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@71:939d179478c4, 2018-06-29 (annotated)

Committer:
tnhnrl
Date:
Fri Jun 29 21:52:31 2018 +0000
Revision:
71:939d179478c4
Parent:
70:0e5180befedd
Child:
72:250b2665755c
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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 69:919ac8d7e023 66 int StateMachine::runStateMachine() {
tnhnrl 16:3363b9f14913 67 // finite state machine ... each state has at least one exit criteria
tnhnrl 17:7c16b5671d0e 68 switch (_state) {
tnhnrl 16:3363b9f14913 69 case SIT_IDLE :
tnhnrl 68:8f549749b8ce 70 case KEYBOARD:
tnhnrl 16:3363b9f14913 71 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 28:16c83a2fdefa 72 if (!_isTimeoutRunning) {
tnhnrl 57:ec69651c8c21 73
tnhnrl 57:ec69651c8c21 74 if (_debug_menu_on)
tnhnrl 69:919ac8d7e023 75 printDebugMenu();
tnhnrl 57:ec69651c8c21 76 else
tnhnrl 69:919ac8d7e023 77 printSimpleMenu();
tnhnrl 16:3363b9f14913 78 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 28:16c83a2fdefa 79 _isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 80
tnhnrl 16:3363b9f14913 81 // what is active?
tnhnrl 16:3363b9f14913 82 bce().pause();
tnhnrl 16:3363b9f14913 83 batt().pause();
tnhnrl 32:f2f8ae34aadc 84
tnhnrl 17:7c16b5671d0e 85 //reset sub FSM
tnhnrl 28:16c83a2fdefa 86 _isSubStateTimerRunning = false;
tnhnrl 32:f2f8ae34aadc 87
tnhnrl 32:f2f8ae34aadc 88 //close the MBED file
tnhnrl 32:f2f8ae34aadc 89 _file_closed = true;
tnhnrl 16:3363b9f14913 90 }
tnhnrl 20:8987a9ae2bc7 91
tnhnrl 16:3363b9f14913 92 // how exit?
tnhnrl 20:8987a9ae2bc7 93 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 94 break;
tnhnrl 49:47ffa4feb6db 95
tnhnrl 49:47ffa4feb6db 96 case CHECK_TUNING : // state used to check the tuning of the pressure vessel
tnhnrl 49:47ffa4feb6db 97 // start local state timer and init any other one-shot actions
tnhnrl 49:47ffa4feb6db 98 if (!_isTimeoutRunning) {
tnhnrl 49:47ffa4feb6db 99 pc().printf("\r\n\nstate: CHECK_TUNING\r\n");
tnhnrl 49:47ffa4feb6db 100 timer.reset(); // timer goes back to zero
tnhnrl 49:47ffa4feb6db 101 timer.start(); // background timer starts running
tnhnrl 49:47ffa4feb6db 102 _isTimeoutRunning = true;
tnhnrl 49:47ffa4feb6db 103
tnhnrl 49:47ffa4feb6db 104 // what needs to be started?
tnhnrl 49:47ffa4feb6db 105 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 106 batt().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 107
tnhnrl 49:47ffa4feb6db 108 // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
tnhnrl 49:47ffa4feb6db 109 bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 110 batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 111
tnhnrl 49:47ffa4feb6db 112 // getSetPosition_mm is the commanded position in the LinearActuator class
tnhnrl 49:47ffa4feb6db 113
tnhnrl 49:47ffa4feb6db 114 pc().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 115 pc().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 116
tnhnrl 49:47ffa4feb6db 117 //triggers logger array
tnhnrl 49:47ffa4feb6db 118 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 49:47ffa4feb6db 119 }
tnhnrl 49:47ffa4feb6db 120
tnhnrl 49:47ffa4feb6db 121 // how exit?
tnhnrl 49:47ffa4feb6db 122 if (timer > _timeout) {
tnhnrl 49:47ffa4feb6db 123 pc().printf("CHECK_TUNING: timed out!\r\n");
tnhnrl 49:47ffa4feb6db 124 _state = FLOAT_BROADCAST;
tnhnrl 49:47ffa4feb6db 125 timer.reset();
tnhnrl 49:47ffa4feb6db 126 _isTimeoutRunning = false;
tnhnrl 49:47ffa4feb6db 127 }
tnhnrl 49:47ffa4feb6db 128
tnhnrl 67:c86a4b464682 129 //WHAT IS ACTIVE?
tnhnrl 67:c86a4b464682 130 // the inner loop position controls are maintaining the positions of the linear actuators
tnhnrl 67:c86a4b464682 131
tnhnrl 49:47ffa4feb6db 132 //print status to screen continuously
tnhnrl 49:47ffa4feb6db 133 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 134
tnhnrl 67:c86a4b464682 135 checkMotorPositions();
tnhnrl 49:47ffa4feb6db 136
tnhnrl 49:47ffa4feb6db 137 break;
tnhnrl 20:8987a9ae2bc7 138
tnhnrl 16:3363b9f14913 139 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 140 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 141 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 142 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 16:3363b9f14913 143 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 144 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 145 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 146
tnhnrl 16:3363b9f14913 147 // what needs to be started?
tnhnrl 16:3363b9f14913 148 bce().unpause();
tnhnrl 16:3363b9f14913 149 batt().unpause();
tnhnrl 20:8987a9ae2bc7 150
tnhnrl 20:8987a9ae2bc7 151 // what are the commands?
tnhnrl 16:3363b9f14913 152 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 67:c86a4b464682 153 batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
tnhnrl 32:f2f8ae34aadc 154
tnhnrl 49:47ffa4feb6db 155 //triggers logger array
tnhnrl 32:f2f8ae34aadc 156 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 157 }
tnhnrl 20:8987a9ae2bc7 158
tnhnrl 16:3363b9f14913 159 // how exit?
tnhnrl 17:7c16b5671d0e 160 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 161 pc().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 162 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 163 timer.reset();
tnhnrl 28:16c83a2fdefa 164 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 165 }
tnhnrl 26:7e118fc02eea 166 else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 21:38c8544db6f4 167 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 168 timer.reset();
tnhnrl 28:16c83a2fdefa 169 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 170 }
tnhnrl 32:f2f8ae34aadc 171
tnhnrl 67:c86a4b464682 172 //WHAT IS ACTIVE?
tnhnrl 34:9b66c5188051 173 //print status to screen continuously
tnhnrl 67:c86a4b464682 174 pc().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),timer.read());
tnhnrl 32:f2f8ae34aadc 175
tnhnrl 16:3363b9f14913 176 break;
tnhnrl 20:8987a9ae2bc7 177
tnhnrl 16:3363b9f14913 178 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 179 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 180 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 181 pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
tnhnrl 16:3363b9f14913 182 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 183 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 184 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 185
tnhnrl 16:3363b9f14913 186 // what needs to be started?
tnhnrl 16:3363b9f14913 187 bce().unpause();
tnhnrl 16:3363b9f14913 188 batt().unpause();
tnhnrl 28:16c83a2fdefa 189 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 24:c7d9b5bf3829 190 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to close-to-neutral setting from config file
tnhnrl 17:7c16b5671d0e 191
tnhnrl 24:c7d9b5bf3829 192 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 24:c7d9b5bf3829 193 //set the first state of the FSM, and start the sub-FSM
tnhnrl 30:2964617e7676 194 _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
tnhnrl 28:16c83a2fdefa 195 _previous_substate = -1;
tnhnrl 28:16c83a2fdefa 196
tnhnrl 28:16c83a2fdefa 197 //save this state to the array
tnhnrl 30:2964617e7676 198 _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
tnhnrl 28:16c83a2fdefa 199 _substate_array_counter++;
tnhnrl 28:16c83a2fdefa 200
tnhnrl 32:f2f8ae34aadc 201 runNeutralStateMachine();
tnhnrl 67:c86a4b464682 202
tnhnrl 49:47ffa4feb6db 203 //triggers logger array
tnhnrl 32:f2f8ae34aadc 204 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 205 }
tnhnrl 20:8987a9ae2bc7 206
tnhnrl 20:8987a9ae2bc7 207 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 17:7c16b5671d0e 208 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 209 pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
tnhnrl 21:38c8544db6f4 210 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 16:3363b9f14913 211 timer.reset();
tnhnrl 28:16c83a2fdefa 212 _isTimeoutRunning = false;
tnhnrl 24:c7d9b5bf3829 213
tnhnrl 24:c7d9b5bf3829 214 //record this to the NEUTRAL sub-FSM tracker
tnhnrl 28:16c83a2fdefa 215 _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
tnhnrl 28:16c83a2fdefa 216 _substate_array_counter++;
tnhnrl 16:3363b9f14913 217 }
tnhnrl 21:38c8544db6f4 218
tnhnrl 24:c7d9b5bf3829 219 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 24:c7d9b5bf3829 220 //check if substate returned exit state, if so stop running the sub-FSM
tnhnrl 26:7e118fc02eea 221 else if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 222 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 58:94b7fd55185e 223 pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
tnhnrl 21:38c8544db6f4 224 _state = RISE;
tnhnrl 30:2964617e7676 225 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 226 }
tnhnrl 32:f2f8ae34aadc 227
tnhnrl 17:7c16b5671d0e 228 break;
tnhnrl 17:7c16b5671d0e 229
tnhnrl 16:3363b9f14913 230 case DIVE :
tnhnrl 16:3363b9f14913 231 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 232
tnhnrl 28:16c83a2fdefa 233 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 234 pc().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 16:3363b9f14913 235 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 236 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 237 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 238
tnhnrl 16:3363b9f14913 239 // what needs to be started?
tnhnrl 16:3363b9f14913 240 bce().unpause();
tnhnrl 16:3363b9f14913 241 batt().unpause();
tnhnrl 20:8987a9ae2bc7 242
tnhnrl 16:3363b9f14913 243 // what are the commands?
tnhnrl 32:f2f8ae34aadc 244 depthLoop().setCommand(_depth_command);
tnhnrl 32:f2f8ae34aadc 245 pitchLoop().setCommand(_pitch_command);
tnhnrl 32:f2f8ae34aadc 246
tnhnrl 34:9b66c5188051 247 pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 34:9b66c5188051 248 pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 28:16c83a2fdefa 249
tnhnrl 28:16c83a2fdefa 250 //reset max dive depth
tnhnrl 28:16c83a2fdefa 251 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 32:f2f8ae34aadc 252
tnhnrl 32:f2f8ae34aadc 253 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 254 //createNewFile();
tnhnrl 32:f2f8ae34aadc 255
tnhnrl 49:47ffa4feb6db 256 //triggers logger array
tnhnrl 32:f2f8ae34aadc 257 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 258 }
tnhnrl 20:8987a9ae2bc7 259
tnhnrl 16:3363b9f14913 260 // how exit?
tnhnrl 32:f2f8ae34aadc 261 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 262 pc().printf("DIVE: timed out\r\n\n");
tnhnrl 21:38c8544db6f4 263 _state = RISE; //new behavior 11/17/2017
tnhnrl 16:3363b9f14913 264 timer.reset();
tnhnrl 28:16c83a2fdefa 265 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 266 }
tnhnrl 32:f2f8ae34aadc 267 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 32:f2f8ae34aadc 268 pc().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 269 _state = RISE;
tnhnrl 16:3363b9f14913 270 timer.reset();
tnhnrl 28:16c83a2fdefa 271 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 272 }
tnhnrl 20:8987a9ae2bc7 273
tnhnrl 67:c86a4b464682 274 // WHAT IS ACTIVE?
tnhnrl 58:94b7fd55185e 275 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 276 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 16:3363b9f14913 277 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 28:16c83a2fdefa 278
tnhnrl 28:16c83a2fdefa 279 if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
tnhnrl 28:16c83a2fdefa 280 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 281 }
tnhnrl 32:f2f8ae34aadc 282
tnhnrl 67:c86a4b464682 283 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 284
tnhnrl 16:3363b9f14913 285 break;
tnhnrl 16:3363b9f14913 286
tnhnrl 16:3363b9f14913 287 case RISE :
tnhnrl 16:3363b9f14913 288 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 289
tnhnrl 28:16c83a2fdefa 290 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 291 pc().printf("\r\n\nstate: RISE\r\n");
tnhnrl 16:3363b9f14913 292 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 293 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 294 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 295
tnhnrl 16:3363b9f14913 296 // what needs to be started?
tnhnrl 16:3363b9f14913 297 bce().unpause();
tnhnrl 16:3363b9f14913 298 batt().unpause();
tnhnrl 16:3363b9f14913 299
tnhnrl 16:3363b9f14913 300 // what are the commands?
tnhnrl 28:16c83a2fdefa 301 depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
tnhnrl 32:f2f8ae34aadc 302 pitchLoop().setCommand(-_pitch_command);
tnhnrl 34:9b66c5188051 303
tnhnrl 34:9b66c5188051 304 pc().printf("RISE: depth cmd: %0.1f\r\n",depthLoop().getCommand());
tnhnrl 34:9b66c5188051 305 pc().printf("RISE: pitch cmd: %0.1f\r\n",pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 306
tnhnrl 32:f2f8ae34aadc 307 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 308 //createNewFile();
tnhnrl 32:f2f8ae34aadc 309
tnhnrl 49:47ffa4feb6db 310 //triggers logger array
tnhnrl 32:f2f8ae34aadc 311 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 312 }
tnhnrl 20:8987a9ae2bc7 313
tnhnrl 16:3363b9f14913 314 // how exit?
tnhnrl 32:f2f8ae34aadc 315 if (timer.read() > _timeout) {
tnhnrl 16:3363b9f14913 316 pc().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 317 _state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 318 timer.reset();
tnhnrl 28:16c83a2fdefa 319 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 320 }
tnhnrl 32:f2f8ae34aadc 321
tnhnrl 32:f2f8ae34aadc 322 //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
tnhnrl 32:f2f8ae34aadc 323 //did not work correctly in bench test (stuck in rise state)
tnhnrl 32:f2f8ae34aadc 324 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 32:f2f8ae34aadc 325 pc().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 28:16c83a2fdefa 326 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 327 timer.reset();
tnhnrl 28:16c83a2fdefa 328 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 329 }
tnhnrl 20:8987a9ae2bc7 330
tnhnrl 67:c86a4b464682 331 // WHAT IS ACTIVE?
