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@23:434f04ef1fad, 2017-11-28 (annotated)

Committer:
tnhnrl
Date:
Tue Nov 28 18:00:09 2017 +0000
Revision:
23:434f04ef1fad
Parent:
22:a10ee088403b
Child:
24:c7d9b5bf3829
Changes from 11/28/17 10:30 am pool test

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 20:8987a9ae2bc7 5 _timeout = 20; // generic timeout for every state, seconds
tnhnrl 20:8987a9ae2bc7 6
tnhnrl 16:3363b9f14913 7 depthTolerance = 0.25; // depth tolerance for neutral finding exit critera
tnhnrl 16:3363b9f14913 8 pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 20:8987a9ae2bc7 9
tnhnrl 16:3363b9f14913 10 bceFloatPosition = 300; // bce position for "float" states
tnhnrl 16:3363b9f14913 11 battFloatPosition = 50; // batt position for "broadcast" state
tnhnrl 20:8987a9ae2bc7 12
tnhnrl 16:3363b9f14913 13 depthCommand = 3.5; // user keyboard depth
tnhnrl 16:3363b9f14913 14 pitchCommand = -20.0; // user keyboard depth
tnhnrl 17:7c16b5671d0e 15
tnhnrl 20:8987a9ae2bc7 16 _neutral_sink_timer = 0;
tnhnrl 20:8987a9ae2bc7 17 _neutral_rise_timer = 0;
danstrider 22:a10ee088403b 18 _level_timer = 0;
tnhnrl 17:7c16b5671d0e 19
danstrider 22:a10ee088403b 20 previousPosition_mm = bce().getTravelLimit(); // Default is bce fully extended, overwritten in FIND_NEUTRAL
tnhnrl 20:8987a9ae2bc7 21
tnhnrl 20:8987a9ae2bc7 22 _state = SIT_IDLE; // select starting state here
tnhnrl 17:7c16b5671d0e 23 isTimeoutRunning = false; // default timer to not running
tnhnrl 20:8987a9ae2bc7 24 isSubStateTimerRunning = false; // default timer to not running
tnhnrl 17:7c16b5671d0e 25
tnhnrl 21:38c8544db6f4 26 _state_counter = 0;
tnhnrl 21:38c8544db6f4 27
tnhnrl 21:38c8544db6f4 28 _neutral_sub_state_active = false;
tnhnrl 17:7c16b5671d0e 29
tnhnrl 21:38c8544db6f4 30 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 31 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 32 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 21:38c8544db6f4 33
tnhnrl 21:38c8544db6f4 34 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 35 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 36 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 21:38c8544db6f4 37
tnhnrl 21:38c8544db6f4 38 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 39 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 23:434f04ef1fad 40
tnhnrl 23:434f04ef1fad 41 _state_array_counter = 0;
tnhnrl 16:3363b9f14913 42 }
tnhnrl 20:8987a9ae2bc7 43
tnhnrl 17:7c16b5671d0e 44 //Finite State Machine (FSM)
tnhnrl 17:7c16b5671d0e 45 void StateMachine::runStateMachine() {
tnhnrl 21:38c8544db6f4 46 //static bool runFirstNeutral = false;
tnhnrl 17:7c16b5671d0e 47
tnhnrl 16:3363b9f14913 48 // finite state machine ... each state has at least one exit criteria
tnhnrl 17:7c16b5671d0e 49 switch (_state) {
tnhnrl 16:3363b9f14913 50 case SIT_IDLE :
tnhnrl 16:3363b9f14913 51 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 16:3363b9f14913 52 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 53 showMenu();
tnhnrl 16:3363b9f14913 54 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 17:7c16b5671d0e 55 isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 56
tnhnrl 16:3363b9f14913 57 // what is active?
tnhnrl 16:3363b9f14913 58 bce().pause();
tnhnrl 16:3363b9f14913 59 batt().pause();
tnhnrl 17:7c16b5671d0e 60
tnhnrl 17:7c16b5671d0e 61 //reset sub FSM
tnhnrl 20:8987a9ae2bc7 62 isSubStateTimerRunning = false;
tnhnrl 16:3363b9f14913 63 }
tnhnrl 20:8987a9ae2bc7 64
tnhnrl 16:3363b9f14913 65 // how exit?
tnhnrl 20:8987a9ae2bc7 66 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 67 break;
tnhnrl 20:8987a9ae2bc7 68
tnhnrl 16:3363b9f14913 69 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 70 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 71 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 72 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 16:3363b9f14913 73 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 74 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 75 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 76
tnhnrl 16:3363b9f14913 77 // what needs to be started?
tnhnrl 16:3363b9f14913 78 bce().unpause();
tnhnrl 16:3363b9f14913 79 batt().unpause();
tnhnrl 20:8987a9ae2bc7 80
tnhnrl 20:8987a9ae2bc7 81 // what are the commands?
tnhnrl 16:3363b9f14913 82 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 16:3363b9f14913 83 batt().setPosition_mm(0.0);
tnhnrl 16:3363b9f14913 84 }
tnhnrl 20:8987a9ae2bc7 85
tnhnrl 16:3363b9f14913 86 // how exit?
tnhnrl 17:7c16b5671d0e 87 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 88 pc().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 89 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 90 timer.reset();
tnhnrl 16:3363b9f14913 91 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 92 }
tnhnrl 17:7c16b5671d0e 93 else if (depthLoop().getPosition() < 0.2) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 16:3363b9f14913 94 pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read());
tnhnrl 21:38c8544db6f4 95 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 96 timer.reset();
tnhnrl 16:3363b9f14913 97 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 98 }
tnhnrl 16:3363b9f14913 99 break;
tnhnrl 20:8987a9ae2bc7 100
tnhnrl 16:3363b9f14913 101 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 102 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 103 if (!isTimeoutRunning) {
tnhnrl 21:38c8544db6f4 104 pc().printf("\r\n\nstate: FIND_NEUTRAL\n\r");
tnhnrl 16:3363b9f14913 105 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 106 timer.start(); // background timer starts running
tnhnrl 20:8987a9ae2bc7 107 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 108
tnhnrl 16:3363b9f14913 109 // what needs to be started?
tnhnrl 16:3363b9f14913 110 bce().unpause();
tnhnrl 16:3363b9f14913 111 batt().unpause();
tnhnrl 17:7c16b5671d0e 112
tnhnrl 21:38c8544db6f4 113 //load the current position of the BCE piston into the sub-FSM
tnhnrl 23:434f04ef1fad 114 //previousPosition_mm = bce().getPosition_mm();
tnhnrl 23:434f04ef1fad 115 pc().printf("FN: Neutral sequence, BCE piston at %3.1f\n\r", bce().getPosition_mm());
tnhnrl 21:38c8544db6f4 116
tnhnrl 21:38c8544db6f4 117 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 21:38c8544db6f4 118 runNeutralStateMachine(); //send first state of sub-FSM
tnhnrl 16:3363b9f14913 119 }
tnhnrl 20:8987a9ae2bc7 120
tnhnrl 20:8987a9ae2bc7 121 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 17:7c16b5671d0e 122 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 123 pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
tnhnrl 21:38c8544db6f4 124 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 16:3363b9f14913 125 timer.reset();
tnhnrl 16:3363b9f14913 126 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 127 }
tnhnrl 21:38c8544db6f4 128
tnhnrl 21:38c8544db6f4 129 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 21:38c8544db6f4 130 if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 131 //if the current state is NEUTRAL_EXIT stop running the sub FSM
tnhnrl 21:38c8544db6f4 132
tnhnrl 21:38c8544db6f4 133 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 21:38c8544db6f4 134 pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\n\n\r");
tnhnrl 21:38c8544db6f4 135 _state = RISE;
tnhnrl 16:3363b9f14913 136 }
tnhnrl 21:38c8544db6f4 137
tnhnrl 17:7c16b5671d0e 138 break;
tnhnrl 17:7c16b5671d0e 139
tnhnrl 16:3363b9f14913 140 case DIVE :
tnhnrl 16:3363b9f14913 141 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 142 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 143 pc().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 16:3363b9f14913 144 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 145 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 146 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 147
tnhnrl 16:3363b9f14913 148 // what needs to be started?
tnhnrl 16:3363b9f14913 149 bce().unpause();
tnhnrl 16:3363b9f14913 150 batt().unpause();
tnhnrl 20:8987a9ae2bc7 151
tnhnrl 16:3363b9f14913 152 // what are the commands?
