 16:3363b9f14913 2133 while(1) {
tnhnrl 16:3363b9f14913 2134 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 2135 if (pc().readable()) {
tnhnrl 16:3363b9f14913 2136 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 2137 }
tnhnrl 16:3363b9f14913 2138 else {
tnhnrl 16:3363b9f14913 2139 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2140 }
tnhnrl 63:6cb0405fc6e6 2141
tnhnrl 16:3363b9f14913 2142 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 2143 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2144 // set values
tnhnrl 63:6cb0405fc6e6 2145 pitchLoop().setControllerP(pitch_KP);
tnhnrl 63:6cb0405fc6e6 2146 pitchLoop().setControllerI(pitch_KI);
tnhnrl 63:6cb0405fc6e6 2147 pitchLoop().setControllerD(pitch_KD);
tnhnrl 63:6cb0405fc6e6 2148
tnhnrl 63:6cb0405fc6e6 2149 // save to "PITCH.TXT" file
tnhnrl 63:6cb0405fc6e6 2150 configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm);
tnhnrl 63:6cb0405fc6e6 2151 pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 63:6cb0405fc6e6 2152
tnhnrl 63:6cb0405fc6e6 2153 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2154 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2155 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 2156 }
tnhnrl 16:3363b9f14913 2157 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 2158 break; //exit the while loop
tnhnrl 16:3363b9f14913 2159 }
tnhnrl 63:6cb0405fc6e6 2160 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 2161 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2162 pitch_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2163 }
tnhnrl 63:6cb0405fc6e6 2164 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 2165 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2166 pitch_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2167 }
tnhnrl 63:6cb0405fc6e6 2168 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 2169 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2170 pitch_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2171 }
tnhnrl 16:3363b9f14913 2172 else {
tnhnrl 63:6cb0405fc6e6 2173 pc().printf("\n\rPITCH: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 2174 }
tnhnrl 16:3363b9f14913 2175 }
tnhnrl 16:3363b9f14913 2176 }
tnhnrl 20:8987a9ae2bc7 2177
tnhnrl 16:3363b9f14913 2178 float StateMachine::getDepthCommand() {
tnhnrl 32:f2f8ae34aadc 2179 return _depth_command;
tnhnrl 16:3363b9f14913 2180 }
tnhnrl 20:8987a9ae2bc7 2181
tnhnrl 16:3363b9f14913 2182 float StateMachine::getPitchCommand() {
tnhnrl 32:f2f8ae34aadc 2183 return _pitch_command;
tnhnrl 32:f2f8ae34aadc 2184 }
tnhnrl 32:f2f8ae34aadc 2185
tnhnrl 32:f2f8ae34aadc 2186 float StateMachine::getDepthReading() {
tnhnrl 32:f2f8ae34aadc 2187 return _depth_reading;
tnhnrl 32:f2f8ae34aadc 2188 }
tnhnrl 32:f2f8ae34aadc 2189
tnhnrl 32:f2f8ae34aadc 2190 float StateMachine::getPitchReading() {
tnhnrl 32:f2f8ae34aadc 2191 return _pitch_reading;
tnhnrl 32:f2f8ae34aadc 2192 }
tnhnrl 32:f2f8ae34aadc 2193
tnhnrl 32:f2f8ae34aadc 2194 float StateMachine::getTimerReading() {
tnhnrl 32:f2f8ae34aadc 2195 return _timer_reading;
tnhnrl 17:7c16b5671d0e 2196 }
tnhnrl 28:16c83a2fdefa 2197
tnhnrl 17:7c16b5671d0e 2198 void StateMachine::setState(int input_state) {
tnhnrl 21:38c8544db6f4 2199 _state = input_state;
tnhnrl 17:7c16b5671d0e 2200 }
tnhnrl 20:8987a9ae2bc7 2201
tnhnrl 17:7c16b5671d0e 2202 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 2203 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 2204 }
tnhnrl 20:8987a9ae2bc7 2205
tnhnrl 17:7c16b5671d0e 2206 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 2207 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 2208 }
tnhnrl 20:8987a9ae2bc7 2209
tnhnrl 17:7c16b5671d0e 2210 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 32:f2f8ae34aadc 2211 _depth_command = input_depth_command;
tnhnrl 17:7c16b5671d0e 2212 }
tnhnrl 20:8987a9ae2bc7 2213
tnhnrl 17:7c16b5671d0e 2214 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 32:f2f8ae34aadc 2215 _pitch_command = input_pitch_command;
tnhnrl 17:7c16b5671d0e 2216 }
tnhnrl 20:8987a9ae2bc7 2217
tnhnrl 17:7c16b5671d0e 2218 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 2219 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 2220 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 2221
tnhnrl 58:94b7fd55185e 2222 pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 2223 }
tnhnrl 20:8987a9ae2bc7 2224
tnhnrl 17:7c16b5671d0e 2225 int StateMachine::timeoutRunning() {
tnhnrl 28:16c83a2fdefa 2226 return _isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 2227 }
tnhnrl 20:8987a9ae2bc7 2228
tnhnrl 17:7c16b5671d0e 2229 //process one state at a time
tnhnrl 17:7c16b5671d0e 2230 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 2231 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 2232 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 2233 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 2234 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 2235 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
tnhnrl 17:7c16b5671d0e 2236
tnhnrl 17:7c16b5671d0e 2237 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 32:f2f8ae34aadc 2238 }
tnhnrl 32:f2f8ae34aadc 2239
tnhnrl 32:f2f8ae34aadc 2240 void StateMachine::printCurrentSdLog() {
tnhnrl 58:94b7fd55185e 2241 pc().printf("SD card log work in progress\r\n");
tnhnrl 32:f2f8ae34aadc 2242 //might be worth saving the last few logs to the MBED...