tnhnrl 58:94b7fd55185e 332 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 333 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 32:f2f8ae34aadc 334 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 67:c86a4b464682 335
tnhnrl 67:c86a4b464682 336 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 337
tnhnrl 58:94b7fd55185e 338 break;
tnhnrl 58:94b7fd55185e 339
tnhnrl 58:94b7fd55185e 340 // NEW DIVE AND RISE SEQUENCES
tnhnrl 58:94b7fd55185e 341 case POSITION_DIVE :
tnhnrl 58:94b7fd55185e 342 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 343 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 344 pc().printf("\r\n\nstate: POSITION DIVE\r\n");
tnhnrl 58:94b7fd55185e 345 timer.reset(); // timer goes back to zero
tnhnrl 58:94b7fd55185e 346 timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 347 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 348
tnhnrl 58:94b7fd55185e 349 // what needs to be started?
tnhnrl 58:94b7fd55185e 350 bce().unpause();
tnhnrl 58:94b7fd55185e 351 batt().unpause();
tnhnrl 58:94b7fd55185e 352 rudder().unpause();
tnhnrl 58:94b7fd55185e 353
tnhnrl 58:94b7fd55185e 354 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 355 // These actions happen ONCE in the POSITION_DIVE sequence
tnhnrl 58:94b7fd55185e 356 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 357 bce().setPosition_mm(_neutral_bce_pos_mm- _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 358 //rudder().setPosition_deg(_heading_command);
tnhnrl 58:94b7fd55185e 359
tnhnrl 58:94b7fd55185e 360 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 361
tnhnrl 58:94b7fd55185e 362 pc().printf("PD: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 363 pc().printf("PD: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 364 pc().printf("PD: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 365
tnhnrl 58:94b7fd55185e 366 //reset max dive depth
tnhnrl 58:94b7fd55185e 367 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 58:94b7fd55185e 368
tnhnrl 58:94b7fd55185e 369 //triggers logger array
tnhnrl 58:94b7fd55185e 370 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 58:94b7fd55185e 371 }
tnhnrl 58:94b7fd55185e 372
tnhnrl 58:94b7fd55185e 373 // how exit?
tnhnrl 58:94b7fd55185e 374 // timer runs out goes to POSITION_RISE
tnhnrl 58:94b7fd55185e 375 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 376 pc().printf("PD: timed out\r\n\n");
tnhnrl 58:94b7fd55185e 377 _state = POSITION_RISE; //new behavior 11/17/2017
tnhnrl 58:94b7fd55185e 378 timer.reset();
tnhnrl 58:94b7fd55185e 379 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 380 }
tnhnrl 58:94b7fd55185e 381
tnhnrl 58:94b7fd55185e 382 // when you reach the dive threshold, surface
tnhnrl 58:94b7fd55185e 383 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 58:94b7fd55185e 384 pc().printf("PD: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 385 _state = POSITION_RISE;
tnhnrl 58:94b7fd55185e 386 timer.reset();
tnhnrl 58:94b7fd55185e 387 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 388 }
tnhnrl 58:94b7fd55185e 389
tnhnrl 58:94b7fd55185e 390 // what is active?
tnhnrl 58:94b7fd55185e 391 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 392
tnhnrl 58:94b7fd55185e 393 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
tnhnrl 58:94b7fd55185e 394 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
tnhnrl 58:94b7fd55185e 395 }
tnhnrl 58:94b7fd55185e 396
tnhnrl 58:94b7fd55185e 397 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 398 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 399
tnhnrl 67:c86a4b464682 400 checkMotorPositions();
tnhnrl 58:94b7fd55185e 401
tnhnrl 58:94b7fd55185e 402 break;
tnhnrl 58:94b7fd55185e 403
tnhnrl 58:94b7fd55185e 404 case POSITION_RISE :
tnhnrl 58:94b7fd55185e 405 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 406
tnhnrl 58:94b7fd55185e 407 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 408 pc().printf("\r\n\nstate: POSITION RISE\r\n");
tnhnrl 58:94b7fd55185e 409 timer.reset(); // timer goes back to zero
tnhnrl 58:94b7fd55185e 410 timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 411 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 412
tnhnrl 58:94b7fd55185e 413 // what needs to be started?
tnhnrl 58:94b7fd55185e 414 bce().unpause();
tnhnrl 58:94b7fd55185e 415 batt().unpause();
tnhnrl 58:94b7fd55185e 416
tnhnrl 58:94b7fd55185e 417 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 418 pc().printf("PR: <<DEBUG>> CMD BCE: %0.1f, CMD BMM: %0.1f)\r\n", _BCE_dive_offset, _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 419
tnhnrl 58:94b7fd55185e 420 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 421 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 422 //rudder().setPosition_deg(_heading_command); //heading stays the same
tnhnrl 58:94b7fd55185e 423
tnhnrl 58:94b7fd55185e 424 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 425
tnhnrl 58:94b7fd55185e 426 pc().printf("PR: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 427 pc().printf("PR: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 428 pc().printf("PR: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 429
tnhnrl 58:94b7fd55185e 430 //triggers logger array
tnhnrl 58:94b7fd55185e 431 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 58:94b7fd55185e 432 }
tnhnrl 58:94b7fd55185e 433
tnhnrl 58:94b7fd55185e 434 // how exit?
tnhnrl 58:94b7fd55185e 435 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 436 pc().printf("PR: timed out\r\n");
tnhnrl 58:94b7fd55185e 437 _state = EMERGENCY_CLIMB;
tnhnrl 58:94b7fd55185e 438 timer.reset();
tnhnrl 58:94b7fd55185e 439 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 440 }
tnhnrl 58:94b7fd55185e 441 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 58:94b7fd55185e 442 pc().printf("PR: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 443 _state = FLOAT_BROADCAST;
tnhnrl 58:94b7fd55185e 444 timer.reset();
tnhnrl 58:94b7fd55185e 445 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 446 }
tnhnrl 58:94b7fd55185e 447
tnhnrl 58:94b7fd55185e 448 // what is active?
tnhnrl 67:c86a4b464682 449 pc().printf("PR: bce pos (cmd pos): %3.1f mm (%0.1f), batt pos: %3.1f mm (%0.1f), rudder: %0.1f (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 450
tnhnrl 58:94b7fd55185e 451 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 452 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 453
tnhnrl 67:c86a4b464682 454 checkMotorPositions();
tnhnrl 58:94b7fd55185e 455
tnhnrl 58:94b7fd55185e 456 break;
tnhnrl 58:94b7fd55185e 457 // NEW DIVE AND RISE SEQUENCES
tnhnrl 16:3363b9f14913 458
tnhnrl 16:3363b9f14913 459 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 460 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 461 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 462 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 16:3363b9f14913 463 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 464 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 465 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 466
tnhnrl 16:3363b9f14913 467 // what needs to be started?
tnhnrl 16:3363b9f14913 468 bce().unpause();
tnhnrl 16:3363b9f14913 469 batt().unpause();
tnhnrl 16:3363b9f14913 470
tnhnrl 20:8987a9ae2bc7 471 // what are the commands?
tnhnrl 28:16c83a2fdefa 472 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 16:3363b9f14913 473 pitchLoop().setCommand(0.0);
tnhnrl 32:f2f8ae34aadc 474
tnhnrl 32:f2f8ae34aadc 475 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 476 //createNewFile();
tnhnrl 32:f2f8ae34aadc 477
tnhnrl 49:47ffa4feb6db 478 //triggers logger array
tnhnrl 32:f2f8ae34aadc 479 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 480 }
tnhnrl 20:8987a9ae2bc7 481
tnhnrl 16:3363b9f14913 482 // how exit?
tnhnrl 17:7c16b5671d0e 483 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 484 pc().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 485 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 486 timer.reset();
tnhnrl 28:16c83a2fdefa 487 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 488 }
tnhnrl 28:16c83a2fdefa 489 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
tnhnrl 28:16c83a2fdefa 490 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 491 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 492 timer.reset();
tnhnrl 28:16c83a2fdefa 493 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 494 }
tnhnrl 20:8987a9ae2bc7 495
tnhnrl 16:3363b9f14913 496 // what is active?
tnhnrl 16:3363b9f14913 497 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 498 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 499
tnhnrl 16:3363b9f14913 500 break;
tnhnrl 16:3363b9f14913 501
tnhnrl 16:3363b9f14913 502 case FLOAT_BROADCAST :
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_BROADCAST\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 20:8987a9ae2bc7 513
tnhnrl 16:3363b9f14913 514 // what are the commands?
tnhnrl 55:f4ec445c42fe 515 bce().setPosition_mm(_bceFloatPosition); // 320.0
tnhnrl 55:f4ec445c42fe 516 batt().setPosition_mm(_battFloatPosition); // 73.0
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 67:c86a4b464682 521 //triggers logger array
tnhnrl 32:f2f8ae34aadc 522 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 523 }
tnhnrl 20:8987a9ae2bc7 524
tnhnrl 16:3363b9f14913 525 // how exit?
tnhnrl 17:7c16b5671d0e 526 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 527 pc().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 528 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 529 timer.reset();
tnhnrl 32:f2f8ae34aadc 530
tnhnrl 32:f2f8ae34aadc 531 //stop recording data
tnhnrl 35:2f66ea4863d5 532 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 533
tnhnrl 28:16c83a2fdefa 534 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 535 }
tnhnrl 20:8987a9ae2bc7 536 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
tnhnrl 20:8987a9ae2bc7 537 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 16:3363b9f14913 538 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 539 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 540 timer.reset();
tnhnrl 32:f2f8ae34aadc 541
tnhnrl 32:f2f8ae34aadc 542 //stop recording data
tnhnrl 35:2f66ea4863d5 543 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 544
tnhnrl 28:16c83a2fdefa 545 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 546 }
tnhnrl 20:8987a9ae2bc7 547
tnhnrl 20:8987a9ae2bc7 548 // what is active?
tnhnrl 58:94b7fd55185e 549 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 550
tnhnrl 16:3363b9f14913 551 break;
tnhnrl 17:7c16b5671d0e 552
tnhnrl 17:7c16b5671d0e 553 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 554 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 555 if (!_isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 556 pc().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 17:7c16b5671d0e 557 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 558 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 559 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 560
tnhnrl 17:7c16b5671d0e 561 // what needs to be started?
tnhnrl 17:7c16b5671d0e 562 bce().unpause();
tnhnrl 17:7c16b5671d0e 563 batt().unpause();
tnhnrl 17:7c16b5671d0e 564
tnhnrl 21:38c8544db6f4 565 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 32:f2f8ae34aadc 566 float sequence_depth_command = currentStateStruct.depth;
tnhnrl 32:f2f8ae34aadc 567 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 568
tnhnrl 17:7c16b5671d0e 569 // what are the commands?
tnhnrl 32:f2f8ae34aadc 570 depthLoop().setCommand(sequence_depth_command);
tnhnrl 32:f2f8ae34aadc 571 pitchLoop().setCommand(sequence_pitch_command);
tnhnrl 21:38c8544db6f4 572 pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 573
tnhnrl 32:f2f8ae34aadc 574 //no max depth recording right now
tnhnrl 32:f2f8ae34aadc 575
tnhnrl 49:47ffa4feb6db 576 //triggers logger array
tnhnrl 32:f2f8ae34aadc 577 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 578 }
tnhnrl 20:8987a9ae2bc7 579
tnhnrl 17:7c16b5671d0e 580 // how exit?
tnhnrl 17:7c16b5671d0e 581 if (timer > _timeout) {
tnhnrl 58:94b7fd55185e 582 pc().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", timer.read());
tnhnrl 21:38c8544db6f4 583 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 17:7c16b5671d0e 584 timer.reset();
tnhnrl 28:16c83a2fdefa 585 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 586 }
tnhnrl 17:7c16b5671d0e 587 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 17:7c16b5671d0e 588 pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 589 _state = MULTI_RISE;
tnhnrl 17:7c16b5671d0e 590 timer.reset();
tnhnrl 28:16c83a2fdefa 591 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 592 }
tnhnrl 20:8987a9ae2bc7 593
tnhnrl 67:c86a4b464682 594 // WHAT IS ACTIVE?
tnhnrl 17:7c16b5671d0e 595 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 596 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 597 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 598
tnhnrl 67:c86a4b464682 599 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 600
tnhnrl 17:7c16b5671d0e 601 break;
tnhnrl 17:7c16b5671d0e 602
tnhnrl 17:7c16b5671d0e 603 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 604 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 605 if (!_isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 606 pc().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 17:7c16b5671d0e 607 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 608 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 609 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 610
tnhnrl 17:7c16b5671d0e 611 // what needs to be started?
tnhnrl 17:7c16b5671d0e 612 bce().unpause();
tnhnrl 17:7c16b5671d0e 613 batt().unpause();
tnhnrl 17:7c16b5671d0e 614
tnhnrl 17:7c16b5671d0e 615 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 616 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 617 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 618
tnhnrl 17:7c16b5671d0e 619 //retrieve just pitch command from struct
tnhnrl 32:f2f8ae34aadc 620 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 621
tnhnrl 17:7c16b5671d0e 622 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 623 depthLoop().setCommand(0.5);
tnhnrl 32:f2f8ae34aadc 624 pitchLoop().setCommand(-sequence_pitch_command);
tnhnrl 21:38c8544db6f4 625 pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 626
tnhnrl 32:f2f8ae34aadc 627 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 628 //createNewFile();
tnhnrl 32:f2f8ae34aadc 629
tnhnrl 49:47ffa4feb6db 630 //triggers logger array
tnhnrl 32:f2f8ae34aadc 631 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 632 }
tnhnrl 20:8987a9ae2bc7 633
tnhnrl 17:7c16b5671d0e 634 // how exit?