tnhnrl 16:3363b9f14913 153 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 154 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 155 pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 16:3363b9f14913 156 pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 157 }
tnhnrl 20:8987a9ae2bc7 158
tnhnrl 16:3363b9f14913 159 // how exit?
tnhnrl 17:7c16b5671d0e 160 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 161 pc().printf("DIVE: timed out\n\n\r");
tnhnrl 21:38c8544db6f4 162 _state = RISE; //new behavior 11/17/2017
tnhnrl 16:3363b9f14913 163 timer.reset();
tnhnrl 16:3363b9f14913 164 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 165 }
tnhnrl 16:3363b9f14913 166 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 16:3363b9f14913 167 pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 168 _state = RISE;
tnhnrl 16:3363b9f14913 169 timer.reset();
tnhnrl 16:3363b9f14913 170 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 171 }
tnhnrl 20:8987a9ae2bc7 172
tnhnrl 16:3363b9f14913 173 // what is active?
tnhnrl 21:38c8544db6f4 174 pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depth: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), timer.read());
tnhnrl 16:3363b9f14913 175 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 16:3363b9f14913 176 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 177 break;
tnhnrl 16:3363b9f14913 178
tnhnrl 16:3363b9f14913 179 case RISE :
tnhnrl 16:3363b9f14913 180 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 181 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 182 pc().printf("\r\n\nstate: RISE\r\n");
tnhnrl 16:3363b9f14913 183 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 184 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 185 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 186
tnhnrl 16:3363b9f14913 187 // what needs to be started?
tnhnrl 16:3363b9f14913 188 bce().unpause();
tnhnrl 16:3363b9f14913 189 batt().unpause();
tnhnrl 16:3363b9f14913 190
tnhnrl 16:3363b9f14913 191 // what are the commands?
tnhnrl 16:3363b9f14913 192 depthLoop().setCommand(0.0);
tnhnrl 16:3363b9f14913 193 pitchLoop().setCommand(-pitchCommand);
tnhnrl 16:3363b9f14913 194 pc().printf("RISE: depth cmd: 0.0\r\n");
tnhnrl 16:3363b9f14913 195 pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 196 }
tnhnrl 20:8987a9ae2bc7 197
tnhnrl 16:3363b9f14913 198 // how exit?
tnhnrl 17:7c16b5671d0e 199 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 200 pc().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 201 _state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 202 timer.reset();
tnhnrl 16:3363b9f14913 203 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 204 }
tnhnrl 16:3363b9f14913 205 else if (depthLoop().getPosition() < depthLoop().getCommand()) {
tnhnrl 16:3363b9f14913 206 pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 207 _state = FLOAT_LEVEL;
tnhnrl 16:3363b9f14913 208 timer.reset();
tnhnrl 16:3363b9f14913 209 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 210 }
tnhnrl 20:8987a9ae2bc7 211
tnhnrl 20:8987a9ae2bc7 212 // what is active?
tnhnrl 16:3363b9f14913 213 pc().printf("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 214 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 215 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 216 break;
tnhnrl 16:3363b9f14913 217
tnhnrl 16:3363b9f14913 218 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 219 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 220 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 221 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 16:3363b9f14913 222 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 223 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 224 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 225
tnhnrl 16:3363b9f14913 226 // what needs to be started?
tnhnrl 16:3363b9f14913 227 bce().unpause();
tnhnrl 16:3363b9f14913 228 batt().unpause();
tnhnrl 16:3363b9f14913 229
tnhnrl 20:8987a9ae2bc7 230 // what are the commands?
tnhnrl 16:3363b9f14913 231 bce().setPosition_mm(bceFloatPosition);
tnhnrl 16:3363b9f14913 232 pitchLoop().setCommand(0.0);
tnhnrl 16:3363b9f14913 233 }
tnhnrl 20:8987a9ae2bc7 234
tnhnrl 16:3363b9f14913 235 // how exit?
tnhnrl 17:7c16b5671d0e 236 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 237 pc().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 238 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 239 timer.reset();
tnhnrl 16:3363b9f14913 240 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 241 }
tnhnrl 17:7c16b5671d0e 242 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(pitchTolerance)) {
tnhnrl 16:3363b9f14913 243 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 244 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 245 timer.reset();
tnhnrl 16:3363b9f14913 246 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 247 }
tnhnrl 20:8987a9ae2bc7 248
tnhnrl 16:3363b9f14913 249 // what is active?
tnhnrl 16:3363b9f14913 250 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 251 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 252 break;
tnhnrl 16:3363b9f14913 253
tnhnrl 16:3363b9f14913 254 case FLOAT_BROADCAST :
tnhnrl 16:3363b9f14913 255 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 256 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 257 pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
tnhnrl 16:3363b9f14913 258 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 259 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 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 16:3363b9f14913 267 bce().setPosition_mm(bceFloatPosition);
tnhnrl 16:3363b9f14913 268 batt().setPosition_mm(battFloatPosition);
tnhnrl 16:3363b9f14913 269 }
tnhnrl 20:8987a9ae2bc7 270
tnhnrl 16:3363b9f14913 271 // how exit?
tnhnrl 17:7c16b5671d0e 272 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 273 pc().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 274 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 275 timer.reset();
tnhnrl 16:3363b9f14913 276 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 277 }
tnhnrl 20:8987a9ae2bc7 278 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
tnhnrl 20:8987a9ae2bc7 279 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 16:3363b9f14913 280 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 281 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 282 timer.reset();
tnhnrl 16:3363b9f14913 283 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 284 }
tnhnrl 20:8987a9ae2bc7 285
tnhnrl 20:8987a9ae2bc7 286 // what is active?
tnhnrl 16:3363b9f14913 287 pc().printf("FB: 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 16:3363b9f14913 288 break;
tnhnrl 17:7c16b5671d0e 289
tnhnrl 17:7c16b5671d0e 290 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 291 // start local state timer and init any other one-shot actions
tnhnrl 17:7c16b5671d0e 292 if (!isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 293 pc().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 17:7c16b5671d0e 294 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 295 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 296 isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 297
tnhnrl 17:7c16b5671d0e 298 // what needs to be started?
tnhnrl 17:7c16b5671d0e 299 bce().unpause();
tnhnrl 17:7c16b5671d0e 300 batt().unpause();
tnhnrl 17:7c16b5671d0e 301
tnhnrl 21:38c8544db6f4 302 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 17:7c16b5671d0e 303 float sequenceDepthCommand = currentStateStruct.depth;
tnhnrl 17:7c16b5671d0e 304 float sequencePitchCommand = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 305
tnhnrl 17:7c16b5671d0e 306 // what are the commands?
tnhnrl 17:7c16b5671d0e 307 depthLoop().setCommand(sequenceDepthCommand);
tnhnrl 17:7c16b5671d0e 308 pitchLoop().setCommand(sequencePitchCommand);
tnhnrl 21:38c8544db6f4 309 pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 310 }
tnhnrl 20:8987a9ae2bc7 311
tnhnrl 17:7c16b5671d0e 312 // how exit?
tnhnrl 17:7c16b5671d0e 313 if (timer > _timeout) {
tnhnrl 21:38c8544db6f4 314 pc().printf("\n\n\rMULTI-DIVE: timed out [time: %0.1f]\n\n\r", timer.read());
tnhnrl 21:38c8544db6f4 315 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 17:7c16b5671d0e 316 timer.reset();
tnhnrl 17:7c16b5671d0e 317 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 318 }
tnhnrl 17:7c16b5671d0e 319 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 17:7c16b5671d0e 320 pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 321 _state = MULTI_RISE;
tnhnrl 17:7c16b5671d0e 322 timer.reset();
tnhnrl 17:7c16b5671d0e 323 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 324 }
tnhnrl 20:8987a9ae2bc7 325
tnhnrl 17:7c16b5671d0e 326 // what is active?
tnhnrl 17:7c16b5671d0e 327 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 328 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 329 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 17:7c16b5671d0e 330 break;
tnhnrl 17:7c16b5671d0e 331
tnhnrl 17:7c16b5671d0e 332 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 333 // start local state timer and init any other one-shot actions
tnhnrl 17:7c16b5671d0e 334 if (!isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 335 pc().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 17:7c16b5671d0e 336 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 337 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 338 isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 339
tnhnrl 17:7c16b5671d0e 340 // what needs to be started?