tnhnrl 32:f2f8ae34aadc 2243 }
tnhnrl 32:f2f8ae34aadc 2244
tnhnrl 32:f2f8ae34aadc 2245 //check if the file is still opened
tnhnrl 32:f2f8ae34aadc 2246 void StateMachine::createNewFile() {
tnhnrl 32:f2f8ae34aadc 2247 if (_file_closed) {
tnhnrl 34:9b66c5188051 2248 //mbedLogger().createFile(); //create a new MBED file
tnhnrl 32:f2f8ae34aadc 2249
tnhnrl 32:f2f8ae34aadc 2250 _file_closed = false; //file is still open until you get to SIT_IDLE
tnhnrl 32:f2f8ae34aadc 2251 }
tnhnrl 32:f2f8ae34aadc 2252 }
tnhnrl 32:f2f8ae34aadc 2253
tnhnrl 32:f2f8ae34aadc 2254 void StateMachine::transmitData() {
tnhnrl 32:f2f8ae34aadc 2255 static float transmit_timer = 0;
tnhnrl 32:f2f8ae34aadc 2256 static bool is_transmit_timer_running = false;
tnhnrl 32:f2f8ae34aadc 2257
tnhnrl 32:f2f8ae34aadc 2258 if (!is_transmit_timer_running) {
tnhnrl 58:94b7fd55185e 2259 //pc().printf("\r\n\nTRANSMIT timer running...\r\n\n"); //debug
tnhnrl 32:f2f8ae34aadc 2260
tnhnrl 32:f2f8ae34aadc 2261 transmit_timer = timer.read() + 1; //record the time when this block is first entered and add 5 seconds
tnhnrl 32:f2f8ae34aadc 2262 is_transmit_timer_running = true; //disable this block after one iteration
tnhnrl 32:f2f8ae34aadc 2263
tnhnrl 58:94b7fd55185e 2264 pc().printf("TESTING to see if this transmits once a second. (timer: %0.1f)\r\n", timer.read());
tnhnrl 32:f2f8ae34aadc 2265 }
tnhnrl 32:f2f8ae34aadc 2266 if (timer.read() >= transmit_timer) {
tnhnrl 32:f2f8ae34aadc 2267 is_transmit_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 32:f2f8ae34aadc 2268 }
tnhnrl 34:9b66c5188051 2269 }
tnhnrl 34:9b66c5188051 2270
tnhnrl 34:9b66c5188051 2271 void StateMachine::recordData(int input_state) {
tnhnrl 34:9b66c5188051 2272 string string_state;
tnhnrl 34:9b66c5188051 2273 if (input_state == SIT_IDLE)
tnhnrl 34:9b66c5188051 2274 string_state = "SIT_IDLE";
tnhnrl 34:9b66c5188051 2275 else if (input_state == FIND_NEUTRAL)
tnhnrl 34:9b66c5188051 2276 string_state = "FIND_NEUTRAL";
tnhnrl 34:9b66c5188051 2277 else if (input_state == DIVE)
tnhnrl 34:9b66c5188051 2278 string_state = "DIVE";
tnhnrl 34:9b66c5188051 2279 else if (input_state == RISE)
tnhnrl 34:9b66c5188051 2280 string_state = "RISE";
tnhnrl 34:9b66c5188051 2281 else if (input_state == FLOAT_LEVEL)
tnhnrl 34:9b66c5188051 2282 string_state = "FLOAT_LEVEL";
tnhnrl 34:9b66c5188051 2283 else if (input_state == FLOAT_BROADCAST)
tnhnrl 34:9b66c5188051 2284 string_state = "FLOAT_BROADCAST";
tnhnrl 34:9b66c5188051 2285 else if (input_state == EMERGENCY_CLIMB)
tnhnrl 34:9b66c5188051 2286 string_state = "EMERGENCY_CLIMB";
tnhnrl 34:9b66c5188051 2287 else if (input_state == MULTI_DIVE)
tnhnrl 34:9b66c5188051 2288 string_state = "MULTI_DIVE";
tnhnrl 34:9b66c5188051 2289 else if (input_state == MULTI_RISE)
tnhnrl 34:9b66c5188051 2290 string_state = "MULTI_RISE";