tnhnrl 17:7c16b5671d0e 635 if (timer > _timeout) {
tnhnrl 58:94b7fd55185e 636 pc().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", timer.read());
tnhnrl 21:38c8544db6f4 637 _state = EMERGENCY_CLIMB;
tnhnrl 17:7c16b5671d0e 638 timer.reset();
tnhnrl 28:16c83a2fdefa 639 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 640
tnhnrl 17:7c16b5671d0e 641 //reset multi-dive sequence to start
tnhnrl 24:c7d9b5bf3829 642 _multi_dive_counter = 0;
tnhnrl 63:6cb0405fc6e6 643
tnhnrl 68:8f549749b8ce 644 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 645 // sequenceController().loadSequence();
tnhnrl 17:7c16b5671d0e 646 }
tnhnrl 20:8987a9ae2bc7 647 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 17:7c16b5671d0e 648 pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 649
tnhnrl 17:7c16b5671d0e 650 //going to next state
tnhnrl 28:16c83a2fdefa 651 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 652
tnhnrl 17:7c16b5671d0e 653 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 24:c7d9b5bf3829 654 _multi_dive_counter++;
tnhnrl 17:7c16b5671d0e 655
tnhnrl 17:7c16b5671d0e 656 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 657 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 658
tnhnrl 17:7c16b5671d0e 659 //check if this is the end of the dive sequence
tnhnrl 30:2964617e7676 660 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
tnhnrl 30:2964617e7676 661 if (currentStateStruct.state == FLOAT_BROADCAST) {
tnhnrl 68:8f549749b8ce 662 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 663 // sequenceController().loadSequence();
tnhnrl 63:6cb0405fc6e6 664
tnhnrl 28:16c83a2fdefa 665 _state = FLOAT_BROADCAST;
tnhnrl 17:7c16b5671d0e 666 }
tnhnrl 17:7c16b5671d0e 667
tnhnrl 17:7c16b5671d0e 668 else
tnhnrl 63:6cb0405fc6e6 669 _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
tnhnrl 17:7c16b5671d0e 670
tnhnrl 24:c7d9b5bf3829 671 //have to stop this with the _multi_dive_counter variable!
tnhnrl 17:7c16b5671d0e 672 }
tnhnrl 20:8987a9ae2bc7 673
tnhnrl 67:c86a4b464682 674 // WHAT IS ACTIVE?
tnhnrl 17:7c16b5671d0e 675 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 676 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 677 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 678
tnhnrl 67:c86a4b464682 679 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 680
tnhnrl 17:7c16b5671d0e 681 break;
tnhnrl 32:f2f8ae34aadc 682
tnhnrl 71:939d179478c4 683 case TX_MBED_LOG:
tnhnrl 63:6cb0405fc6e6 684 if (!_isTimeoutRunning) {
tnhnrl 71:939d179478c4 685 pc().printf("\r\n\nstate: TX_MBED_LOG\r\n");
tnhnrl 32:f2f8ae34aadc 686 timer.reset(); // timer goes back to zero
tnhnrl 32:f2f8ae34aadc 687 timer.start(); // background timer starts running
tnhnrl 32:f2f8ae34aadc 688 _isTimeoutRunning = true;
tnhnrl 32:f2f8ae34aadc 689
tnhnrl 68:8f549749b8ce 690 //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
tnhnrl 68:8f549749b8ce 691
tnhnrl 71:939d179478c4 692 pc().printf("TX_MBED_LOG set to zero\n\r");
tnhnrl 45:16b8162188ca 693
tnhnrl 69:919ac8d7e023 694 //function to read the file and get number of lines (packets to transmit)
tnhnrl 69:919ac8d7e023 695 _timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
tnhnrl 68:8f549749b8ce 696
tnhnrl 68:8f549749b8ce 697 mbedLogger().setTransmitPacketNumber(0); //reset to zero
tnhnrl 45:16b8162188ca 698 }
tnhnrl 45:16b8162188ca 699
tnhnrl 69:919ac8d7e023 700 //TIMED OUT
tnhnrl 45:16b8162188ca 701 if (timer.read() > _timeout) {
tnhnrl 71:939d179478c4 702 pc().printf("\r\TX_MBED_LOG: timed out!\r\n");
tnhnrl 63:6cb0405fc6e6 703
tnhnrl 63:6cb0405fc6e6 704 //STATE
tnhnrl 45:16b8162188ca 705 _state = SIT_IDLE;
tnhnrl 63:6cb0405fc6e6 706
tnhnrl 63:6cb0405fc6e6 707 timer.reset();
tnhnrl 63:6cb0405fc6e6 708 _isTimeoutRunning = false;
tnhnrl 63:6cb0405fc6e6 709
tnhnrl 71:939d179478c4 710 mbedLogger().closeLogFile();
tnhnrl 71:939d179478c4 711 pc().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
tnhnrl 63:6cb0405fc6e6 712 }
tnhnrl 63:6cb0405fc6e6 713
tnhnrl 68:8f549749b8ce 714 //What is active?
tnhnrl 69:919ac8d7e023 715 mbedLogger().fsmTransmitData();
tnhnrl 69:919ac8d7e023 716 mbedLogger().checkForPythonTransmitRequest();
tnhnrl 68:8f549749b8ce 717
tnhnrl 45:16b8162188ca 718 break;
tnhnrl 45:16b8162188ca 719
tnhnrl 45:16b8162188ca 720 case RECEIVE_SEQUENCE :
tnhnrl 58:94b7fd55185e 721 pc().printf("state: RECEIVE_SEQUENCE\r\n");
tnhnrl 45:16b8162188ca 722
tnhnrl 45:16b8162188ca 723 if (!_isTimeoutRunning) {
tnhnrl 45:16b8162188ca 724 pc().printf("RECEIVE_SEQUENCE _isTimeoutRunning\r\n");
tnhnrl 45:16b8162188ca 725 timer.reset(); // timer goes back to zero
tnhnrl 45:16b8162188ca 726 timer.start(); // background timer starts running
tnhnrl 45:16b8162188ca 727 _isTimeoutRunning = true;
tnhnrl 45:16b8162188ca 728 }
tnhnrl 45:16b8162188ca 729
tnhnrl 34:9b66c5188051 730 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 731 pc().printf("RECEIVE_SEQUENCE: timed out!\r\n");
tnhnrl 34:9b66c5188051 732 _state = SIT_IDLE;
tnhnrl 34:9b66c5188051 733 timer.reset();
tnhnrl 32:f2f8ae34aadc 734 _isTimeoutRunning = false;
tnhnrl 32:f2f8ae34aadc 735 }
tnhnrl 32:f2f8ae34aadc 736
tnhnrl 45:16b8162188ca 737 // what is active?
tnhnrl 58:94b7fd55185e 738 pc().printf("Receive sequence active?\r\n");
tnhnrl 32:f2f8ae34aadc 739
tnhnrl 32:f2f8ae34aadc 740 break;
tnhnrl 16:3363b9f14913 741
tnhnrl 16:3363b9f14913 742 default :
tnhnrl 58:94b7fd55185e 743 pc().printf("DEBUG: SIT_IDLE\r\n");
tnhnrl 21:38c8544db6f4 744 _state = SIT_IDLE;
tnhnrl 28:16c83a2fdefa 745 }
tnhnrl 28:16c83a2fdefa 746
tnhnrl 28:16c83a2fdefa 747 //save the state to print to user
tnhnrl 28:16c83a2fdefa 748 if (_previous_state != _state) {
tnhnrl 28:16c83a2fdefa 749 _state_array[_state_array_counter] = _state; //save to state array
tnhnrl 28:16c83a2fdefa 750 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 751
tnhnrl 28:16c83a2fdefa 752 _previous_state = _state;
tnhnrl 28:16c83a2fdefa 753 }
tnhnrl 34:9b66c5188051 754
tnhnrl 34:9b66c5188051 755 return _state;
tnhnrl 34:9b66c5188051 756 // //if the state is SIT_IDLE, return 0 / false (for recording)
tnhnrl 34:9b66c5188051 757 // if (_state == SIT_IDLE)
tnhnrl 34:9b66c5188051 758 // return 0;
tnhnrl 34:9b66c5188051 759 // else
tnhnrl 34:9b66c5188051 760 // return 1; //return true to indicate that you're recording
tnhnrl 16:3363b9f14913 761 }
tnhnrl 20:8987a9ae2bc7 762
tnhnrl 16:3363b9f14913 763 // output the keyboard menu for user's reference
tnhnrl 69:919ac8d7e023 764 void StateMachine::printSimpleMenu() {
tnhnrl 68:8f549749b8ce 765 pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (06/27/2018):\r\r\n"); //make sure depth sensor tares itself on startup
tnhnrl 63:6cb0405fc6e6 766 pc().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f \r\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm);
tnhnrl 58:94b7fd55185e 767
tnhnrl 58:94b7fd55185e 768 pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 57:ec69651c8c21 769 pc().printf(" J to float level\r\n");
tnhnrl 57:ec69651c8c21 770 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 57:ec69651c8c21 771 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 57:ec69651c8c21 772 pc().printf(" P to print the current log file.\r\n");
tnhnrl 71:939d179478c4 773 pc().printf(" G to TX_MBED_LOG\r\n");
tnhnrl 57:ec69651c8c21 774 pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 58:94b7fd55185e 775
tnhnrl 58:94b7fd55185e 776 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 777 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 778 pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
tnhnrl 67:c86a4b464682 779 pc().printf("A/S to decrease/increase depth setpoint: %3.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 67:c86a4b464682 780
tnhnrl 66:0f20870117b7 781 pc().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 66:0f20870117b7 782
tnhnrl 57:ec69651c8c21 783 pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 58:94b7fd55185e 784 pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 58:94b7fd55185e 785
tnhnrl 67:c86a4b464682 786 pc().printf(" '|' to tare the depth sensor (vertical bar)\r\n");
tnhnrl 67:c86a4b464682 787
tnhnrl 57:ec69651c8c21 788 pc().printf(" ? to reset mbed\r\n");
tnhnrl 58:94b7fd55185e 789 pc().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
tnhnrl 57:ec69651c8c21 790 }
tnhnrl 57:ec69651c8c21 791
tnhnrl 69:919ac8d7e023 792 void StateMachine::printDebugMenu() {
tnhnrl 68:8f549749b8ce 793 pc().printf("\r\r\n\nDEBUG KEYBOARD MENU (06/27/2018):\r\r\n");
tnhnrl 65:2ac186553959 794 pc().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
tnhnrl 58:94b7fd55185e 795 pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 16:3363b9f14913 796 pc().printf(" N to find neutral\r\n");
tnhnrl 17:7c16b5671d0e 797 pc().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 16:3363b9f14913 798 pc().printf(" D to initiate dive cycle\r\n");
tnhnrl 16:3363b9f14913 799 pc().printf(" R to initiate rise\r\n");
tnhnrl 57:ec69651c8c21 800 pc().printf(" J to float level\r\n");
tnhnrl 16:3363b9f14913 801 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 16:3363b9f14913 802 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 49:47ffa4feb6db 803 pc().printf(" '|' to tare the depth sensor (vertical bar)\r\n");
tnhnrl 28:16c83a2fdefa 804 pc().printf(" Z to show FSM and sub-FSM states.\r\n");
tnhnrl 32:f2f8ae34aadc 805 pc().printf(" P to print the current log file.\r\n");
tnhnrl 32:f2f8ae34aadc 806 pc().printf(" X to print the list of log files.\r\n");
tnhnrl 49:47ffa4feb6db 807 pc().printf(" I to receive data.\r\n");
tnhnrl 49:47ffa4feb6db 808 pc().printf(" O to transmit data.\r\n");
tnhnrl 49:47ffa4feb6db 809 pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 32:f2f8ae34aadc 810 pc().printf("[/] to change bce neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
tnhnrl 32:f2f8ae34aadc 811 pc().printf("</> to change batt neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
tnhnrl 32:f2f8ae34aadc 812 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",_pitch_command);
tnhnrl 67:c86a4b464682 813 pc().printf("A/S to decrease/increase depth setpoint: %3.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 58:94b7fd55185e 814 pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
tnhnrl 58:94b7fd55185e 815 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 816 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 817 pc().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 58:94b7fd55185e 818
tnhnrl 58:94b7fd55185e 819 // FIXED WITH NEW CODE
tnhnrl 16:3363b9f14913 820 pc().printf(" 1 BCE PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 821 pc().printf(" 2 BATT PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 822 pc().printf(" 3 Depth PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 823 pc().printf(" 4 Pitch PID sub-menu\r\n");
tnhnrl 58:94b7fd55185e 824 pc().printf(" 5 Rudder (servo) sub-menu\r\n");
tnhnrl 58:94b7fd55185e 825 pc().printf(" 6 HEADING PID sub-menu\r\n");
tnhnrl 58:94b7fd55185e 826 pc().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE ***\r\n");
tnhnrl 58:94b7fd55185e 827 //pc().printf(" 8 VIEW_OUTPUTS sub-menu (does not a have a timer!)\r\n");
tnhnrl 58:94b7fd55185e 828 pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 53:c0586fe62b01 829
tnhnrl 58:94b7fd55185e 830 // FIXED WITH NEW CODE
tnhnrl 58:94b7fd55185e 831
tnhnrl 53:c0586fe62b01 832
tnhnrl 28:16c83a2fdefa 833 pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 16:3363b9f14913 834 pc().printf(" ? to reset mbed\r\n");
tnhnrl 58:94b7fd55185e 835 pc().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
tnhnrl 16:3363b9f14913 836 }
tnhnrl 20:8987a9ae2bc7 837
tnhnrl 67:c86a4b464682 838 //FIND_NEUTRAL Sub-Finite State Machine (sub-FSM)
tnhnrl 67:c86a4b464682 839 // Note: the sub-FSM only moves the pistons once at the start of each timer loop
tnhnrl 67:c86a4b464682 840 // (timer completes, moves piston, timer completes, moves piston, etc)
tnhnrl 28:16c83a2fdefa 841 int StateMachine::runNeutralStateMachine() {
tnhnrl 24:c7d9b5bf3829 842 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 843 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 844 //start the 10 second timer
tnhnrl 28:16c83a2fdefa 845 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 846 _neutral_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 847
tnhnrl 58:94b7fd55185e 848 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 849
tnhnrl 32:f2f8ae34aadc 850 // what are the commands? (BCE linear actuator active, no pitch movement)
tnhnrl 39:58375ca6b6ff 851 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 852
tnhnrl 58:94b7fd55185e 853 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 854
tnhnrl 28:16c83a2fdefa 855 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 856 }
tnhnrl 20:8987a9ae2bc7 857
tnhnrl 20:8987a9ae2bc7 858 // how exit?