tnhnrl 17:7c16b5671d0e 341 bce().unpause();
tnhnrl 17:7c16b5671d0e 342 batt().unpause();
tnhnrl 17:7c16b5671d0e 343
tnhnrl 17:7c16b5671d0e 344 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 345 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 346 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 347
tnhnrl 17:7c16b5671d0e 348 //retrieve just pitch command from struct
tnhnrl 17:7c16b5671d0e 349 float sequencePitchCommand = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 350
tnhnrl 17:7c16b5671d0e 351 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 352 depthLoop().setCommand(0.5);
tnhnrl 21:38c8544db6f4 353 pitchLoop().setCommand(-sequencePitchCommand);
tnhnrl 21:38c8544db6f4 354 pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 355 }
tnhnrl 20:8987a9ae2bc7 356
tnhnrl 17:7c16b5671d0e 357 // how exit?
tnhnrl 17:7c16b5671d0e 358 if (timer > _timeout) {
tnhnrl 21:38c8544db6f4 359 pc().printf("MULTI-RISE: timed out [time: %0.1f]\n\n\r", timer.read());
tnhnrl 21:38c8544db6f4 360 _state = EMERGENCY_CLIMB;
tnhnrl 17:7c16b5671d0e 361 timer.reset();
tnhnrl 17:7c16b5671d0e 362 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 363
tnhnrl 17:7c16b5671d0e 364 //reset multi-dive sequence to start
tnhnrl 17:7c16b5671d0e 365 _state_counter = 0;
tnhnrl 17:7c16b5671d0e 366 }
tnhnrl 20:8987a9ae2bc7 367 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 17:7c16b5671d0e 368 pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 369
tnhnrl 17:7c16b5671d0e 370 //going to next state
tnhnrl 17:7c16b5671d0e 371 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 372
tnhnrl 17:7c16b5671d0e 373 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 17:7c16b5671d0e 374 _state_counter++;
tnhnrl 17:7c16b5671d0e 375
tnhnrl 17:7c16b5671d0e 376 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 377 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 378
tnhnrl 17:7c16b5671d0e 379 //check if this is the end of the dive sequence
tnhnrl 17:7c16b5671d0e 380 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (Float_Level)
tnhnrl 17:7c16b5671d0e 381 if (currentStateStruct.state == FLOAT_LEVEL) {
tnhnrl 21:38c8544db6f4 382 _state = FLOAT_LEVEL;
tnhnrl 17:7c16b5671d0e 383 return;
tnhnrl 17:7c16b5671d0e 384 }
tnhnrl 17:7c16b5671d0e 385
tnhnrl 17:7c16b5671d0e 386 else
tnhnrl 21:38c8544db6f4 387 _state = MULTI_DIVE;
tnhnrl 17:7c16b5671d0e 388
tnhnrl 17:7c16b5671d0e 389 //have to stop this with the _state_counter variable!
tnhnrl 17:7c16b5671d0e 390 }
tnhnrl 20:8987a9ae2bc7 391
tnhnrl 20:8987a9ae2bc7 392 // what is active?
tnhnrl 17:7c16b5671d0e 393 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 394 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 395 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 17:7c16b5671d0e 396 break;
tnhnrl 16:3363b9f14913 397
tnhnrl 16:3363b9f14913 398 default :
tnhnrl 17:7c16b5671d0e 399 pc().printf("DEBUG: SIT_IDLE\n\r");
tnhnrl 21:38c8544db6f4 400 _state = SIT_IDLE;
tnhnrl 17:7c16b5671d0e 401 }
tnhnrl 16:3363b9f14913 402 }
tnhnrl 20:8987a9ae2bc7 403
tnhnrl 16:3363b9f14913 404 // output the keyboard menu for user's reference
tnhnrl 16:3363b9f14913 405 void StateMachine::showMenu() {
tnhnrl 16:3363b9f14913 406 pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
tnhnrl 16:3363b9f14913 407 pc().printf(" N to find neutral\r\n");
tnhnrl 17:7c16b5671d0e 408 pc().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 16:3363b9f14913 409 pc().printf(" D to initiate dive cycle\r\n");
tnhnrl 16:3363b9f14913 410 pc().printf(" R to initiate rise\r\n");
tnhnrl 16:3363b9f14913 411 pc().printf(" L to float level\r\n");
tnhnrl 16:3363b9f14913 412 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 16:3363b9f14913 413 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 16:3363b9f14913 414 pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
tnhnrl 16:3363b9f14913 415 pc().printf(" T to tare the depth sensor\r\n");
tnhnrl 16:3363b9f14913 416 pc().printf("[/] to change bce neutral position\r\n");
tnhnrl 16:3363b9f14913 417 pc().printf("</> to change batt neutral position\r\n");
tnhnrl 16:3363b9f14913 418 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchCommand);
tnhnrl 16:3363b9f14913 419 pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthCommand);
tnhnrl 17:7c16b5671d0e 420 pc().printf("+/- to decrease/increase timeout: %d s\r\n",_timeout);
tnhnrl 16:3363b9f14913 421 pc().printf(" 1 BCE PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 422 pc().printf(" 2 BATT PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 423 pc().printf(" 3 Depth PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 424 pc().printf(" 4 Pitch PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 425 pc().printf(" C See sensor readings\r\n");
tnhnrl 16:3363b9f14913 426 pc().printf(" ? to reset mbed\r\n");
tnhnrl 16:3363b9f14913 427 }
tnhnrl 20:8987a9ae2bc7 428
tnhnrl 17:7c16b5671d0e 429 //Find Neutral sub finite state machine
tnhnrl 17:7c16b5671d0e 430 // Note: the sub-fsm only moves the pistons once at the start of each timer loop
tnhnrl 17:7c16b5671d0e 431 // (timer completes, move piston, timer completes, move piston, etc)
tnhnrl 23:434f04ef1fad 432 int StateMachine::runNeutralStateMachine() {
danstrider 22:a10ee088403b 433 static int substate = NEUTRAL_FIRST_PITCH; //to start
tnhnrl 17:7c16b5671d0e 434
tnhnrl 23:434f04ef1fad 435 //pc().printf("Neutral FSM: substate: %d [time: %0.1f] (depth: %0.1f, pitch: %0.1f, pitch rate: %0.1f) (bce: %0.1f, batt: %0.1f, prev: %0.1f)\r", substate, timer.read(), depthLoop().getPosition(), pitchLoop().getPosition(), pitchLoop().getVelocity(), bce().getPosition_mm(), batt().getPosition_mm(), previousPosition_mm);
tnhnrl 21:38c8544db6f4 436
tnhnrl 21:38c8544db6f4 437 switch (substate) {
tnhnrl 20:8987a9ae2bc7 438 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 439 //start the 10 second timer
tnhnrl 23:434f04ef1fad 440 if (!isSubStateTimerRunning) {
tnhnrl 23:434f04ef1fad 441 _neutral_sink_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 442
tnhnrl 21:38c8544db6f4 443 pc().printf("\r\n\nSTART NEUTRAL_SINKING (next retraction at %0.1f sec) [current time: %0.1f]\n\r", _neutral_sink_timer, timer.read());
tnhnrl 20:8987a9ae2bc7 444
tnhnrl 20:8987a9ae2bc7 445 // what are the commands?
tnhnrl 17:7c16b5671d0e 446 //move piston at start of sequence (retract 10 mm)
tnhnrl 23:434f04ef1fad 447 previousPosition_mm = bce().getPosition_mm() - 5;
tnhnrl 17:7c16b5671d0e 448 bce().setPosition_mm(previousPosition_mm); //no depth command
tnhnrl 23:434f04ef1fad 449 pc().printf("NEUTRAL_SINKING: Retracting piston 10 mm (sent cmd: %0.1f) [CMD actual: %0.1f]\n\r",previousPosition_mm, bce().getSetPosition_mm());
tnhnrl 23:434f04ef1fad 450
tnhnrl 23:434f04ef1fad 451 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 452 pitchLoop().setCommand(0.0);
tnhnrl 23:434f04ef1fad 453 pc().printf("NEUTRAL_SINKING: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 454
tnhnrl 20:8987a9ae2bc7 455 isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 456 }
tnhnrl 20:8987a9ae2bc7 457
tnhnrl 20:8987a9ae2bc7 458 // how exit?
tnhnrl 20:8987a9ae2bc7 459 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 20:8987a9ae2bc7 460 if (bce().getPosition_mm() <= 0) {
tnhnrl 23:434f04ef1fad 461 pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT STATE NEUTRAL EXIT)\n\r", bce().getPosition_mm());
tnhnrl 21:38c8544db6f4 462 substate = NEUTRAL_EXIT;
tnhnrl 23:434f04ef1fad 463 }
tnhnrl 20:8987a9ae2bc7 464 //once deeper than the commanded setpoint...