tnhnrl 34:9b66c5188051 2291 else if (input_state == KEYBOARD)
tnhnrl 34:9b66c5188051 2292 string_state = "KEYBOARD";
tnhnrl 34:9b66c5188051 2293
tnhnrl 34:9b66c5188051 2294 if (!_is_log_timer_running) {
tnhnrl 58:94b7fd55185e 2295 //pc().printf("\r\n\nlog timer running...\r\n\n"); //debug
tnhnrl 34:9b66c5188051 2296
tnhnrl 34:9b66c5188051 2297 _log_timer = timer.read() + 1; //record the time when this block is first entered and add 5 seconds
tnhnrl 34:9b66c5188051 2298 _is_log_timer_running = true; //disable this block after one iteration
tnhnrl 34:9b66c5188051 2299
tnhnrl 37:357e98a929cc 2300 _data_log[0] = systemTime().read(); //system time reading
tnhnrl 34:9b66c5188051 2301 _data_log[1] = depthLoop().getCommand(); //depth command
tnhnrl 34:9b66c5188051 2302 _data_log[2] = depthLoop().getPosition(); //depth reading
tnhnrl 34:9b66c5188051 2303 _data_log[3] = pitchLoop().getCommand(); //pitch command
tnhnrl 34:9b66c5188051 2304 _data_log[4] = pitchLoop().getPosition(); //pitch reading
tnhnrl 34:9b66c5188051 2305 _data_log[5] = bce().getSetPosition_mm();
tnhnrl 34:9b66c5188051 2306 _data_log[6] = bce().getPosition_mm();
tnhnrl 34:9b66c5188051 2307 _data_log[7] = batt().getSetPosition_mm();
tnhnrl 34:9b66c5188051 2308 _data_log[8] = batt().getPosition_mm();
tnhnrl 34:9b66c5188051 2309
tnhnrl 34:9b66c5188051 2310 //record data to the MBED every 5 seconds
tnhnrl 35:2f66ea4863d5 2311 //mbedLogger().saveArrayToFile(string_state,input_state,_data_log);
tnhnrl 34:9b66c5188051 2312 }
tnhnrl 34:9b66c5188051 2313 if (timer.read() >= _log_timer) {
tnhnrl 34:9b66c5188051 2314 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 34:9b66c5188051 2315 }
tnhnrl 34:9b66c5188051 2316 }
tnhnrl 34:9b66c5188051 2317
tnhnrl 34:9b66c5188051 2318 void StateMachine::recordState(int input_state) {
tnhnrl 34:9b66c5188051 2319 string string_state;
tnhnrl 34:9b66c5188051 2320
tnhnrl 34:9b66c5188051 2321 if (input_state == SIT_IDLE)
tnhnrl 34:9b66c5188051 2322 string_state = "SIT_IDLE";
tnhnrl 34:9b66c5188051 2323 else if (input_state == FIND_NEUTRAL)
tnhnrl 34:9b66c5188051 2324 string_state = "FIND_NEUTRAL";
tnhnrl 34:9b66c5188051 2325 else if (input_state == DIVE)
tnhnrl 34:9b66c5188051 2326 string_state = "DIVE";
tnhnrl 34:9b66c5188051 2327 else if (input_state == RISE)
tnhnrl 34:9b66c5188051 2328 string_state = "RISE";
tnhnrl 34:9b66c5188051 2329 else if (input_state == FLOAT_LEVEL)
tnhnrl 34:9b66c5188051 2330 string_state = "FLOAT_LEVEL";
tnhnrl 34:9b66c5188051 2331 else if (input_state == FLOAT_BROADCAST)
tnhnrl 34:9b66c5188051 2332 string_state = "FLOAT_BROADCAST";
tnhnrl 34:9b66c5188051 2333 else if (input_state == EMERGENCY_CLIMB)
tnhnrl 34:9b66c5188051 2334 string_state = "EMERGENCY_CLIMB";
tnhnrl 34:9b66c5188051 2335 else if (input_state == MULTI_DIVE)