tnhnrl 20:8987a9ae2bc7 859 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 860 if (bce().getPosition_mm() <= 0) {
tnhnrl 58:94b7fd55185e 861 pc().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
tnhnrl 25:249e4d56b27c 862 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 863 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 25:249e4d56b27c 864 }
tnhnrl 20:8987a9ae2bc7 865 //once deeper than the commanded setpoint...
tnhnrl 32:f2f8ae34aadc 866 else if (depthLoop().getPosition() > _depth_command) {
tnhnrl 24:c7d9b5bf3829 867 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 28:16c83a2fdefa 868 _isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 869 }
tnhnrl 20:8987a9ae2bc7 870
tnhnrl 20:8987a9ae2bc7 871 // what is active?
tnhnrl 20:8987a9ae2bc7 872 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 873 if (timer.read() >= _neutral_timer) {
tnhnrl 32:f2f8ae34aadc 874 pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", timer.read());
tnhnrl 17:7c16b5671d0e 875
tnhnrl 28:16c83a2fdefa 876 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 877 }
tnhnrl 39:58375ca6b6ff 878
tnhnrl 39:58375ca6b6ff 879 // what is active? (only the buoyancy engine moved every 5 seconds at start)
tnhnrl 39:58375ca6b6ff 880 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 67:c86a4b464682 881
tnhnrl 67:c86a4b464682 882 checkMotorPositions(); //failsafe
tnhnrl 17:7c16b5671d0e 883 break;
tnhnrl 17:7c16b5671d0e 884
tnhnrl 17:7c16b5671d0e 885 case NEUTRAL_SLOWLY_RISE:
tnhnrl 28:16c83a2fdefa 886 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 887 _neutral_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 888
tnhnrl 24:c7d9b5bf3829 889 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 890
tnhnrl 20:8987a9ae2bc7 891 // what are the commands?
tnhnrl 32:f2f8ae34aadc 892 //move piston at start of sequence (default: extend 2.0 mm)
tnhnrl 39:58375ca6b6ff 893 bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command
tnhnrl 23:434f04ef1fad 894
tnhnrl 23:434f04ef1fad 895 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 896 pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 897
tnhnrl 58:94b7fd55185e 898 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 899
tnhnrl 28:16c83a2fdefa 900 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 901 }
tnhnrl 17:7c16b5671d0e 902
tnhnrl 20:8987a9ae2bc7 903 // how exit?
tnhnrl 24:c7d9b5bf3829 904 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 905 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 24:c7d9b5bf3829 906 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 907 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 908 }
tnhnrl 17:7c16b5671d0e 909 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 910 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 24:c7d9b5bf3829 911 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", timer.read());
tnhnrl 24:c7d9b5bf3829 912 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 28:16c83a2fdefa 913 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 914 }
tnhnrl 17:7c16b5671d0e 915
tnhnrl 20:8987a9ae2bc7 916 // what is active?
tnhnrl 20:8987a9ae2bc7 917 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 918 if (timer.read() >= _neutral_timer) {
tnhnrl 32:f2f8ae34aadc 919 pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", timer.read());
tnhnrl 20:8987a9ae2bc7 920
tnhnrl 28:16c83a2fdefa 921 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 922 }
tnhnrl 23:434f04ef1fad 923
tnhnrl 32:f2f8ae34aadc 924 // what is active? (only the buoyancy engine moved every 5 seconds)
tnhnrl 32:f2f8ae34aadc 925 pc().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
tnhnrl 67:c86a4b464682 926 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 67:c86a4b464682 927
tnhnrl 67:c86a4b464682 928 checkMotorPositions(); //failsafe
tnhnrl 17:7c16b5671d0e 929 break;
tnhnrl 17:7c16b5671d0e 930
danstrider 22:a10ee088403b 931 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 932 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 933
tnhnrl 28:16c83a2fdefa 934 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 935 _neutral_timer = timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 24:c7d9b5bf3829 936 pc().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - timer.read());
danstrider 22:a10ee088403b 937
tnhnrl 32:f2f8ae34aadc 938 // what are the commands? (default: retract or extend 0.5 mm)
tnhnrl 24:c7d9b5bf3829 939 if (pitchLoop().getPosition() > 2) { // nose is high
tnhnrl 39:58375ca6b6ff 940 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 58:94b7fd55185e 941 pc().printf("\r\nNeutral Check Pitch: moving battery FWD in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
danstrider 22:a10ee088403b 942 }
tnhnrl 24:c7d9b5bf3829 943 else if (pitchLoop().getPosition() < -2) { // nose is low
tnhnrl 39:58375ca6b6ff 944 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 58:94b7fd55185e 945 pc().printf("\r\nNeutral Check Pitch: moving battery AFT in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
danstrider 22:a10ee088403b 946 }
tnhnrl 24:c7d9b5bf3829 947
tnhnrl 28:16c83a2fdefa 948 _isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 949 }
tnhnrl 20:8987a9ae2bc7 950
tnhnrl 28:16c83a2fdefa 951 // how exit?
tnhnrl 20:8987a9ae2bc7 952 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 953 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 954 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 58:94b7fd55185e 955 pc().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
danstrider 22:a10ee088403b 956 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 957
tnhnrl 28:16c83a2fdefa 958 if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
tnhnrl 28:16c83a2fdefa 959 _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 960 }
tnhnrl 28:16c83a2fdefa 961
tnhnrl 23:434f04ef1fad 962 // found level and at depth too, so save it all now
tnhnrl 32:f2f8ae34aadc 963 if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 964 //save positions locally
danstrider 22:a10ee088403b 965 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 966 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 967
danstrider 22:a10ee088403b 968 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 969 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 970 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 971
danstrider 22:a10ee088403b 972 // save into the depth.txt and pitch.txt files
danstrider 22:a10ee088403b 973 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset
danstrider 22:a10ee088403b 974 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset
danstrider 22:a10ee088403b 975
tnhnrl 58:94b7fd55185e 976 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 977
tnhnrl 24:c7d9b5bf3829 978 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 979 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 980 }
tnhnrl 24:c7d9b5bf3829 981
tnhnrl 24:c7d9b5bf3829 982 else {
tnhnrl 58:94b7fd55185e 983 pc().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
tnhnrl 24:c7d9b5bf3829 984 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 985 }
tnhnrl 17:7c16b5671d0e 986 }
danstrider 22:a10ee088403b 987
danstrider 22:a10ee088403b 988 // what is active?
danstrider 22:a10ee088403b 989 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 990 if (timer.read() >= _neutral_timer) {
danstrider 22:a10ee088403b 991 pc().printf("\r\n\nlevel timer COMPLETE!");
danstrider 22:a10ee088403b 992 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 993 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 994 }
tnhnrl 67:c86a4b464682 995
tnhnrl 67:c86a4b464682 996 checkMotorPositions(); //failsafe
tnhnrl 17:7c16b5671d0e 997 break;
danstrider 22:a10ee088403b 998
danstrider 22:a10ee088403b 999 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 1000 case NEUTRAL_EXIT :
tnhnrl 58:94b7fd55185e 1001 pc().printf("substate: NEUTRAL_EXIT\r\n");
tnhnrl 20:8987a9ae2bc7 1002 break;
tnhnrl 21:38c8544db6f4 1003
danstrider 22:a10ee088403b 1004 default :
tnhnrl 58:94b7fd55185e 1005 pc().printf("how did we get to substate: default?\r\n"); //debug
tnhnrl 23:434f04ef1fad 1006 //a default within the sub-state machine
tnhnrl 24:c7d9b5bf3829 1007 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1008 break;
tnhnrl 17:7c16b5671d0e 1009 }
tnhnrl 20:8987a9ae2bc7 1010
tnhnrl 30:2964617e7676 1011 // reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
tnhnrl 24:c7d9b5bf3829 1012 if (_substate == NEUTRAL_EXIT) {
tnhnrl 58:94b7fd55185e 1013 pc().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
tnhnrl 24:c7d9b5bf3829 1014
tnhnrl 30:2964617e7676 1015 //reset internal sub-state back to first entry conditions (first state is immediately sinking)
tnhnrl 30:2964617e7676 1016 _substate = NEUTRAL_SINKING;
tnhnrl 28:16c83a2fdefa 1017 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 21:38c8544db6f4 1018
tnhnrl 24:c7d9b5bf3829 1019 //record sub-states to view after sequence
tnhnrl 30:2964617e7676 1020 _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
tnhnrl 28:16c83a2fdefa 1021 _substate_array_counter++;
tnhnrl 23:434f04ef1fad 1022
tnhnrl 24:c7d9b5bf3829 1023 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 1024 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 1025
tnhnrl 24:c7d9b5bf3829 1026 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 1027 return NEUTRAL_EXIT; // message to calling function we just exited
tnhnrl 21:38c8544db6f4 1028 }
tnhnrl 23:434f04ef1fad 1029 else {
tnhnrl 24:c7d9b5bf3829 1030 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 1031 if (_previous_substate != _substate) {
tnhnrl 28:16c83a2fdefa 1032 _substate_array[_substate_array_counter] = _substate; //save current state to state array
tnhnrl 28:16c83a2fdefa 1033 _substate_array_counter++;
tnhnrl 24:c7d9b5bf3829 1034
tnhnrl 24:c7d9b5bf3829 1035 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 1036 _previous_substate = _substate;
tnhnrl 24:c7d9b5bf3829 1037 }
tnhnrl 24:c7d9b5bf3829 1038
tnhnrl 24:c7d9b5bf3829 1039 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 1040 }
tnhnrl 17:7c16b5671d0e 1041 }
tnhnrl 20:8987a9ae2bc7 1042
tnhnrl 57:ec69651c8c21 1043 /* keyboard runs independently of the state machine, handling one key at a time
tnhnrl 57:ec69651c8c21 1044 keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 57:ec69651c8c21 1045 and only allows input when the state is "idle" */
tnhnrl 57:ec69651c8c21 1046
tnhnrl 17:7c16b5671d0e 1047 void StateMachine::keyboard() {
tnhnrl 57:ec69651c8c21 1048 char user_input;
tnhnrl 20:8987a9ae2bc7 1049
tnhnrl 16:3363b9f14913 1050 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 1051 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 1052
tnhnrl 37:357e98a929cc 1053 //TEST
tnhnrl 37:357e98a929cc 1054 int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 1055
tnhnrl 28:16c83a2fdefa 1056 if (pc().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) {
tnhnrl 16:3363b9f14913 1057 // get the key
tnhnrl 57:ec69651c8c21 1058 user_input = pc().getc();
tnhnrl 17:7c16b5671d0e 1059
tnhnrl 28:16c83a2fdefa 1060 //record that the keyboard was used
tnhnrl 28:16c83a2fdefa 1061 _state_array[_state_array_counter] = KEYBOARD;
tnhnrl 28:16c83a2fdefa 1062 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 1063
tnhnrl 21:38c8544db6f4 1064 // keyboard has to reset timer each time it's used
tnhnrl 28:16c83a2fdefa 1065 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 1066
tnhnrl 16:3363b9f14913 1067 // check command against desired control buttons
tnhnrl 57:ec69651c8c21 1068
tnhnrl 57:ec69651c8c21 1069 /***************************** DEBUG MENU *****************************/
tnhnrl 57:ec69651c8c21 1070 if (_debug_menu_on) {
tnhnrl 17:7c16b5671d0e 1071
tnhnrl 65:2ac186553959 1072 if (user_input == 'T') {
tnhnrl 65:2ac186553959 1073 pc().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 65:2ac186553959 1074 _timeout = fabs(getFloatUserInput());
tnhnrl 65:2ac186553959 1075 }
tnhnrl 65:2ac186553959 1076
tnhnrl 57:ec69651c8c21 1077 if (user_input == 'D') {
tnhnrl 57:ec69651c8c21 1078 _keyboard_state = DIVE;
tnhnrl 57:ec69651c8c21 1079 }
tnhnrl 57:ec69651c8c21 1080 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1081 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1082 }
tnhnrl 57:ec69651c8c21 1083 else if (user_input == 'M') {
tnhnrl 57:ec69651c8c21 1084 //currently does not run if there is no file.