tnhnrl 20:8987a9ae2bc7 465 else if (depthLoop().getPosition() > depthCommand) {
tnhnrl 21:38c8544db6f4 466 substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 20:8987a9ae2bc7 467 isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 468 }
tnhnrl 20:8987a9ae2bc7 469
tnhnrl 20:8987a9ae2bc7 470 // what is active?
tnhnrl 20:8987a9ae2bc7 471 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 20:8987a9ae2bc7 472 if (timer.read() >= _neutral_sink_timer) {
tnhnrl 21:38c8544db6f4 473 pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE!");
tnhnrl 21:38c8544db6f4 474 pc().printf("\r\n\n (BATT POS: %0.1f) retract 10 mm [current time: %3.1f]\r\n", previousPosition_mm, timer.read());
tnhnrl 17:7c16b5671d0e 475
tnhnrl 20:8987a9ae2bc7 476 isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 17:7c16b5671d0e 477 }
tnhnrl 21:38c8544db6f4 478
tnhnrl 23:434f04ef1fad 479 // what is active?
tnhnrl 23:434f04ef1fad 480 batt().setPosition_mm(pitchLoop().getOutput()); // pitch outer loop is running
tnhnrl 17:7c16b5671d0e 481 break;
tnhnrl 17:7c16b5671d0e 482
tnhnrl 17:7c16b5671d0e 483 case NEUTRAL_SLOWLY_RISE:
tnhnrl 23:434f04ef1fad 484 if (!isSubStateTimerRunning) {
tnhnrl 20:8987a9ae2bc7 485 _neutral_rise_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 486
tnhnrl 21:38c8544db6f4 487 pc().printf("\r\n\nSTART NEUTRAL_SLOWLY_RISE (next retraction at %0.1f sec) [current time: %0.1f]\r\n",_neutral_rise_timer,timer.read());
tnhnrl 21:38c8544db6f4 488
tnhnrl 20:8987a9ae2bc7 489 isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 490
tnhnrl 20:8987a9ae2bc7 491 // what are the commands?
tnhnrl 20:8987a9ae2bc7 492 //move piston at start of sequence (extend)
tnhnrl 23:434f04ef1fad 493 previousPosition_mm = bce().getPosition_mm() + 2;
tnhnrl 17:7c16b5671d0e 494 bce().setPosition_mm(previousPosition_mm); //no depth command
tnhnrl 23:434f04ef1fad 495 pc().printf("NEUTRAL_SLOWLY_RISE: Extending piston 2 mm (sent cmd: %0.1f) [CMD actual: %0.1f]\n\r",previousPosition_mm, bce().getSetPosition_mm());
tnhnrl 23:434f04ef1fad 496
tnhnrl 23:434f04ef1fad 497 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 498 pitchLoop().setCommand(0.0);
tnhnrl 23:434f04ef1fad 499 pc().printf("NEUTRAL_SLOWLY_RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 500 }
tnhnrl 17:7c16b5671d0e 501
tnhnrl 20:8987a9ae2bc7 502 // how exit?
tnhnrl 20:8987a9ae2bc7 503 //once at full travel limit and haven't yet risen, time to give up and exit
tnhnrl 20:8987a9ae2bc7 504 if (bce().getPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 21:38c8544db6f4 505 substate = NEUTRAL_EXIT;
tnhnrl 17:7c16b5671d0e 506 }
tnhnrl 17:7c16b5671d0e 507 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 508 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 21:38c8544db6f4 509 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate below 0 ft/s [time: %0.1f]\r\n", timer.read());
tnhnrl 23:434f04ef1fad 510 pc().printf("\r\n\n ###################### NEXT STATE NEUTRAL_CHECK_PITCH ###################### \r\n");
tnhnrl 21:38c8544db6f4 511 substate = NEUTRAL_CHECK_PITCH;
tnhnrl 17:7c16b5671d0e 512 }
tnhnrl 17:7c16b5671d0e 513
tnhnrl 20:8987a9ae2bc7 514 // what is active?
tnhnrl 20:8987a9ae2bc7 515 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 20:8987a9ae2bc7 516 if (timer.read() >= _neutral_sink_timer) {
tnhnrl 21:38c8544db6f4 517 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE TIMER COMPLETE!");
tnhnrl 21:38c8544db6f4 518 pc().printf("\r\n\n (BATT POS: %0.1f) extend 1 mm [timer: %0.1f]\r\n", previousPosition_mm, timer.read());
tnhnrl 20:8987a9ae2bc7 519
tnhnrl 20:8987a9ae2bc7 520 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 521 }
tnhnrl 23:434f04ef1fad 522
tnhnrl 23:434f04ef1fad 523 // what is active?
tnhnrl 23:434f04ef1fad 524 batt().setPosition_mm(pitchLoop().getOutput()); // pitch outer loop is running
tnhnrl 17:7c16b5671d0e 525 break;
tnhnrl 17:7c16b5671d0e 526
danstrider 22:a10ee088403b 527 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 528 case NEUTRAL_FIRST_PITCH :
danstrider 22:a10ee088403b 529 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 530 //pc().printf("\n\rNEUTRAL_FIRST_PITCH or NEUTRAL_CHECK_PITCH\n\r");
tnhnrl 23:434f04ef1fad 531
tnhnrl 23:434f04ef1fad 532 if (!isSubStateTimerRunning) {
tnhnrl 23:434f04ef1fad 533 _level_timer = timer.read() + 10; // record time when this block is entered and add several seconds
danstrider 22:a10ee088403b 534 pc().printf("\r\n\nSTART NEUTRAL_CHECK_PITCH (next move in %0.1f sec)\r\n",_level_timer - timer.read());
danstrider 22:a10ee088403b 535 isSubStateTimerRunning = true; // out of the initialization block
danstrider 22:a10ee088403b 536
danstrider 22:a10ee088403b 537 // what are the commands?
tnhnrl 23:434f04ef1fad 538 //pc().printf("Neutral Check Pitch: moving battery in 1mm increments\n\r");
danstrider 22:a10ee088403b 539 if (imu().getPitch() > 2) { // nose is high
danstrider 22:a10ee088403b 540 batt().setPosition_mm(batt().getPosition_mm() + 1); // move battery forward
tnhnrl 23:434f04ef1fad 541 pc().printf("\n\rNeutral Check Pitch: moving battery FWD in 1mm increments\n\n\r");
danstrider 22:a10ee088403b 542 }
danstrider 22:a10ee088403b 543 else if (imu().getPitch() < -2) { // nose is low
danstrider 22:a10ee088403b 544 batt().setPosition_mm(batt().getPosition_mm() - 1); // move battery aft
tnhnrl 23:434f04ef1fad 545 pc().printf("\n\rNeutral Check Pitch: moving battery AFT in 1mm increments\n\n\r");
danstrider 22:a10ee088403b 546 }
danstrider 22:a10ee088403b 547 }
tnhnrl 20:8987a9ae2bc7 548
tnhnrl 20:8987a9ae2bc7 549 // how exit?
tnhnrl 20:8987a9ae2bc7 550 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 551 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 552 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 23:434f04ef1fad 553 pc().printf("\n\rFound Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\n\r"); //debug
danstrider 22:a10ee088403b 554 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 555
danstrider 22:a10ee088403b 556 if (substate == NEUTRAL_FIRST_PITCH) {
tnhnrl 23:434f04ef1fad 557 pc().printf("\n\rsubstate: NEUTRAL_FIRST_PITCH \n\r"); //debug
tnhnrl 23:434f04ef1fad 558
danstrider 22:a10ee088403b 559 substate = NEUTRAL_SINKING; // next state starts the sinking
tnhnrl 23:434f04ef1fad 560
tnhnrl 23:434f04ef1fad 561 pc().printf("\n\rsubstate: %d \n\r", substate); //debug
tnhnrl 23:434f04ef1fad 562
tnhnrl 23:434f04ef1fad 563 // save this neutral (not in file) for pitch
tnhnrl 23:434f04ef1fad 564 pitchLoop().setOutputOffset(batt().getPosition_mm());
tnhnrl 23:434f04ef1fad 565
danstrider 22:a10ee088403b 566 }
tnhnrl 23:434f04ef1fad 567
tnhnrl 23:434f04ef1fad 568 // found level and at depth too, so save it all now
tnhnrl 23:434f04ef1fad 569 else {
danstrider 22:a10ee088403b 570 //save positions locally
danstrider 22:a10ee088403b 571 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 572 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 573
danstrider 22:a10ee088403b 574 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 575 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 576 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 577
danstrider 22:a10ee088403b 578 // save into the depth.txt and pitch.txt files
danstrider 22:a10ee088403b 579 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset
danstrider 22:a10ee088403b 580 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset
danstrider 22:a10ee088403b 581
danstrider 22:a10ee088403b 582 pc().printf("\n\rSaving Positions: BCE: %0.1f mm, BATT: %0.1f\n\n\r",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 583
danstrider 22:a10ee088403b 584 substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 585 }
tnhnrl 17:7c16b5671d0e 586 }
danstrider 22:a10ee088403b 587
danstrider 22:a10ee088403b 588 // what is active?