tnhnrl 34:9b66c5188051 2336 string_state = "MULTI_DIVE";
tnhnrl 34:9b66c5188051 2337 else if (input_state == MULTI_RISE)
tnhnrl 34:9b66c5188051 2338 string_state = "MULTI_RISE";
tnhnrl 34:9b66c5188051 2339 else if (input_state == KEYBOARD)
tnhnrl 34:9b66c5188051 2340 string_state = "KEYBOARD";
tnhnrl 34:9b66c5188051 2341 //datalogger().printf("%s\n", string_state.c_str());
tnhnrl 36:966a86937e17 2342 }
tnhnrl 36:966a86937e17 2343
tnhnrl 36:966a86937e17 2344 float * StateMachine::dataArray() {
tnhnrl 36:966a86937e17 2345 //return the array to a calling function
tnhnrl 36:966a86937e17 2346 return _data_log;
tnhnrl 52:f207567d3ea4 2347 }
tnhnrl 52:f207567d3ea4 2348
tnhnrl 52:f207567d3ea4 2349 // 06/06/2018
tnhnrl 52:f207567d3ea4 2350 float StateMachine::getFloatUserInput() {
tnhnrl 52:f207567d3ea4 2351 float float_conversion = 0.0;
tnhnrl 52:f207567d3ea4 2352
tnhnrl 52:f207567d3ea4 2353 while(1) {
tnhnrl 52:f207567d3ea4 2354 bool valid_input = false; //flag for valid or invalid input
tnhnrl 52:f207567d3ea4 2355
tnhnrl 58:94b7fd55185e 2356 pc().printf("\n\rPlease enter your number below and press ENTER:\r\n");
tnhnrl 52:f207567d3ea4 2357 char user_string [80]; //variable to store input as a character array
tnhnrl 52:f207567d3ea4 2358
tnhnrl 52:f207567d3ea4 2359 pc().scanf("%s", user_string); //read formatted data from stdin
tnhnrl 58:94b7fd55185e 2360 pc().printf("\n\n\ruser_string was <%s>\r\n", user_string);
tnhnrl 52:f207567d3ea4 2361
tnhnrl 52:f207567d3ea4 2362 //check through the string for invalid characters (decimal values 43 through 57)
tnhnrl 52:f207567d3ea4 2363 for (int c = 0; c < strlen(user_string); c++) {
tnhnrl 58:94b7fd55185e 2364 //pc().printf("character is [%c]\r\n", user_string[c]); //debug
tnhnrl 52:f207567d3ea4 2365 if (user_string[c] >= 43 and user_string[c] <= 57) {
tnhnrl 58:94b7fd55185e 2366 //pc().printf("VALID CHARACTER!\r\n"); //debug
tnhnrl 52:f207567d3ea4 2367 ;
tnhnrl 52:f207567d3ea4 2368 }
tnhnrl 52:f207567d3ea4 2369 else {
tnhnrl 58:94b7fd55185e 2370 pc().printf("INVALID INPUT!\r\n");
tnhnrl 52:f207567d3ea4 2371 break;
tnhnrl 52:f207567d3ea4 2372 }
tnhnrl 52:f207567d3ea4 2373
tnhnrl 52:f207567d3ea4 2374 if (c == (strlen(user_string) - 1)) {
tnhnrl 52:f207567d3ea4 2375 valid_input = true;
tnhnrl 52:f207567d3ea4 2376 }
tnhnrl 52:f207567d3ea4 2377 }
tnhnrl 52:f207567d3ea4 2378
tnhnrl 52:f207567d3ea4 2379 if (valid_input) {
tnhnrl 52:f207567d3ea4 2380 float_conversion = atof(user_string);
tnhnrl 63:6cb0405fc6e6 2381 pc().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
tnhnrl 52:f207567d3ea4 2382 break;
tnhnrl 52:f207567d3ea4 2383 }
tnhnrl 52:f207567d3ea4 2384 }
tnhnrl 52:f207567d3ea4 2385
tnhnrl 52:f207567d3ea4 2386 return float_conversion;
tnhnrl 16:3363b9f14913 2387 }