tnhnrl 57:ec69651c8c21 1085
tnhnrl 57:ec69651c8c21 1086 //need to add method to Sequence Controller that returns -1
tnhnrl 57:ec69651c8c21 1087 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 57:ec69651c8c21 1088
tnhnrl 68:8f549749b8ce 1089 //load sequence from file
tnhnrl 68:8f549749b8ce 1090 _multi_dive_counter = 0;
tnhnrl 68:8f549749b8ce 1091 sequenceController().loadSequence();
tnhnrl 68:8f549749b8ce 1092 wait(1); //test if this resets the sequence
tnhnrl 68:8f549749b8ce 1093
tnhnrl 57:ec69651c8c21 1094 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 57:ec69651c8c21 1095 _keyboard_state = currentStateStruct.state;
tnhnrl 57:ec69651c8c21 1096
tnhnrl 58:94b7fd55185e 1097 pc().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 57:ec69651c8c21 1098 }
tnhnrl 57:ec69651c8c21 1099 else if (user_input == 'R') {
tnhnrl 57:ec69651c8c21 1100 _keyboard_state = RISE;
tnhnrl 57:ec69651c8c21 1101 }
tnhnrl 57:ec69651c8c21 1102 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1103 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1104 }
tnhnrl 57:ec69651c8c21 1105 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1106 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1107 }
tnhnrl 57:ec69651c8c21 1108 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1109 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1110 }
tnhnrl 17:7c16b5671d0e 1111
tnhnrl 65:2ac186553959 1112 else if (user_input == 'Y') {
tnhnrl 57:ec69651c8c21 1113 _keyboard_state = CHECK_TUNING;
tnhnrl 57:ec69651c8c21 1114 }
tnhnrl 17:7c16b5671d0e 1115
tnhnrl 58:94b7fd55185e 1116 else if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1117 _keyboard_state = POSITION_DIVE;
tnhnrl 58:94b7fd55185e 1118 }
tnhnrl 58:94b7fd55185e 1119
tnhnrl 57:ec69651c8c21 1120 // some debug tools below
tnhnrl 57:ec69651c8c21 1121 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1122 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1123 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1124 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 57:ec69651c8c21 1125 }
tnhnrl 57:ec69651c8c21 1126 else if (user_input == 'X') {
tnhnrl 57:ec69651c8c21 1127 mbedLogger().printMbedDirectory(); //print all log files to the screen
tnhnrl 57:ec69651c8c21 1128 }
tnhnrl 57:ec69651c8c21 1129 else if (user_input == 'I') {
tnhnrl 57:ec69651c8c21 1130 mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files
tnhnrl 57:ec69651c8c21 1131 }
tnhnrl 57:ec69651c8c21 1132 else if (user_input == '~') {
tnhnrl 58:94b7fd55185e 1133 pc().printf("ERASING MBED LOG FILE\r\n");
tnhnrl 57:ec69651c8c21 1134 mbedLogger().eraseFile();
tnhnrl 57:ec69651c8c21 1135 }
tnhnrl 57:ec69651c8c21 1136 else if (user_input == 'Z') {
tnhnrl 58:94b7fd55185e 1137 pc().printf("FSG FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1138 string string_state;
tnhnrl 57:ec69651c8c21 1139
tnhnrl 57:ec69651c8c21 1140 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1141 if (_state_array[i] == SIT_IDLE)
tnhnrl 57:ec69651c8c21 1142 string_state = "SIT_IDLE <END>";
tnhnrl 57:ec69651c8c21 1143 else if (_state_array[i] == FIND_NEUTRAL)
tnhnrl 57:ec69651c8c21 1144 string_state = "FIND_NEUTRAL";
tnhnrl 57:ec69651c8c21 1145 else if (_state_array[i] == DIVE)
tnhnrl 57:ec69651c8c21 1146 string_state = "DIVE";
tnhnrl 57:ec69651c8c21 1147 else if (_state_array[i] == RISE)
tnhnrl 57:ec69651c8c21 1148 string_state = "RISE";
tnhnrl 57:ec69651c8c21 1149 else if (_state_array[i] == FLOAT_LEVEL)
tnhnrl 57:ec69651c8c21 1150 string_state = "FLOAT_LEVEL";
tnhnrl 57:ec69651c8c21 1151 else if (_state_array[i] == FLOAT_BROADCAST)
tnhnrl 57:ec69651c8c21 1152 string_state = "FLOAT_BROADCAST";
tnhnrl 57:ec69651c8c21 1153 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1154 string_state = "EMERGENCY_CLIMB";
tnhnrl 57:ec69651c8c21 1155 else if (_state_array[i] == MULTI_DIVE)
tnhnrl 57:ec69651c8c21 1156 string_state = "MULTI_DIVE";
tnhnrl 57:ec69651c8c21 1157 else if (_state_array[i] == MULTI_RISE)
tnhnrl 57:ec69651c8c21 1158 string_state = "MULTI_RISE";
tnhnrl 57:ec69651c8c21 1159 else if (_state_array[i] == KEYBOARD)
tnhnrl 57:ec69651c8c21 1160 string_state = "KEYBOARD";
tnhnrl 58:94b7fd55185e 1161 pc().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
tnhnrl 57:ec69651c8c21 1162 }
tnhnrl 57:ec69651c8c21 1163
tnhnrl 58:94b7fd55185e 1164 pc().printf("\r\nNeutral sub-FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1165 string string_substate;
tnhnrl 57:ec69651c8c21 1166
tnhnrl 57:ec69651c8c21 1167 for (int i = 0; i < _substate_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1168 if (_substate_array[i] == NEUTRAL_SINKING)
tnhnrl 57:ec69651c8c21 1169 string_substate = "NEUTRAL_SINKING";
tnhnrl 57:ec69651c8c21 1170 else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 57:ec69651c8c21 1171 string_substate = "NEUTRAL_SLOWLY_RISE";
tnhnrl 57:ec69651c8c21 1172 else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 57:ec69651c8c21 1173 string_substate = "NEUTRAL_CHECK_PITCH";
tnhnrl 57:ec69651c8c21 1174 else if (_substate_array[i] == NEUTRAL_EXIT)
tnhnrl 57:ec69651c8c21 1175 string_substate = "NEUTRAL_EXIT <-- ";
tnhnrl 57:ec69651c8c21 1176 else if (_substate_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1177 string_substate = " -- > EMERGENCY_CLIMB <-- ";
tnhnrl 58:94b7fd55185e 1178 pc().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
tnhnrl 57:ec69651c8c21 1179 }
tnhnrl 58:94b7fd55185e 1180 pc().printf("\r\n"); //make space between printouts
tnhnrl 57:ec69651c8c21 1181 }
tnhnrl 57:ec69651c8c21 1182 else if (user_input == '|') {
tnhnrl 57:ec69651c8c21 1183 pc().printf("taring depth sensor\r\n");
tnhnrl 57:ec69651c8c21 1184 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 57:ec69651c8c21 1185 wait(0.1);
tnhnrl 57:ec69651c8c21 1186 depth().tare(); // tares to ambient (do on surface)
tnhnrl 57:ec69651c8c21 1187 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 57:ec69651c8c21 1188 }
tnhnrl 28:16c83a2fdefa 1189
tnhnrl 57:ec69651c8c21 1190 else if (user_input == '[' or user_input == '{') {
tnhnrl 57:ec69651c8c21 1191 _neutral_bce_pos_mm = depthLoop().getOutputOffset() - 1;
tnhnrl 57:ec69651c8c21 1192 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
tnhnrl 57:ec69651c8c21 1193 pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1194 // save neutral depth value to config file
tnhnrl 57:ec69651c8c21 1195 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 57:ec69651c8c21 1196 }
tnhnrl 57:ec69651c8c21 1197 else if (user_input == ']' or user_input == '}') {
tnhnrl 57:ec69651c8c21 1198 _neutral_bce_pos_mm = depthLoop().getOutputOffset() + 1;
tnhnrl 57:ec69651c8c21 1199 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // increase the bce neutral setpoint
tnhnrl 57:ec69651c8c21 1200 pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1201 // save neutral depth value to config file
tnhnrl 57:ec69651c8c21 1202 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 57:ec69651c8c21 1203 }
tnhnrl 57:ec69651c8c21 1204 else if (user_input == '<' or user_input == ',') {
tnhnrl 57:ec69651c8c21 1205 _neutral_batt_pos_mm = pitchLoop().getOutputOffset() - 1;
tnhnrl 57:ec69651c8c21 1206 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
tnhnrl 57:ec69651c8c21 1207 pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1208 // save neutral pitch value to config file
tnhnrl 57:ec69651c8c21 1209 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 57:ec69651c8c21 1210 }
tnhnrl 57:ec69651c8c21 1211 else if (user_input == '>' or user_input == '.') {
tnhnrl 57:ec69651c8c21 1212 _neutral_batt_pos_mm = pitchLoop().getOutputOffset() + 1;
tnhnrl 57:ec69651c8c21 1213 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // increase the batt neutral setpoint
tnhnrl 57:ec69651c8c21 1214 pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1215 // save neutral pitch value to config file
tnhnrl 57:ec69651c8c21 1216 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 28:16c83a2fdefa 1217 }
tnhnrl 28:16c83a2fdefa 1218
tnhnrl 57:ec69651c8c21 1219 else if (user_input == '?') {
tnhnrl 57:ec69651c8c21 1220 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 57:ec69651c8c21 1221 wait(0.5);
tnhnrl 57:ec69651c8c21 1222 mbed_reset();
tnhnrl 57:ec69651c8c21 1223 }
tnhnrl 57:ec69651c8c21 1224
tnhnrl 57:ec69651c8c21 1225 // change settings
tnhnrl 57:ec69651c8c21 1226 else if (user_input == 'Q' or user_input == 'q') {
tnhnrl 57:ec69651c8c21 1227 _pitch_command -= 0.5; //decrement the pitch setpoint
tnhnrl 57:ec69651c8c21 1228 pitchLoop().setCommand(_pitch_command);
tnhnrl 57:ec69651c8c21 1229 pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
tnhnrl 57:ec69651c8c21 1230 }
tnhnrl 57:ec69651c8c21 1231 else if (user_input == 'W' or user_input == 'w') {
tnhnrl 57:ec69651c8c21 1232 _pitch_command += 0.5; //increment the pitch setpoint
tnhnrl 57:ec69651c8c21 1233 pitchLoop().setCommand(_pitch_command);
tnhnrl 57:ec69651c8c21 1234 pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
tnhnrl 57:ec69651c8c21 1235 }
tnhnrl 57:ec69651c8c21 1236 else if (user_input == 'A' or user_input == 'a') {
tnhnrl 57:ec69651c8c21 1237 _depth_command -= 0.5; //decrement the depth setpoint
tnhnrl 57:ec69651c8c21 1238 depthLoop().setCommand(_depth_command);
tnhnrl 57:ec69651c8c21 1239 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
tnhnrl 57:ec69651c8c21 1240 }
tnhnrl 57:ec69651c8c21 1241 else if (user_input == 'S' or user_input == 's') {
tnhnrl 57:ec69651c8c21 1242 _depth_command += 0.5; //increment the depth setpoint
tnhnrl 57:ec69651c8c21 1243 depthLoop().setCommand(_depth_command);
tnhnrl 57:ec69651c8c21 1244 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
tnhnrl 65:2ac186553959 1245 }
tnhnrl 57:ec69651c8c21 1246 else if (user_input == '5') {
tnhnrl 58:94b7fd55185e 1247 keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 57:ec69651c8c21 1248 }
tnhnrl 57:ec69651c8c21 1249
tnhnrl 57:ec69651c8c21 1250 else if (user_input == '6') {
tnhnrl 58:94b7fd55185e 1251 keyboard_menu_HEADING_PID_settings();
tnhnrl 58:94b7fd55185e 1252 }
tnhnrl 57:ec69651c8c21 1253
tnhnrl 58:94b7fd55185e 1254 // go to tuning sub-menu
tnhnrl 57:ec69651c8c21 1255 else if (user_input == '7') {
tnhnrl 58:94b7fd55185e 1256 keyboard_menu_MANUAL_TUNING();
tnhnrl 57:ec69651c8c21 1257 }
tnhnrl 57:ec69651c8c21 1258
tnhnrl 57:ec69651c8c21 1259 else if (user_input == '8') {
tnhnrl 58:94b7fd55185e 1260 keyboard_menu_STREAM_STATUS(); //and channel readings for debugging
tnhnrl 57:ec69651c8c21 1261 }
tnhnrl 58:94b7fd55185e 1262
tnhnrl 57:ec69651c8c21 1263 else if (user_input == '9') {
tnhnrl 58:94b7fd55185e 1264 _heading_command -= 5.0; //decrement the rudder setpoint
tnhnrl 58:94b7fd55185e 1265 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1266 pc().printf(">>> (-) new HEADING setpoint: %0.3f deg (-)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1267 }
tnhnrl 58:94b7fd55185e 1268 else if (user_input == '0') {
tnhnrl 58:94b7fd55185e 1269 _heading_command += 5.0; //increment the rudder setpoint
tnhnrl 58:94b7fd55185e 1270 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1271 pc().printf(">>> (+) new HEADING setpoint: %0.3f deg (+)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1272 }
tnhnrl 65:2ac186553959 1273 else if (user_input == 'U') {
tnhnrl 57:ec69651c8c21 1274 keyboard_menu_POSITION_READINGS();
tnhnrl 57:ec69651c8c21 1275 }
tnhnrl 57:ec69651c8c21 1276
tnhnrl 57:ec69651c8c21 1277 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 57:ec69651c8c21 1278 else if (user_input == '1') {
tnhnrl 57:ec69651c8c21 1279 keyboard_menu_BCE_PID_settings();
tnhnrl 57:ec69651c8c21 1280 }
tnhnrl 57:ec69651c8c21 1281 else if (user_input == '2') {
tnhnrl 57:ec69651c8c21 1282 keyboard_menu_BATT_PID_settings();
tnhnrl 57:ec69651c8c21 1283 }
tnhnrl 57:ec69651c8c21 1284 else if (user_input == '3') {
tnhnrl 57:ec69651c8c21 1285 keyboard_menu_DEPTH_PID_settings();
tnhnrl 57:ec69651c8c21 1286 }
tnhnrl 57:ec69651c8c21 1287 else if (user_input == '4') {
tnhnrl 57:ec69651c8c21 1288 keyboard_menu_PITCH_PID_settings();
tnhnrl 28:16c83a2fdefa 1289 }
tnhnrl 57:ec69651c8c21 1290
tnhnrl 57:ec69651c8c21 1291 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 57:ec69651c8c21 1292
tnhnrl 58:94b7fd55185e 1293 pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 57:ec69651c8c21 1294
tnhnrl 57:ec69651c8c21 1295 // Testing out ADC
tnhnrl 57:ec69651c8c21 1296 float vref = 5.6;
tnhnrl 57:ec69651c8c21 1297 float vmeasured = 0;
tnhnrl 57:ec69651c8c21 1298 unsigned int raw = adc().readCh5();
tnhnrl 57:ec69651c8c21 1299 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 57:ec69651c8c21 1300 pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 57:ec69651c8c21 1301 pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 57:ec69651c8c21 1302 pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 57:ec69651c8c21 1303 pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 57:ec69651c8c21 1304 pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 57:ec69651c8c21 1305 pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 57:ec69651c8c21 1306 pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