danstrider 22:a10ee088403b 589 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
danstrider 22:a10ee088403b 590 if (timer.read() >= _level_timer) {
danstrider 22:a10ee088403b 591 pc().printf("\r\n\nlevel timer COMPLETE!");
danstrider 22:a10ee088403b 592 pc().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), timer.read());
danstrider 22:a10ee088403b 593 isSubStateTimerRunning = false; // reset the sub state timer
danstrider 22:a10ee088403b 594 }
danstrider 22:a10ee088403b 595
tnhnrl 23:434f04ef1fad 596 //pc().printf("NEUTRAL_CHECK_PITCH (time: %3.1f) [%0.1f deg, %0.1f deg/s] \n\r", timer.read(), pitchLoop().getPosition(), pitchLoop().getVelocity()); //debug
tnhnrl 17:7c16b5671d0e 597 break;
danstrider 22:a10ee088403b 598
danstrider 22:a10ee088403b 599 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 600 case NEUTRAL_EXIT :
danstrider 22:a10ee088403b 601 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 23:434f04ef1fad 602 pc().printf("substate: NEUTRAL_EXIT\n\r");
tnhnrl 20:8987a9ae2bc7 603 break;
tnhnrl 21:38c8544db6f4 604
danstrider 22:a10ee088403b 605 default :
danstrider 22:a10ee088403b 606 pc().printf("how did we get to substate default?\n\r"); //debug
tnhnrl 23:434f04ef1fad 607 //a default within the sub-state machine
tnhnrl 23:434f04ef1fad 608 substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 609 break;
tnhnrl 17:7c16b5671d0e 610 }
tnhnrl 20:8987a9ae2bc7 611
tnhnrl 21:38c8544db6f4 612 //check if the sub-FSM has completed
tnhnrl 21:38c8544db6f4 613 if (substate == NEUTRAL_EXIT) {
tnhnrl 23:434f04ef1fad 614 //reset substate to NEUTRAL_FIRST_PITCH (first state)
tnhnrl 23:434f04ef1fad 615 substate = NEUTRAL_FIRST_PITCH;
tnhnrl 21:38c8544db6f4 616 //indicate to outer FSM that sub-FSM has completed
tnhnrl 21:38c8544db6f4 617
tnhnrl 23:434f04ef1fad 618 _state_array[_state_array_counter] = NEUTRAL_EXIT; //record what state the hardware is currently in
tnhnrl 23:434f04ef1fad 619 _state_array_counter++; //increment at the end of each run
tnhnrl 23:434f04ef1fad 620
tnhnrl 21:38c8544db6f4 621 pc().printf("********************************DID YOU EXIT? *******************************\n\n\r");
tnhnrl 21:38c8544db6f4 622 return NEUTRAL_EXIT;
tnhnrl 21:38c8544db6f4 623 }
tnhnrl 23:434f04ef1fad 624 else {
tnhnrl 23:434f04ef1fad 625 _state_array[_state_array_counter] = substate; //record what state the hardware is currently in
tnhnrl 23:434f04ef1fad 626 _state_array_counter++; //increment at the end of each run
tnhnrl 21:38c8544db6f4 627 return substate; //otherwise continue running through sequence
tnhnrl 23:434f04ef1fad 628 }
tnhnrl 17:7c16b5671d0e 629 }
tnhnrl 20:8987a9ae2bc7 630
tnhnrl 20:8987a9ae2bc7 631 // keyboard runs independently of the state machine, handling one key at a time
tnhnrl 20:8987a9ae2bc7 632 //keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 20:8987a9ae2bc7 633 //and only allows input when the state is "idle"
tnhnrl 17:7c16b5671d0e 634 void StateMachine::keyboard() {
tnhnrl 16:3363b9f14913 635 char userInput;
tnhnrl 20:8987a9ae2bc7 636
tnhnrl 16:3363b9f14913 637 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 638 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 639
tnhnrl 21:38c8544db6f4 640 int _keyboard_state = -1; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 641
tnhnrl 21:38c8544db6f4 642 if (pc().readable() && _state == SIT_IDLE) {
tnhnrl 16:3363b9f14913 643 // get the key
tnhnrl 17:7c16b5671d0e 644 userInput = pc().getc();
tnhnrl 17:7c16b5671d0e 645
tnhnrl 21:38c8544db6f4 646 // keyboard has to reset timer each time it's used
tnhnrl 20:8987a9ae2bc7 647 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 648
tnhnrl 16:3363b9f14913 649 // check command against desired control buttons
tnhnrl 16:3363b9f14913 650 if (userInput == 'D' or userInput == 'd') {
tnhnrl 17:7c16b5671d0e 651 _keyboard_state = DIVE;
tnhnrl 16:3363b9f14913 652 }
tnhnrl 16:3363b9f14913 653 else if (userInput == 'N' or userInput == 'n') {
tnhnrl 17:7c16b5671d0e 654 _keyboard_state = FIND_NEUTRAL;
tnhnrl 17:7c16b5671d0e 655 }
tnhnrl 17:7c16b5671d0e 656 else if (userInput == 'M' or userInput == 'm') {
tnhnrl 17:7c16b5671d0e 657 //currently does not run if there is no file.