tnhnrl 57:ec69651c8c21 1307 pc().printf("raw board current: %d \r\n",adc().readCh7());
tnhnrl 57:ec69651c8c21 1308 pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 57:ec69651c8c21 1309 pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 57:ec69651c8c21 1310 pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 57:ec69651c8c21 1311 // End of ADC Test
tnhnrl 57:ec69651c8c21 1312
tnhnrl 57:ec69651c8c21 1313 pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 57:ec69651c8c21 1314 pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 57:ec69651c8c21 1315 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 57:ec69651c8c21 1316 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 57:ec69651c8c21 1317 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 57:ec69651c8c21 1318 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 57:ec69651c8c21 1319 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 57:ec69651c8c21 1320 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 57:ec69651c8c21 1321
tnhnrl 58:94b7fd55185e 1322 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 1323 pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1324 pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1325 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 1326
tnhnrl 58:94b7fd55185e 1327 pc().printf("\r\n");
tnhnrl 57:ec69651c8c21 1328 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 1329 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 1330 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 1331 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 1332 }
tnhnrl 57:ec69651c8c21 1333
tnhnrl 57:ec69651c8c21 1334 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1335 else if (user_input == 'k') {
tnhnrl 58:94b7fd55185e 1336 _BCE_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1337 pc().printf("Decreased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1338 }
tnhnrl 57:ec69651c8c21 1339 else if (user_input == 'l') {
tnhnrl 58:94b7fd55185e 1340 _BCE_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1341 pc().printf("Increased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1342 }
tnhnrl 57:ec69651c8c21 1343 else if (user_input == ';') {
tnhnrl 58:94b7fd55185e 1344 _BMM_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1345 pc().printf("Decreased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1346 }
tnhnrl 57:ec69651c8c21 1347 else if (user_input == '\'') {
tnhnrl 58:94b7fd55185e 1348 _BMM_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1349 pc().printf("Increased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1350 }
tnhnrl 57:ec69651c8c21 1351 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1352
tnhnrl 57:ec69651c8c21 1353 else if (user_input == '*') {
tnhnrl 58:94b7fd55185e 1354 pc().printf("SWITCHING TO SIMPLE MENU!\r\n");
tnhnrl 57:ec69651c8c21 1355 wait(2);
tnhnrl 57:ec69651c8c21 1356 _debug_menu_on = false;
tnhnrl 57:ec69651c8c21 1357 }
tnhnrl 57:ec69651c8c21 1358 } //end of debug menu
tnhnrl 57:ec69651c8c21 1359 /***************************** DEBUG MENU *****************************/
tnhnrl 57:ec69651c8c21 1360
tnhnrl 57:ec69651c8c21 1361 /***************************** SIMPLE MENU *****************************/
tnhnrl 65:2ac186553959 1362 else {
tnhnrl 65:2ac186553959 1363 if (user_input == 'T') {
tnhnrl 65:2ac186553959 1364 pc().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 65:2ac186553959 1365 _timeout = fabs(getFloatUserInput());
tnhnrl 65:2ac186553959 1366 }
tnhnrl 58:94b7fd55185e 1367 if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1368 _keyboard_state = POSITION_DIVE;
tnhnrl 57:ec69651c8c21 1369 }
tnhnrl 57:ec69651c8c21 1370 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1371 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1372 }
tnhnrl 57:ec69651c8c21 1373 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1374 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1375 }
tnhnrl 57:ec69651c8c21 1376 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1377 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1378 }
tnhnrl 57:ec69651c8c21 1379 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1380 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1381 }
tnhnrl 57:ec69651c8c21 1382
tnhnrl 57:ec69651c8c21 1383 // some debug tools below
tnhnrl 57:ec69651c8c21 1384 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1385 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1386 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1387 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 71:939d179478c4 1388 }
tnhnrl 68:8f549749b8ce 1389 else if (user_input == 'G') {
tnhnrl 70:0e5180befedd 1390 wait(1);
tnhnrl 71:939d179478c4 1391 _keyboard_state = TX_MBED_LOG;
tnhnrl 68:8f549749b8ce 1392 }
tnhnrl 68:8f549749b8ce 1393
tnhnrl 57:ec69651c8c21 1394 else if (user_input == '~') {
tnhnrl 58:94b7fd55185e 1395 pc().printf("ERASING MBED LOG FILE\r\n");
tnhnrl 57:ec69651c8c21 1396 mbedLogger().eraseFile();
tnhnrl 57:ec69651c8c21 1397 }
tnhnrl 57:ec69651c8c21 1398
tnhnrl 58:94b7fd55185e 1399 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 58:94b7fd55185e 1400
tnhnrl 58:94b7fd55185e 1401 pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 58:94b7fd55185e 1402
tnhnrl 58:94b7fd55185e 1403 // Testing out ADC
tnhnrl 58:94b7fd55185e 1404 float vref = 5.6;
tnhnrl 58:94b7fd55185e 1405 float vmeasured = 0;
tnhnrl 58:94b7fd55185e 1406 unsigned int raw = adc().readCh5();
tnhnrl 58:94b7fd55185e 1407 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 68:8f549749b8ce 1408
tnhnrl 68:8f549749b8ce 1409 //same equations in mbed logger
tnhnrl 68:8f549749b8ce 1410 float press_xducer_PSI = (22.029*(5.0*adc().readCh5()/4095.0) + 10.884) * 0.145038; // Press_Xducer (on-board)
tnhnrl 68:8f549749b8ce 1411 float voltage_input = (adc().readCh6()/4095.0) * 5.0 * 7.8; //tnh
tnhnrl 68:8f549749b8ce 1412 float current_input = adc().readCh7()/4095.0;
tnhnrl 68:8f549749b8ce 1413
tnhnrl 58:94b7fd55185e 1414 pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 58:94b7fd55185e 1415 pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 58:94b7fd55185e 1416 pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 58:94b7fd55185e 1417 pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 58:94b7fd55185e 1418 pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 68:8f549749b8ce 1419 pc().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),press_xducer_PSI);
tnhnrl 68:8f549749b8ce 1420 //pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 68:8f549749b8ce 1421 pc().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),voltage_input);
tnhnrl 68:8f549749b8ce 1422 pc().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), current_input);
tnhnrl 58:94b7fd55185e 1423 pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 58:94b7fd55185e 1424 pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 58:94b7fd55185e 1425 pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 58:94b7fd55185e 1426 // End of ADC Test
tnhnrl 58:94b7fd55185e 1427
tnhnrl 58:94b7fd55185e 1428 pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 58:94b7fd55185e 1429 pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 58:94b7fd55185e 1430 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 58:94b7fd55185e 1431 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 58:94b7fd55185e 1432 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 58:94b7fd55185e 1433 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 58:94b7fd55185e 1434 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 1435 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 58:94b7fd55185e 1436
tnhnrl 58:94b7fd55185e 1437 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 1438 pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1439 pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1440 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 1441
tnhnrl 58:94b7fd55185e 1442 pc().printf("\r\n");
tnhnrl 58:94b7fd55185e 1443 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 1444 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 1445 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 1446 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 1447 }
tnhnrl 67:c86a4b464682 1448
tnhnrl 67:c86a4b464682 1449 else if (user_input == 'A' or user_input == 'a') {
tnhnrl 67:c86a4b464682 1450 _depth_command -= 0.5; //decrement the depth setpoint
tnhnrl 67:c86a4b464682 1451 depthLoop().setCommand(_depth_command);
tnhnrl 67:c86a4b464682 1452 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
tnhnrl 67:c86a4b464682 1453 }
tnhnrl 67:c86a4b464682 1454 else if (user_input == 'S' or user_input == 's') {
tnhnrl 67:c86a4b464682 1455 _depth_command += 0.5; //increment the depth setpoint
tnhnrl 67:c86a4b464682 1456 depthLoop().setCommand(_depth_command);
tnhnrl 67:c86a4b464682 1457 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
tnhnrl 67:c86a4b464682 1458 }
tnhnrl 65:2ac186553959 1459
tnhnrl 57:ec69651c8c21 1460 else if (user_input == '?') {
tnhnrl 57:ec69651c8c21 1461 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 57:ec69651c8c21 1462 wait(0.5);
tnhnrl 57:ec69651c8c21 1463 mbed_reset();
tnhnrl 57:ec69651c8c21 1464 }
tnhnrl 57:ec69651c8c21 1465
tnhnrl 67:c86a4b464682 1466 else if (user_input == '|') {
tnhnrl 67:c86a4b464682 1467 pc().printf("taring depth sensor\r\n");
tnhnrl 67:c86a4b464682 1468 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 67:c86a4b464682 1469 wait(0.1);
tnhnrl 67:c86a4b464682 1470 depth().tare(); // tares to ambient (do on surface)
tnhnrl 67:c86a4b464682 1471 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 67:c86a4b464682 1472 }
tnhnrl 67:c86a4b464682 1473
tnhnrl 57:ec69651c8c21 1474 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1475 else if (user_input == 'k') {
tnhnrl 58:94b7fd55185e 1476 _BCE_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1477 pc().printf("Decreased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1478 }
tnhnrl 57:ec69651c8c21 1479 else if (user_input == 'l') {
tnhnrl 58:94b7fd55185e 1480 _BCE_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1481 pc().printf("Increased BCE dive offset to %0.1f\r\n", _BCE_dive_offset);
tnhnrl 57:ec69651c8c21 1482 }
tnhnrl 57:ec69651c8c21 1483 else if (user_input == ';') {
tnhnrl 58:94b7fd55185e 1484 _BMM_dive_offset -= 1.0;
tnhnrl 58:94b7fd55185e 1485 pc().printf("Decreased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1486 }
tnhnrl 57:ec69651c8c21 1487 else if (user_input == '\'') {
tnhnrl 58:94b7fd55185e 1488 _BMM_dive_offset += 1.0;
tnhnrl 58:94b7fd55185e 1489 pc().printf("Increased BMM dive offset to %0.1f\r\n", _BMM_dive_offset);
tnhnrl 57:ec69651c8c21 1490 }
tnhnrl 57:ec69651c8c21 1491 //POSITION DIVE COMMANDS
tnhnrl 58:94b7fd55185e 1492
tnhnrl 58:94b7fd55185e 1493 else if (user_input == '9') {
tnhnrl 58:94b7fd55185e 1494 _heading_command -= 5.0; //decrement the rudder setpoint
tnhnrl 58:94b7fd55185e 1495 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1496 pc().printf(">>> (-) new HEADING setpoint: %0.3f deg (-)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1497 }
tnhnrl 58:94b7fd55185e 1498 else if (user_input == '0') {
tnhnrl 58:94b7fd55185e 1499 _heading_command += 5.0; //increment the rudder setpoint
tnhnrl 58:94b7fd55185e 1500 headingLoop().setCommand(_heading_command);
tnhnrl 58:94b7fd55185e 1501 pc().printf(">>> (+) new HEADING setpoint: %0.3f deg (+)\r\n", headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 1502 }
tnhnrl 58:94b7fd55185e 1503
tnhnrl 58:94b7fd55185e 1504 else if (user_input == '8') {
tnhnrl 58:94b7fd55185e 1505 keyboard_menu_STREAM_STATUS();
tnhnrl 58:94b7fd55185e 1506 }
tnhnrl 57:ec69651c8c21 1507
tnhnrl 57:ec69651c8c21 1508 else if (user_input == '*') {
tnhnrl 58:94b7fd55185e 1509 pc().printf("SWITCHING TO DEBUG MENU!\r\n");
tnhnrl 57:ec69651c8c21 1510 _debug_menu_on = true;
tnhnrl 57:ec69651c8c21 1511 wait(2);
tnhnrl 57:ec69651c8c21 1512 }
tnhnrl 16:3363b9f14913 1513 }
tnhnrl 57:ec69651c8c21 1514 /***************************** SIMPLE MENU *****************************/
tnhnrl 17:7c16b5671d0e 1515
tnhnrl 17:7c16b5671d0e 1516 //when you read the keyboard successfully, change the state
tnhnrl 28:16c83a2fdefa 1517 _state = _keyboard_state; //set state at the end of this function
tnhnrl 58:94b7fd55185e 1518 //pc().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
tnhnrl 16:3363b9f14913 1519 }
tnhnrl 16:3363b9f14913 1520 }
tnhnrl 52:f207567d3ea4 1521
tnhnrl 52:f207567d3ea4 1522 void StateMachine::keyboard_menu_STREAM_STATUS() {
tnhnrl 52:f207567d3ea4 1523 char STATUS_key;
tnhnrl 52:f207567d3ea4 1524
tnhnrl 52:f207567d3ea4 1525 // show the menu
tnhnrl 58:94b7fd55185e 1526 pc().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
tnhnrl 52:f207567d3ea4 1527
tnhnrl 52:f207567d3ea4 1528 while (1) {
tnhnrl 52:f207567d3ea4 1529 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1530 STATUS_key = pc().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1531 }