tnhnrl 17:7c16b5671d0e 658
tnhnrl 17:7c16b5671d0e 659 //need to add method to Sequence Controller that returns -1
tnhnrl 17:7c16b5671d0e 660 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 17:7c16b5671d0e 661
tnhnrl 17:7c16b5671d0e 662 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 17:7c16b5671d0e 663 _keyboard_state = currentStateStruct.state;
tnhnrl 17:7c16b5671d0e 664
tnhnrl 17:7c16b5671d0e 665 pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 16:3363b9f14913 666 }
tnhnrl 16:3363b9f14913 667 else if (userInput == 'R' or userInput == 'r') {
tnhnrl 17:7c16b5671d0e 668 _keyboard_state = RISE;
tnhnrl 16:3363b9f14913 669 }
tnhnrl 16:3363b9f14913 670 else if (userInput == 'L' or userInput == 'l') {
tnhnrl 17:7c16b5671d0e 671 _keyboard_state = FLOAT_LEVEL;
tnhnrl 16:3363b9f14913 672 }
tnhnrl 16:3363b9f14913 673 else if (userInput == 'B' or userInput == 'b') {
tnhnrl 17:7c16b5671d0e 674 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 675 }
tnhnrl 16:3363b9f14913 676 else if (userInput == 'E' or userInput == 'e') {
tnhnrl 17:7c16b5671d0e 677 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 678 }
tnhnrl 16:3363b9f14913 679 else if (userInput == 'H' or userInput == 'h') {
tnhnrl 16:3363b9f14913 680 pc().printf("running homing procedure\r\n");
tnhnrl 16:3363b9f14913 681 bce().unpause(); bce().homePiston(); bce().pause();
tnhnrl 16:3363b9f14913 682 batt().unpause(); batt().homePiston(); batt().pause();
tnhnrl 16:3363b9f14913 683 }
tnhnrl 16:3363b9f14913 684 else if (userInput == 'T' or userInput == 't') {
tnhnrl 16:3363b9f14913 685 pc().printf("taring depth sensor\r\n");
tnhnrl 16:3363b9f14913 686 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 16:3363b9f14913 687 wait(0.1);
tnhnrl 16:3363b9f14913 688 depth().tare(); // tares to ambient (do on surface)
tnhnrl 16:3363b9f14913 689 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 16:3363b9f14913 690 }
tnhnrl 16:3363b9f14913 691
tnhnrl 16:3363b9f14913 692 else if (userInput == '[' or userInput == '{') {
tnhnrl 16:3363b9f14913 693 depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint
tnhnrl 16:3363b9f14913 694 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 695 }
tnhnrl 16:3363b9f14913 696 else if (userInput == ']' or userInput == '}') {
tnhnrl 16:3363b9f14913 697 depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint
tnhnrl 16:3363b9f14913 698 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 699 }
tnhnrl 16:3363b9f14913 700 else if (userInput == '<' or userInput == ',') {
tnhnrl 16:3363b9f14913 701 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint
tnhnrl 16:3363b9f14913 702 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 703 }
tnhnrl 16:3363b9f14913 704 else if (userInput == '>' or userInput == '.') {
tnhnrl 16:3363b9f14913 705 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint
tnhnrl 16:3363b9f14913 706 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 707 }
tnhnrl 16:3363b9f14913 708
tnhnrl 16:3363b9f14913 709 else if (userInput == '?') {
tnhnrl 16:3363b9f14913 710 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 16:3363b9f14913 711 wait(0.5);
tnhnrl 16:3363b9f14913 712 mbed_reset();
tnhnrl 16:3363b9f14913 713 }
tnhnrl 20:8987a9ae2bc7 714
tnhnrl 16:3363b9f14913 715 // change settings
tnhnrl 16:3363b9f14913 716 else if (userInput == 'Q' or userInput == 'q') {
tnhnrl 16:3363b9f14913 717 pitchCommand -= 0.5; //decrement the pitch setpoint
tnhnrl 16:3363b9f14913 718 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 719 pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 720 }
tnhnrl 16:3363b9f14913 721 else if (userInput == 'W' or userInput == 'w') {
tnhnrl 16:3363b9f14913 722 pitchCommand += 0.5; //increment the pitch setpoint
tnhnrl 16:3363b9f14913 723 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 724 pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 725 }
tnhnrl 16:3363b9f14913 726 else if (userInput == 'A' or userInput == 'a') {
tnhnrl 16:3363b9f14913 727 depthCommand -= 0.5; //decrement the depth setpoint
tnhnrl 16:3363b9f14913 728 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 729 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
tnhnrl 16:3363b9f14913 730 }
tnhnrl 16:3363b9f14913 731 else if (userInput == 'S' or userInput == 's') {
tnhnrl 16:3363b9f14913 732 depthCommand += 0.5; //increment the depth setpoint
tnhnrl 16:3363b9f14913 733 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 734 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
tnhnrl 16:3363b9f14913 735 }
tnhnrl 20:8987a9ae2bc7 736
tnhnrl 16:3363b9f14913 737 else if (userInput == '-') {
tnhnrl 17:7c16b5671d0e 738 _timeout -= 10.0; //decrement the timeout
tnhnrl 17:7c16b5671d0e 739 pc().printf(">>> timeout decreased: %d\r\n", _timeout);
tnhnrl 16:3363b9f14913 740 }
tnhnrl 16:3363b9f14913 741 else if (userInput == '=' or userInput == '+') {
tnhnrl 17:7c16b5671d0e 742 _timeout += 10.0; //increment the timeout
tnhnrl 17:7c16b5671d0e 743 pc().printf(">>> timeout increased: %d\r\n", _timeout);
tnhnrl 16:3363b9f14913 744 }
tnhnrl 16:3363b9f14913 745
tnhnrl 16:3363b9f14913 746 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 16:3363b9f14913 747 else if (userInput == '1') {
tnhnrl 16:3363b9f14913 748 keyboard_menu_BCE_PID_settings();
tnhnrl 16:3363b9f14913 749 }
tnhnrl 16:3363b9f14913 750 else if (userInput == '2') {
tnhnrl 16:3363b9f14913 751 keyboard_menu_BATT_PID_settings();
tnhnrl 16:3363b9f14913 752 }
tnhnrl 16:3363b9f14913 753 else if (userInput == '3') {
tnhnrl 16:3363b9f14913 754 keyboard_menu_DEPTH_PID_settings();
tnhnrl 16:3363b9f14913 755 }
tnhnrl 16:3363b9f14913 756 else if (userInput == '4') {
tnhnrl 16:3363b9f14913 757 keyboard_menu_PITCH_PID_settings();
tnhnrl 16:3363b9f14913 758 }
tnhnrl 16:3363b9f14913 759
tnhnrl 16:3363b9f14913 760 else if (userInput == 'C' or userInput == 'c') {
tnhnrl 16:3363b9f14913 761 pc().printf("depth: %3.1f\r\n",depthLoop().getPosition());
tnhnrl 16:3363b9f14913 762 pc().printf("pitch: %3.1f\r\n",imu().getPitch());
tnhnrl 16:3363b9f14913 763 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 16:3363b9f14913 764 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 16:3363b9f14913 765 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 16:3363b9f14913 766 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 16:3363b9f14913 767 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 16:3363b9f14913 768 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 23:434f04ef1fad 769
tnhnrl 23:434f04ef1fad 770 pc().printf("Neutral sub FSM states: \n\r");
tnhnrl 23:434f04ef1fad 771 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 23:434f04ef1fad 772 pc().printf("state #%d: %d\n\r", i, _state_array[i]);
tnhnrl 23:434f04ef1fad 773 }
tnhnrl 16:3363b9f14913 774 }
tnhnrl 17:7c16b5671d0e 775
tnhnrl 17:7c16b5671d0e 776 //when you read the keyboard successfully, change the state
tnhnrl 21:38c8544db6f4 777 _state = _keyboard_state; //set state at the end of this function
tnhnrl 16:3363b9f14913 778 }
tnhnrl 16:3363b9f14913 779 }
tnhnrl 20:8987a9ae2bc7 780
tnhnrl 20:8987a9ae2bc7 781
tnhnrl 16:3363b9f14913 782 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 16:3363b9f14913 783 char PID_key;
tnhnrl 16:3363b9f14913 784 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 785 float KP = bce().getControllerP(); // load current value
tnhnrl 16:3363b9f14913 786 float KI = bce().getControllerI(); // load current global value
tnhnrl 16:3363b9f14913 787 float KD = bce().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 788
tnhnrl 16:3363b9f14913 789 // show the menu