tnhnrl 52:f207567d3ea4 1532
tnhnrl 52:f207567d3ea4 1533 else {
tnhnrl 52:f207567d3ea4 1534
tnhnrl 52:f207567d3ea4 1535 wait(1);
tnhnrl 54:d4990fb68404 1536
tnhnrl 58:94b7fd55185e 1537
tnhnrl 65:2ac186553959 1538 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 1539 //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 1540 //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 1541
tnhnrl 54:d4990fb68404 1542
tnhnrl 56:48a8a5a65b82 1543 //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 1544
tnhnrl 54:d4990fb68404 1545 //pc().printf("Neutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 54:d4990fb68404 1546 // pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 54:d4990fb68404 1547 // pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 54:d4990fb68404 1548 // pc().printf("heading (rudder): %3.1f deg\r\n",rudderLoop().getPosition()); //for heading
tnhnrl 52:f207567d3ea4 1549
tnhnrl 54:d4990fb68404 1550 // pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 54:d4990fb68404 1551 // pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 54:d4990fb68404 1552 //
tnhnrl 54:d4990fb68404 1553 // pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 54:d4990fb68404 1554 // pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 52:f207567d3ea4 1555
tnhnrl 54:d4990fb68404 1556 // pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 54:d4990fb68404 1557 // pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 54:d4990fb68404 1558 //
tnhnrl 54:d4990fb68404 1559 // pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 54:d4990fb68404 1560 // pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 52:f207567d3ea4 1561
tnhnrl 52:f207567d3ea4 1562 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1563 }
tnhnrl 52:f207567d3ea4 1564
tnhnrl 52:f207567d3ea4 1565 // process the keys
tnhnrl 58:94b7fd55185e 1566 if (STATUS_key == 'X') {
tnhnrl 58:94b7fd55185e 1567 pc().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
tnhnrl 52:f207567d3ea4 1568 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1569 }
tnhnrl 52:f207567d3ea4 1570
tnhnrl 52:f207567d3ea4 1571 else {
tnhnrl 58:94b7fd55185e 1572 pc().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
tnhnrl 52:f207567d3ea4 1573 }
tnhnrl 52:f207567d3ea4 1574 }
tnhnrl 52:f207567d3ea4 1575 }
tnhnrl 52:f207567d3ea4 1576
tnhnrl 52:f207567d3ea4 1577 void StateMachine::keyboard_menu_RUDDER_SERVO_settings() {
tnhnrl 52:f207567d3ea4 1578 //load current parameters from the rudder
tnhnrl 52:f207567d3ea4 1579 float rudder_min_pwm = rudder().getMinPWM();
tnhnrl 52:f207567d3ea4 1580 float rudder_max_pwm = rudder().getMaxPWM();
tnhnrl 52:f207567d3ea4 1581 float rudder_ctr_pwm = rudder().getCenterPWM();
tnhnrl 52:f207567d3ea4 1582 float rudder_min_deg = rudder().getMinDeg();
tnhnrl 52:f207567d3ea4 1583 float rudder_max_deg = rudder().getMaxDeg();
tnhnrl 52:f207567d3ea4 1584
tnhnrl 52:f207567d3ea4 1585 char RUDDER_PID_key;
tnhnrl 52:f207567d3ea4 1586
tnhnrl 52:f207567d3ea4 1587 // print the menu
tnhnrl 58:94b7fd55185e 1588 pc().printf("\r\nRUDDER (servo driver) settings (MENU)");
tnhnrl 58:94b7fd55185e 1589 pc().printf("\r\n(Adjust min/max/center PWM settings with the following keys: N and M and C");
tnhnrl 58:94b7fd55185e 1590 pc().printf("\r\n(Adjust DEGREE limit settings with the following keys: min = K, max = L");
tnhnrl 58:94b7fd55185e 1591 pc().printf("\r\n(Hit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
tnhnrl 52:f207567d3ea4 1592 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 1593
tnhnrl 52:f207567d3ea4 1594 // handle the key presses
tnhnrl 52:f207567d3ea4 1595 while(1) {
tnhnrl 52:f207567d3ea4 1596 // get the user's keystroke from either of the two inputs
tnhnrl 52:f207567d3ea4 1597 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1598 RUDDER_PID_key = pc().getc();
tnhnrl 52:f207567d3ea4 1599 }
tnhnrl 52:f207567d3ea4 1600 else {
tnhnrl 52:f207567d3ea4 1601 wait(0.5);
tnhnrl 52:f207567d3ea4 1602 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 1603 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1604 }
tnhnrl 52:f207567d3ea4 1605
tnhnrl 52:f207567d3ea4 1606 // handle the user's key input
tnhnrl 52:f207567d3ea4 1607 if (RUDDER_PID_key == 'S') { // user wants to save the modified values
tnhnrl 52:f207567d3ea4 1608 // set global values
tnhnrl 52:f207567d3ea4 1609 rudder().setMinPWM(rudder_min_pwm);
tnhnrl 52:f207567d3ea4 1610 rudder().setMaxPWM(rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1611 rudder().setCenterPWM(rudder_ctr_pwm);
tnhnrl 52:f207567d3ea4 1612 rudder().setMinDeg(rudder_min_deg);
tnhnrl 52:f207567d3ea4 1613 rudder().setMaxDeg(rudder_max_deg);
tnhnrl 52:f207567d3ea4 1614
tnhnrl 52:f207567d3ea4 1615 // save rudder servo driver values for inner loop
tnhnrl 52:f207567d3ea4 1616 configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1617 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 1618 }
tnhnrl 52:f207567d3ea4 1619 else if (RUDDER_PID_key == 'X') {
tnhnrl 52:f207567d3ea4 1620 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1621 }
tnhnrl 52:f207567d3ea4 1622 // MIN PWM
tnhnrl 52:f207567d3ea4 1623 else if (RUDDER_PID_key == 'N') {
tnhnrl 58:94b7fd55185e 1624 pc().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1625 rudder_min_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1626 }
tnhnrl 52:f207567d3ea4 1627 // MAX PWM
tnhnrl 52:f207567d3ea4 1628 else if (RUDDER_PID_key == 'M') {
tnhnrl 58:94b7fd55185e 1629 pc().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1630 rudder_max_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1631 }
tnhnrl 52:f207567d3ea4 1632 // CENTER PWM
tnhnrl 52:f207567d3ea4 1633 else if (RUDDER_PID_key == 'C') {
tnhnrl 58:94b7fd55185e 1634 pc().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1635 rudder_ctr_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1636 }
tnhnrl 52:f207567d3ea4 1637 // MIN DEG
tnhnrl 52:f207567d3ea4 1638 else if (RUDDER_PID_key == 'K') {
tnhnrl 58:94b7fd55185e 1639 pc().printf(">> Type in rudder_min_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1640 rudder_min_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1641 }
tnhnrl 52:f207567d3ea4 1642 // MAX DEG
tnhnrl 52:f207567d3ea4 1643 else if (RUDDER_PID_key == 'L') {
tnhnrl 58:94b7fd55185e 1644 pc().printf(">> Type in rudder_max_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1645 rudder_max_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1646 }
tnhnrl 52:f207567d3ea4 1647
tnhnrl 52:f207567d3ea4 1648 else {
tnhnrl 52:f207567d3ea4 1649 pc().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
tnhnrl 52:f207567d3ea4 1650 }
tnhnrl 52:f207567d3ea4 1651 }
tnhnrl 52:f207567d3ea4 1652 }
tnhnrl 54:d4990fb68404 1653
tnhnrl 58:94b7fd55185e 1654 void StateMachine::keyboard_menu_HEADING_PID_settings() {
tnhnrl 58:94b7fd55185e 1655 char HEADING_PID_key;
tnhnrl 58:94b7fd55185e 1656
tnhnrl 58:94b7fd55185e 1657 float heading_KP = headingLoop().getControllerP();
tnhnrl 58:94b7fd55185e 1658 float heading_KI = headingLoop().getControllerI();
tnhnrl 58:94b7fd55185e 1659 float heading_KD = headingLoop().getControllerD();
tnhnrl 58:94b7fd55185e 1660 float heading_offset_deg = headingLoop().getOutputOffset();
tnhnrl 58:94b7fd55185e 1661
tnhnrl 58:94b7fd55185e 1662 // print the menu
tnhnrl 58:94b7fd55185e 1663 pc().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
tnhnrl 58:94b7fd55185e 1664 pc().printf("\n\r Adjust PID settings with the following keys: P and I and D");
tnhnrl 58:94b7fd55185e 1665 pc().printf("\n\r Adjust zero offset with O (oh)");
tnhnrl 58:94b7fd55185e 1666 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 63:6cb0405fc6e6 1667 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 1668
tnhnrl 58:94b7fd55185e 1669 // handle the key presses
tnhnrl 58:94b7fd55185e 1670 while(1) {
tnhnrl 58:94b7fd55185e 1671 // get the user's keystroke from either of the two inputs
tnhnrl 58:94b7fd55185e 1672 if (pc().readable()) {
tnhnrl 58:94b7fd55185e 1673 HEADING_PID_key = pc().getc();
tnhnrl 58:94b7fd55185e 1674 }
tnhnrl 58:94b7fd55185e 1675 else {
tnhnrl 58:94b7fd55185e 1676 continue; // didn't get a user input, so keep waiting for it
tnhnrl 58:94b7fd55185e 1677 }
tnhnrl 58:94b7fd55185e 1678
tnhnrl 58:94b7fd55185e 1679 // handle the user's key input
tnhnrl 58:94b7fd55185e 1680 if (HEADING_PID_key == 'S') { // user wants to save the modified values
tnhnrl 58:94b7fd55185e 1681 // set global values
tnhnrl 58:94b7fd55185e 1682 headingLoop().setControllerP(heading_KP);
tnhnrl 58:94b7fd55185e 1683 headingLoop().setControllerI(heading_KI);
tnhnrl 58:94b7fd55185e 1684 headingLoop().setControllerD(heading_KD);
tnhnrl 58:94b7fd55185e 1685 headingLoop().setOutputOffset(heading_offset_deg);
tnhnrl 58:94b7fd55185e 1686
tnhnrl 58:94b7fd55185e 1687 // save pitch PID values for outer loop (must save neutral position also)
tnhnrl 58:94b7fd55185e 1688 configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg); //_neutral_heading_pos_deg);
tnhnrl 63:6cb0405fc6e6 1689 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 1690 }
tnhnrl 58:94b7fd55185e 1691 else if (HEADING_PID_key == 'X') {
tnhnrl 58:94b7fd55185e 1692 break; //exit the while loop
tnhnrl 58:94b7fd55185e 1693 }
tnhnrl 58:94b7fd55185e 1694
tnhnrl 58:94b7fd55185e 1695 else if (HEADING_PID_key == 'P') {
tnhnrl 58:94b7fd55185e 1696 heading_KP = getFloatUserInput();;
tnhnrl 58:94b7fd55185e 1697 }
tnhnrl 58:94b7fd55185e 1698 else if (HEADING_PID_key == 'I') {
tnhnrl 58:94b7fd55185e 1699 heading_KI = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1700 }
tnhnrl 58:94b7fd55185e 1701 else if (HEADING_PID_key == 'D') {
tnhnrl 58:94b7fd55185e 1702 heading_KD = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1703 }
tnhnrl 58:94b7fd55185e 1704 else if (HEADING_PID_key == 'O') {
tnhnrl 58:94b7fd55185e 1705 heading_offset_deg = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1706 }
tnhnrl 58:94b7fd55185e 1707
tnhnrl 58:94b7fd55185e 1708 else {
tnhnrl 58:94b7fd55185e 1709 pc().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
tnhnrl 58:94b7fd55185e 1710 }
tnhnrl 58:94b7fd55185e 1711 }
tnhnrl 58:94b7fd55185e 1712 }
tnhnrl 58:94b7fd55185e 1713
tnhnrl 54:d4990fb68404 1714 void StateMachine::keyboard_menu_COUNTS_STATUS() {
tnhnrl 54:d4990fb68404 1715
tnhnrl 54:d4990fb68404 1716 }
tnhnrl 56:48a8a5a65b82 1717
tnhnrl 49:47ffa4feb6db 1718 void StateMachine::keyboard_menu_MANUAL_TUNING() {
tnhnrl 49:47ffa4feb6db 1719 char TUNING_key;
tnhnrl 49:47ffa4feb6db 1720
tnhnrl 49:47ffa4feb6db 1721 // show the menu
tnhnrl 58:94b7fd55185e 1722 pc().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
tnhnrl 58:94b7fd55185e 1723 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 67:c86a4b464682 1724 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) \n\n\r",bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 56:48a8a5a65b82 1725
tnhnrl 56:48a8a5a65b82 1726 //made these into internal parameters
tnhnrl 56:48a8a5a65b82 1727 float _tuning_bce_pos_mm = 300.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1728 float _tuning_batt_pos_mm = 60.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1729 float _tuning_rudder_pos_deg = 0.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1730
tnhnrl 56:48a8a5a65b82 1731 //immediately start at those positions
tnhnrl 56:48a8a5a65b82 1732 bce().setPosition_mm(_tuning_bce_pos_mm);
tnhnrl 56:48a8a5a65b82 1733 batt().setPosition_mm(_tuning_batt_pos_mm);
tnhnrl 56:48a8a5a65b82 1734 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 49:47ffa4feb6db 1735
tnhnrl 49:47ffa4feb6db 1736 // what needs to be started?
tnhnrl 49:47ffa4feb6db 1737 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 1738 batt().unpause(); //this is now active
tnhnrl 56:48a8a5a65b82 1739 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1740
tnhnrl 69:919ac8d7e023 1741 while (1) {
tnhnrl 69:919ac8d7e023 1742 wait(0.1);
tnhnrl 69:919ac8d7e023 1743
tnhnrl 49:47ffa4feb6db 1744 if (pc().readable()) {
tnhnrl 49:47ffa4feb6db 1745 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 49:47ffa4feb6db 1746 }
tnhnrl 49:47ffa4feb6db 1747
tnhnrl 58:94b7fd55185e 1748 else {
tnhnrl 67:c86a4b464682 1749 pc().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getPosition_deg(), rudder().getPosition_pwm(),imu().getPitch(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1750 continue; // didn't get a user input, so keep waiting for it
tnhnrl 49:47ffa4feb6db 1751 }
tnhnrl 49:47ffa4feb6db 1752
tnhnrl 49:47ffa4feb6db 1753 // process the keys
tnhnrl 49:47ffa4feb6db 1754 if (TUNING_key == 'X') {
tnhnrl 49:47ffa4feb6db 1755 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 49:47ffa4feb6db 1756 bce().pause();
tnhnrl 49:47ffa4feb6db 1757 batt().pause();
tnhnrl 56:48a8a5a65b82 1758 rudder().pause();
tnhnrl 56:48a8a5a65b82 1759
tnhnrl 56:48a8a5a65b82 1760 //right now the rudder is always active................................................hmm
tnhnrl 56:48a8a5a65b82 1761 //deactivate the pin? new/delete?