tnhnrl 16:3363b9f14913 790 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 791 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 792 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 21:38c8544db6f4 793 pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 16:3363b9f14913 794
tnhnrl 16:3363b9f14913 795 // handle the key presses
tnhnrl 16:3363b9f14913 796 while(1) {
tnhnrl 16:3363b9f14913 797 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 798 if (pc().readable()) {
tnhnrl 16:3363b9f14913 799 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 800 }
tnhnrl 16:3363b9f14913 801 else {
tnhnrl 16:3363b9f14913 802 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 803 }
tnhnrl 16:3363b9f14913 804
tnhnrl 16:3363b9f14913 805 // handle the user's key input
tnhnrl 16:3363b9f14913 806 if (PID_key == '-') {
tnhnrl 16:3363b9f14913 807 KP -= gain_step_size;
tnhnrl 16:3363b9f14913 808 pc().printf("P gain: %0.5f \r\n", KP);
tnhnrl 16:3363b9f14913 809 }
tnhnrl 16:3363b9f14913 810 else if (PID_key == '=') {
tnhnrl 16:3363b9f14913 811 KP += gain_step_size;
tnhnrl 16:3363b9f14913 812 pc().printf("P gain: %0.5f \r\n", KP);
tnhnrl 16:3363b9f14913 813 }
tnhnrl 16:3363b9f14913 814 else if (PID_key == '[') {
tnhnrl 16:3363b9f14913 815 KI -= gain_step_size;
tnhnrl 16:3363b9f14913 816 pc().printf("I gain: %0.5f \r\n", KI);
tnhnrl 16:3363b9f14913 817 }
tnhnrl 16:3363b9f14913 818 else if (PID_key == ']') {
tnhnrl 16:3363b9f14913 819 KI += gain_step_size;
tnhnrl 16:3363b9f14913 820 pc().printf("I gain: %0.5f \r\n", KI);
tnhnrl 16:3363b9f14913 821 }
tnhnrl 16:3363b9f14913 822 else if (PID_key == ';') {
tnhnrl 16:3363b9f14913 823 KD -= gain_step_size;
tnhnrl 16:3363b9f14913 824 pc().printf("D gain: %0.5f \r\n", KD);
tnhnrl 16:3363b9f14913 825 }
tnhnrl 16:3363b9f14913 826 else if (PID_key == '\'') {
tnhnrl 16:3363b9f14913 827 KD += gain_step_size;
tnhnrl 16:3363b9f14913 828 pc().printf("D gain: %0.5f \r\n", KD);
tnhnrl 16:3363b9f14913 829 }
tnhnrl 16:3363b9f14913 830 else if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 831 // set values
tnhnrl 16:3363b9f14913 832 bce().setControllerP(KP);
tnhnrl 16:3363b9f14913 833 bce().setControllerI(KI);
tnhnrl 16:3363b9f14913 834 bce().setControllerD(KD);
tnhnrl 16:3363b9f14913 835
tnhnrl 16:3363b9f14913 836 // save into "PID.cfg"
tnhnrl 16:3363b9f14913 837 //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
tnhnrl 16:3363b9f14913 838 break; //exit the while loop
tnhnrl 16:3363b9f14913 839 }
tnhnrl 16:3363b9f14913 840 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 841 break; //exit the while loop
tnhnrl 16:3363b9f14913 842 }
tnhnrl 16:3363b9f14913 843 else {
tnhnrl 16:3363b9f14913 844 pc().printf("\n\rThis key does nothing here. ");
tnhnrl 16:3363b9f14913 845 }
tnhnrl 16:3363b9f14913 846 }
tnhnrl 16:3363b9f14913 847 }
tnhnrl 20:8987a9ae2bc7 848
tnhnrl 16:3363b9f14913 849 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 16:3363b9f14913 850 char PID_key;
tnhnrl 16:3363b9f14913 851 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 852 float KP = batt().getControllerP(); // load current global value
tnhnrl 16:3363b9f14913 853 float KI = batt().getControllerI(); // load current global value
tnhnrl 16:3363b9f14913 854 float KD = batt().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 855
tnhnrl 16:3363b9f14913 856 // print the menu
tnhnrl 16:3363b9f14913 857 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 858 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 859 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 21:38c8544db6f4 860 pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 20:8987a9ae2bc7 861
tnhnrl 16:3363b9f14913 862 // handle the key presses
tnhnrl 16:3363b9f14913 863 while(1) {
tnhnrl 16:3363b9f14913 864 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 865 if (pc().readable()) {
tnhnrl 16:3363b9f14913 866 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 867 }
tnhnrl 16:3363b9f14913 868 else {
tnhnrl 16:3363b9f14913 869 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 870 }
tnhnrl 16:3363b9f14913 871
tnhnrl 16:3363b9f14913 872 // handle the user's key input
tnhnrl 16:3363b9f14913 873 if (PID_key == '-') {
tnhnrl 16:3363b9f14913 874 KP -= gain_step_size;
tnhnrl 16:3363b9f14913 875 pc().printf("\rP gain: %0.5f ", KP);
tnhnrl 16:3363b9f14913 876 }
tnhnrl 16:3363b9f14913 877 else if (PID_key == '=') {
tnhnrl 16:3363b9f14913 878 KP += gain_step_size;
tnhnrl 16:3363b9f14913 879 pc().printf("\rP gain: %0.5f ", KP);
tnhnrl 16:3363b9f14913 880 }
tnhnrl 16:3363b9f14913 881 else if (PID_key == '[') {
tnhnrl 16:3363b9f14913 882 KI -= gain_step_size;
tnhnrl 16:3363b9f14913 883 pc().printf("\rI gain: %0.5f ", KI);
tnhnrl 16:3363b9f14913 884 }
tnhnrl 16:3363b9f14913 885 else if (PID_key == ']') {
tnhnrl 16:3363b9f14913 886 KI += gain_step_size;
tnhnrl 16:3363b9f14913 887 pc().printf("\rI gain: %0.5f ", KI);
tnhnrl 16:3363b9f14913 888 }
tnhnrl 16:3363b9f14913 889 else if (PID_key == ';') {
tnhnrl 16:3363b9f14913 890 KD -= gain_step_size;
tnhnrl 16:3363b9f14913 891 pc().printf("\rD gain: %0.5f ", KD);
tnhnrl 16:3363b9f14913 892 }
tnhnrl 16:3363b9f14913 893 else if (PID_key == '\'') {
tnhnrl 16:3363b9f14913 894 KD += gain_step_size;
tnhnrl 16:3363b9f14913 895 pc().printf("\rD gain: %0.5f ", KD);
tnhnrl 16:3363b9f14913 896 }
tnhnrl 16:3363b9f14913 897 else if (PID_key == 'S') { // user wants to save the modified values
tnhnrl 16:3363b9f14913 898 // set global values
tnhnrl 16:3363b9f14913 899 batt().setControllerP(KP);
tnhnrl 16:3363b9f14913 900 batt().setControllerI(KI);
tnhnrl 16:3363b9f14913 901 batt().setControllerD(KD);
tnhnrl 16:3363b9f14913 902
tnhnrl 16:3363b9f14913 903 // save to "PID.cfg" file
tnhnrl 16:3363b9f14913 904 //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
tnhnrl 16:3363b9f14913 905 break; //exit the while loop
tnhnrl 16:3363b9f14913 906 }
tnhnrl 16:3363b9f14913 907 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 908 break; //exit the while loop
tnhnrl 16:3363b9f14913 909 }
tnhnrl 16:3363b9f14913 910 else {
tnhnrl 16:3363b9f14913 911 pc().printf("This key does nothing here.\r");
tnhnrl 16:3363b9f14913 912 }
tnhnrl 16:3363b9f14913 913 }
tnhnrl 16:3363b9f14913 914 }
tnhnrl 20:8987a9ae2bc7 915
tnhnrl 16:3363b9f14913 916 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 16:3363b9f14913 917 char PID_key;
tnhnrl 16:3363b9f14913 918 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 919
tnhnrl 16:3363b9f14913 920 // show the menu
tnhnrl 16:3363b9f14913 921 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 922 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 923 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r");
tnhnrl 16:3363b9f14913 924 pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 925
tnhnrl 16:3363b9f14913 926 // handle the key presses
tnhnrl 16:3363b9f14913 927 while(1) {
tnhnrl 16:3363b9f14913 928 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 929 if (pc().readable()) {
tnhnrl 16:3363b9f14913 930 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 931 }
tnhnrl 16:3363b9f14913 932 else {
tnhnrl 16:3363b9f14913 933 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 934 }
tnhnrl 16:3363b9f14913 935
tnhnrl 16:3363b9f14913 936 // handle the user's key input
tnhnrl 16:3363b9f14913 937 if (PID_key == '-') {
tnhnrl 21:38c8544db6f4 938 _depth_KP -= gain_step_size;
tnhnrl 21:38c8544db6f4 939 pc().printf("P gain: %0.5f \r\n", _depth_KP);
tnhnrl 16:3363b9f14913 940 }
tnhnrl 16:3363b9f14913 941 else if (PID_key == '=') {
tnhnrl 21:38c8544db6f4 942 _depth_KP += gain_step_size;
tnhnrl 21:38c8544db6f4 943 pc().printf("P gain: %0.5f \r\n", _depth_KP);
tnhnrl 16:3363b9f14913 944 }
tnhnrl 16:3363b9f14913 945 else if (PID_key == '[') {
tnhnrl 21:38c8544db6f4 946 _depth_KI -= gain_step_size;
tnhnrl 21:38c8544db6f4 947 pc().printf("I gain: %0.5f \r\n", _depth_KI);
tnhnrl 16:3363b9f14913 948 }
tnhnrl 16:3363b9f14913 949 else if (PID_key == ']') {
tnhnrl 21:38c8544db6f4 950 _depth_KI += gain_step_size;
tnhnrl 21:38c8544db6f4 951 pc().printf("I gain: %0.5f \r\n", _depth_KI);
tnhnrl 16:3363b9f14913 952 }
tnhnrl 16:3363b9f14913 953 else if (PID_key == ';') {
tnhnrl 21:38c8544db6f4 954 _depth_KD -= gain_step_size;
tnhnrl 21:38c8544db6f4 955 pc().printf("D gain: %0.5f \r\n", _depth_KD);
tnhnrl 16:3363b9f14913 956 }
tnhnrl 16:3363b9f14913 957 else if (PID_key == '\'') {
tnhnrl 21:38c8544db6f4 958 _depth_KD += gain_step_size;
tnhnrl 21:38c8544db6f4 959 pc().printf("D gain: %0.5f \r\n", _depth_KD);
tnhnrl 16:3363b9f14913 960 }
tnhnrl 16:3363b9f14913 961 else if (PID_key == 'S') { // user wants to save these settings
tnhnrl 16:3363b9f14913 962 // set global values
tnhnrl 21:38c8544db6f4 963 depthLoop().setControllerP(_depth_KP);
tnhnrl 21:38c8544db6f4 964 depthLoop().setControllerI(_depth_KI);
tnhnrl 21:38c8544db6f4 965 depthLoop().setControllerD(_depth_KD);
tnhnrl 16:3363b9f14913 966
tnhnrl 21:38c8544db6f4 967 // save depth PID values for outer loop
tnhnrl 21:38c8544db6f4 968 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 16:3363b9f14913 969 break; //exit the while loop
tnhnrl 16:3363b9f14913 970 }
tnhnrl 16:3363b9f14913 971 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 972 break; //exit the while loop
tnhnrl 16:3363b9f14913 973 }
tnhnrl 16:3363b9f14913 974 else {
tnhnrl 16:3363b9f14913 975 pc().printf("\n\rThis key does nothing here. ");
tnhnrl 16:3363b9f14913 976 }
tnhnrl 16:3363b9f14913 977 }
tnhnrl 16:3363b9f14913 978 }
tnhnrl 16:3363b9f14913 979
tnhnrl 16:3363b9f14913 980 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 16:3363b9f14913 981 char PID_key;
tnhnrl 16:3363b9f14913 982 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 983
tnhnrl 16:3363b9f14913 984 // print the menu
tnhnrl 16:3363b9f14913 985 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 986 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 987 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 16:3363b9f14913 988 pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 20:8987a9ae2bc7 989
tnhnrl 16:3363b9f14913 990 // handle the key presses
tnhnrl 16:3363b9f14913 991 while(1) {
tnhnrl 16:3363b9f14913 992 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 993 if (pc().readable()) {
tnhnrl 16:3363b9f14913 994 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 995 }
tnhnrl 16:3363b9f14913 996 else {
tnhnrl 16:3363b9f14913 997 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 998 }
tnhnrl 16:3363b9f14913 999
tnhnrl 16:3363b9f14913 1000 // handle the user's key input
tnhnrl 16:3363b9f14913 1001 if (PID_key == '-') {
tnhnrl 21:38c8544db6f4 1002 _pitch_KP -= gain_step_size;
tnhnrl 21:38c8544db6f4 1003 pc().printf("\rP gain: %0.5f ", _pitch_KP);
tnhnrl 16:3363b9f14913 1004 }
tnhnrl 16:3363b9f14913 1005 else if (PID_key == '=') {
tnhnrl 21:38c8544db6f4 1006 _pitch_KP += gain_step_size;
tnhnrl 21:38c8544db6f4 1007 pc().printf("\rP gain: %0.5f ", _pitch_KP);
tnhnrl 16:3363b9f14913 1008 }
tnhnrl 16:3363b9f14913 1009 else if (PID_key == '[') {
tnhnrl 21:38c8544db6f4 1010 _pitch_KI -= gain_step_size;
tnhnrl 21:38c8544db6f4 1011 pc().printf("\rI gain: %0.5f ", _pitch_KI);
tnhnrl 16:3363b9f14913 1012 }
tnhnrl 16:3363b9f14913 1013 else if (PID_key == ']') {
tnhnrl 21:38c8544db6f4 1014 _pitch_KI += gain_step_size;
tnhnrl 21:38c8544db6f4 1015 pc().printf("\rI gain: %0.5f ", _pitch_KI);
tnhnrl 16:3363b9f14913 1016 }
tnhnrl 16:3363b9f14913 1017 else if (PID_key == ';') {
tnhnrl 21:38c8544db6f4 1018 _pitch_KD -= gain_step_size;
tnhnrl 21:38c8544db6f4 1019 pc().printf("\rD gain: %0.5f ", _pitch_KD);
tnhnrl 16:3363b9f14913 1020 }
tnhnrl 16:3363b9f14913 1021 else if (PID_key == '\'') {
tnhnrl 21:38c8544db6f4 1022 _pitch_KD += gain_step_size;
tnhnrl 21:38c8544db6f4 1023 pc().printf("\rD gain: %0.5f ", _pitch_KD);
tnhnrl 16:3363b9f14913 1024 }
tnhnrl 16:3363b9f14913 1025 else if (PID_key == 'S') { // user wants to save the modified values
tnhnrl 16:3363b9f14913 1026 // set global values
tnhnrl 21:38c8544db6f4 1027 pitchLoop().setControllerP(_pitch_KP);
tnhnrl 21:38c8544db6f4 1028 pitchLoop().setControllerI(_pitch_KI);
tnhnrl 21:38c8544db6f4 1029 pitchLoop().setControllerD(_pitch_KD);
tnhnrl 16:3363b9f14913 1030
tnhnrl 21:38c8544db6f4 1031 // save pitch PID values for outer loop
tnhnrl 21:38c8544db6f4 1032 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 16:3363b9f14913 1033 break; //exit the while loop
tnhnrl 16:3363b9f14913 1034 }
tnhnrl 16:3363b9f14913 1035 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 1036 break; //exit the while loop
tnhnrl 16:3363b9f14913 1037 }
tnhnrl 16:3363b9f14913 1038 else {
tnhnrl 16:3363b9f14913 1039 pc().printf("This key does nothing here.\r");
tnhnrl 16:3363b9f14913 1040 }
tnhnrl 16:3363b9f14913 1041 }
tnhnrl 16:3363b9f14913 1042 }
tnhnrl 20:8987a9ae2bc7 1043
tnhnrl 16:3363b9f14913 1044 float StateMachine::getDepthCommand() {
tnhnrl 16:3363b9f14913 1045 return depthCommand;
tnhnrl 16:3363b9f14913 1046 }
tnhnrl 20:8987a9ae2bc7 1047
tnhnrl 16:3363b9f14913 1048 float StateMachine::getPitchCommand() {
tnhnrl 16:3363b9f14913 1049 return pitchCommand;
tnhnrl 17:7c16b5671d0e 1050 }
tnhnrl 20:8987a9ae2bc7 1051
tnhnrl 17:7c16b5671d0e 1052 void StateMachine::setState(int input_state) {
tnhnrl 17:7c16b5671d0e 1053 //pc().printf("input_state: %d\n\r", input_state); //debug
tnhnrl 17:7c16b5671d0e 1054 //_state = input_state; //changing wrong variable
tnhnrl 21:38c8544db6f4 1055 _state = input_state;
tnhnrl 17:7c16b5671d0e 1056 }
tnhnrl 20:8987a9ae2bc7 1057
tnhnrl 17:7c16b5671d0e 1058 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 1059 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 1060 }
tnhnrl 20:8987a9ae2bc7 1061
tnhnrl 17:7c16b5671d0e 1062 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 1063 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 1064 }
tnhnrl 20:8987a9ae2bc7 1065
tnhnrl 17:7c16b5671d0e 1066 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 17:7c16b5671d0e 1067 depthCommand = input_depth_command;
tnhnrl 17:7c16b5671d0e 1068 }
tnhnrl 20:8987a9ae2bc7 1069
tnhnrl 17:7c16b5671d0e 1070 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 17:7c16b5671d0e 1071 pitchCommand = input_pitch_command;
tnhnrl 17:7c16b5671d0e 1072 }
tnhnrl 20:8987a9ae2bc7 1073
tnhnrl 17:7c16b5671d0e 1074 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 1075 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 1076 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 1077
tnhnrl 21:38c8544db6f4 1078 pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 1079 }
tnhnrl 20:8987a9ae2bc7 1080
tnhnrl 17:7c16b5671d0e 1081 int StateMachine::timeoutRunning() {
tnhnrl 17:7c16b5671d0e 1082 return isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 1083 }
tnhnrl 20:8987a9ae2bc7 1084
tnhnrl 17:7c16b5671d0e 1085 //process one state at a time
tnhnrl 17:7c16b5671d0e 1086 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 1087 //iterate through this sequence using the FSM
tnhnrl 17:7c16b5671d0e 1088 currentStateStruct.state = sequenceController().sequenceStructLoaded[_state_counter].state;
tnhnrl 17:7c16b5671d0e 1089 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_state_counter].timeout;
tnhnrl 17:7c16b5671d0e 1090 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_state_counter].depth;
tnhnrl 17:7c16b5671d0e 1091 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_state_counter].pitch;
tnhnrl 17:7c16b5671d0e 1092
tnhnrl 17:7c16b5671d0e 1093 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 16:3363b9f14913 1094 }