tnhnrl 49:47ffa4feb6db 1762
tnhnrl 49:47ffa4feb6db 1763 break; //exit the while loop
tnhnrl 49:47ffa4feb6db 1764 }
tnhnrl 56:48a8a5a65b82 1765
tnhnrl 56:48a8a5a65b82 1766 //Buoyancy Engine
tnhnrl 52:f207567d3ea4 1767 else if (TUNING_key == 'A') {
tnhnrl 56:48a8a5a65b82 1768 _tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1769 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1770 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 1771 }
tnhnrl 52:f207567d3ea4 1772
tnhnrl 49:47ffa4feb6db 1773 else if (TUNING_key == 'S') {
tnhnrl 56:48a8a5a65b82 1774 _tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1775 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1776 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 1777 }
tnhnrl 49:47ffa4feb6db 1778
tnhnrl 56:48a8a5a65b82 1779 //BATTERY
tnhnrl 49:47ffa4feb6db 1780 else if (TUNING_key == 'Q') {
tnhnrl 56:48a8a5a65b82 1781 _tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1782 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1783 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 1784 }
tnhnrl 49:47ffa4feb6db 1785
tnhnrl 49:47ffa4feb6db 1786 else if (TUNING_key == 'W') {
tnhnrl 56:48a8a5a65b82 1787 _tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1788 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1789 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 1790 }
tnhnrl 56:48a8a5a65b82 1791
tnhnrl 56:48a8a5a65b82 1792 else if (TUNING_key == 'c' or TUNING_key == 'C') {
tnhnrl 56:48a8a5a65b82 1793 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 1794 }
tnhnrl 56:48a8a5a65b82 1795
tnhnrl 56:48a8a5a65b82 1796 //RUDER
tnhnrl 56:48a8a5a65b82 1797 else if (TUNING_key == 'E') {
tnhnrl 56:48a8a5a65b82 1798 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
tnhnrl 56:48a8a5a65b82 1799 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 58:94b7fd55185e 1800 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 1801 }
tnhnrl 56:48a8a5a65b82 1802
tnhnrl 56:48a8a5a65b82 1803 else if (TUNING_key == 'R') {
tnhnrl 56:48a8a5a65b82 1804 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
tnhnrl 56:48a8a5a65b82 1805 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 58:94b7fd55185e 1806 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 1807 }
tnhnrl 56:48a8a5a65b82 1808
tnhnrl 56:48a8a5a65b82 1809 else if (TUNING_key == 'P') {
tnhnrl 56:48a8a5a65b82 1810 rudder().pause();
tnhnrl 56:48a8a5a65b82 1811 }
tnhnrl 56:48a8a5a65b82 1812
tnhnrl 56:48a8a5a65b82 1813 else if (TUNING_key == 'U') {
tnhnrl 56:48a8a5a65b82 1814 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1815 }
tnhnrl 49:47ffa4feb6db 1816
tnhnrl 49:47ffa4feb6db 1817 else {
tnhnrl 58:94b7fd55185e 1818 pc().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
tnhnrl 56:48a8a5a65b82 1819 }
tnhnrl 49:47ffa4feb6db 1820 }
tnhnrl 49:47ffa4feb6db 1821 }
tnhnrl 52:f207567d3ea4 1822
tnhnrl 52:f207567d3ea4 1823 void StateMachine::keyboard_menu_CHANNEL_READINGS() {
tnhnrl 52:f207567d3ea4 1824 char TUNING_key;
tnhnrl 52:f207567d3ea4 1825
tnhnrl 52:f207567d3ea4 1826 // show the menu
tnhnrl 58:94b7fd55185e 1827 pc().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
tnhnrl 55:f4ec445c42fe 1828
tnhnrl 55:f4ec445c42fe 1829 while (1) {
tnhnrl 55:f4ec445c42fe 1830 if (pc().readable()) {
tnhnrl 55:f4ec445c42fe 1831 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 55:f4ec445c42fe 1832 }
tnhnrl 55:f4ec445c42fe 1833
tnhnrl 55:f4ec445c42fe 1834 // process the keys
tnhnrl 55:f4ec445c42fe 1835 if (TUNING_key == 'X') {
tnhnrl 55:f4ec445c42fe 1836 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 55:f4ec445c42fe 1837 bce().pause();
tnhnrl 55:f4ec445c42fe 1838 batt().pause();
tnhnrl 55:f4ec445c42fe 1839
tnhnrl 55:f4ec445c42fe 1840 break; //exit the while loop
tnhnrl 55:f4ec445c42fe 1841 }
tnhnrl 55:f4ec445c42fe 1842
tnhnrl 55:f4ec445c42fe 1843 else {
tnhnrl 55:f4ec445c42fe 1844 wait(0.5);
tnhnrl 55:f4ec445c42fe 1845 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 1846 continue; // didn't get a user input, so keep waiting for it
tnhnrl 55:f4ec445c42fe 1847 }
tnhnrl 55:f4ec445c42fe 1848 }
tnhnrl 55:f4ec445c42fe 1849 }
tnhnrl 55:f4ec445c42fe 1850
tnhnrl 55:f4ec445c42fe 1851 void StateMachine::keyboard_menu_POSITION_READINGS() {
tnhnrl 55:f4ec445c42fe 1852 char TUNING_key;
tnhnrl 55:f4ec445c42fe 1853
tnhnrl 55:f4ec445c42fe 1854 // show the menu
tnhnrl 58:94b7fd55185e 1855 pc().printf("\r\n9: BCE and BMM POSITION READINGS (EXIT WITH 'X' !)");
tnhnrl 52:f207567d3ea4 1856
tnhnrl 52:f207567d3ea4 1857 while (1) {
tnhnrl 52:f207567d3ea4 1858 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1859 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1860 }
tnhnrl 52:f207567d3ea4 1861
tnhnrl 54:d4990fb68404 1862 // process the keys
tnhnrl 54:d4990fb68404 1863 if (TUNING_key == 'X') {
tnhnrl 54:d4990fb68404 1864 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 54:d4990fb68404 1865 bce().pause();
tnhnrl 54:d4990fb68404 1866 batt().pause();
tnhnrl 54:d4990fb68404 1867
tnhnrl 54:d4990fb68404 1868 break; //exit the while loop
tnhnrl 54:d4990fb68404 1869 }
tnhnrl 54:d4990fb68404 1870
tnhnrl 52:f207567d3ea4 1871 else {
tnhnrl 52:f207567d3ea4 1872 // Testing out ADC
tnhnrl 54:d4990fb68404 1873 wait(0.5);
tnhnrl 52:f207567d3ea4 1874 float vref = 5.6;
tnhnrl 52:f207567d3ea4 1875 float vmeasured = 0;
tnhnrl 52:f207567d3ea4 1876 unsigned int raw = adc().readCh5();
tnhnrl 52:f207567d3ea4 1877 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 52:f207567d3ea4 1878
tnhnrl 54:d4990fb68404 1879
tnhnrl 55:f4ec445c42fe 1880 //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 1881
tnhnrl 55:f4ec445c42fe 1882 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 1883
tnhnrl 54:d4990fb68404 1884 //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 1885 //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 1886 //pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 52:f207567d3ea4 1887 // End of ADC Test
tnhnrl 52:f207567d3ea4 1888
tnhnrl 54:d4990fb68404 1889 // pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 54:d4990fb68404 1890 // pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 54:d4990fb68404 1891 // pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 54:d4990fb68404 1892 // pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 54:d4990fb68404 1893 // pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 54:d4990fb68404 1894 // pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 54:d4990fb68404 1895 // pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
tnhnrl 54:d4990fb68404 1896 // pc().printf("raw board current: %d \r\n",adc().readCh7());
tnhnrl 54:d4990fb68404 1897
tnhnrl 52:f207567d3ea4 1898 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1899 }
tnhnrl 52:f207567d3ea4 1900 }
tnhnrl 52:f207567d3ea4 1901 }
tnhnrl 49:47ffa4feb6db 1902
tnhnrl 16:3363b9f14913 1903 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 16:3363b9f14913 1904 char PID_key;
tnhnrl 63:6cb0405fc6e6 1905
tnhnrl 63:6cb0405fc6e6 1906 float bce_KP = bce().getControllerP(); // load current value
tnhnrl 63:6cb0405fc6e6 1907 float bce_KI = bce().getControllerI(); // load current global value
tnhnrl 63:6cb0405fc6e6 1908 float bce_KD = bce().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 1909
tnhnrl 16:3363b9f14913 1910 // show the menu
tnhnrl 63:6cb0405fc6e6 1911 pc().printf("\n\rBuoyancy Engine PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 1912 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 1913 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 1914 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 1915
tnhnrl 63:6cb0405fc6e6 1916 // handle the key presses
tnhnrl 63:6cb0405fc6e6 1917 while(1) {
tnhnrl 63:6cb0405fc6e6 1918 // get the user's keystroke from either of the two inputs
tnhnrl 63:6cb0405fc6e6 1919 if (pc().readable()) {
tnhnrl 63:6cb0405fc6e6 1920 PID_key = pc().getc();
tnhnrl 63:6cb0405fc6e6 1921 }
tnhnrl 63:6cb0405fc6e6 1922 else {
tnhnrl 63:6cb0405fc6e6 1923 continue; // didn't get a user input, so keep waiting for it
tnhnrl 63:6cb0405fc6e6 1924 }
tnhnrl 63:6cb0405fc6e6 1925
tnhnrl 63:6cb0405fc6e6 1926 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 1927 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 1928 // set values
tnhnrl 63:6cb0405fc6e6 1929 bce().setControllerP(bce_KP);
tnhnrl 63:6cb0405fc6e6 1930 bce().setControllerI(bce_KI);
tnhnrl 63:6cb0405fc6e6 1931 bce().setControllerD(bce_KD);
tnhnrl 63:6cb0405fc6e6 1932
tnhnrl 63:6cb0405fc6e6 1933 // save to "BATT.TXT" file
tnhnrl 63:6cb0405fc6e6 1934 configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD);
tnhnrl 63:6cb0405fc6e6 1935 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 1936 }
tnhnrl 63:6cb0405fc6e6 1937 else if (PID_key == 'X') {
tnhnrl 63:6cb0405fc6e6 1938 break; //exit the while loop
tnhnrl 63:6cb0405fc6e6 1939 }
tnhnrl 63:6cb0405fc6e6 1940 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 1941 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1942 bce_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1943 }
tnhnrl 63:6cb0405fc6e6 1944 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 1945 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1946 bce_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1947 }
tnhnrl 63:6cb0405fc6e6 1948 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 1949 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1950 bce_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1951 }
tnhnrl 63:6cb0405fc6e6 1952 else {
tnhnrl 63:6cb0405fc6e6 1953 pc().printf("\n\rBCE: [%c] This key does nothing here. \r", PID_key);
tnhnrl 63:6cb0405fc6e6 1954 }
tnhnrl 63:6cb0405fc6e6 1955 }
tnhnrl 63:6cb0405fc6e6 1956 }
tnhnrl 63:6cb0405fc6e6 1957
tnhnrl 63:6cb0405fc6e6 1958 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 63:6cb0405fc6e6 1959 char PID_key;
tnhnrl 63:6cb0405fc6e6 1960
tnhnrl 63:6cb0405fc6e6 1961 float batt_KP = batt().getControllerP(); // load current global value
tnhnrl 63:6cb0405fc6e6 1962 float batt_KI = batt().getControllerI(); // load current global value
tnhnrl 63:6cb0405fc6e6 1963 float batt_KD = batt().getControllerD(); // load current global value
tnhnrl 63:6cb0405fc6e6 1964
tnhnrl 63:6cb0405fc6e6 1965 // print the menu
tnhnrl 63:6cb0405fc6e6 1966 pc().printf("\n\rBattery Motor PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 1967 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 1968 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 1969 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 1970
tnhnrl 16:3363b9f14913 1971 // handle the key presses
tnhnrl 16:3363b9f14913 1972 while(1) {
tnhnrl 16:3363b9f14913 1973 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 1974 if (pc().readable()) {
tnhnrl 16:3363b9f14913 1975 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 1976 }
tnhnrl 16:3363b9f14913 1977 else {
tnhnrl 16:3363b9f14913 1978 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 1979 }
tnhnrl 16:3363b9f14913 1980
tnhnrl 16:3363b9f14913 1981 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 1982 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 1983 // set values
tnhnrl 63:6cb0405fc6e6 1984 batt().setControllerP(batt_KP);
tnhnrl 63:6cb0405fc6e6 1985 batt().setControllerI(batt_KI);
tnhnrl 63:6cb0405fc6e6 1986 batt().setControllerD(batt_KD);
tnhnrl 16:3363b9f14913 1987
tnhnrl 38:83d06c294807 1988 // save to "BATT.TXT" file
tnhnrl 63:6cb0405fc6e6 1989 configFileIO().saveBattData(batt_KP, batt_KI, batt_KD);
tnhnrl 63:6cb0405fc6e6 1990 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 1991 }
tnhnrl 16:3363b9f14913 1992 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 1993 break; //exit the while loop
tnhnrl 16:3363b9f14913 1994 }
tnhnrl 63:6cb0405fc6e6 1995 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 1996 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1997 batt_KP = getFloatUserInput();
tnhnrl 16:3363b9f14913 1998 }
tnhnrl 63:6cb0405fc6e6 1999 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 2000 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2001 batt_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2002 }
tnhnrl 63:6cb0405fc6e6 2003 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 2004 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2005 batt_KD = getFloatUserInput();
tnhnrl 16:3363b9f14913 2006 }
tnhnrl 16:3363b9f14913 2007 else {
tnhnrl 63:6cb0405fc6e6 2008 pc().printf("\n\rBATT: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 2009 }
tnhnrl 16:3363b9f14913 2010 }
tnhnrl 16:3363b9f14913 2011 }
tnhnrl 20:8987a9ae2bc7 2012
tnhnrl 16:3363b9f14913 2013 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 16:3363b9f14913 2014 char PID_key;
tnhnrl 63:6cb0405fc6e6 2015
tnhnrl 63:6cb0405fc6e6 2016 float depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2017 float depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2018 float depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 2019
tnhnrl 63:6cb0405fc6e6 2020 // print the menu
tnhnrl 63:6cb0405fc6e6 2021 pc().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 2022 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 2023 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 2024 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 2025
tnhnrl 16:3363b9f14913 2026 // handle the key presses
tnhnrl 16:3363b9f14913 2027 while(1) {
tnhnrl 16:3363b9f14913 2028 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 2029 if (pc().readable()) {
tnhnrl 16:3363b9f14913 2030 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 2031 }
tnhnrl 16:3363b9f14913 2032 else {
tnhnrl 16:3363b9f14913 2033 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2034 }
tnhnrl 16:3363b9f14913 2035
tnhnrl 16:3363b9f14913 2036 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 2037 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2038 // set values
tnhnrl 63:6cb0405fc6e6 2039 depthLoop().setControllerP(depth_KP);
tnhnrl 63:6cb0405fc6e6 2040 depthLoop().setControllerI(depth_KI);
tnhnrl 63:6cb0405fc6e6 2041 depthLoop().setControllerD(depth_KD);
tnhnrl 63:6cb0405fc6e6 2042
tnhnrl 63:6cb0405fc6e6 2043 // save to "DEPTH.TXT" file
tnhnrl 63:6cb0405fc6e6 2044 configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm);
tnhnrl 63:6cb0405fc6e6 2045 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 2046
tnhnrl 63:6cb0405fc6e6 2047 //set class variables that will be used in find neutral sequence
tnhnrl 63:6cb0405fc6e6 2048 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2049 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2050 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 2051 }
tnhnrl 16:3363b9f14913 2052 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 2053 break; //exit the while loop
tnhnrl 16:3363b9f14913 2054 }
tnhnrl 63:6cb0405fc6e6 2055 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 2056 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2057 depth_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2058 }
tnhnrl 63:6cb0405fc6e6 2059 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 2060 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2061 depth_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2062 }
tnhnrl 63:6cb0405fc6e6 2063 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 2064 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2065 depth_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2066 }
tnhnrl 16:3363b9f14913 2067 else {
tnhnrl 63:6cb0405fc6e6 2068 pc().printf("\n\rDEPTH: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 2069 }
tnhnrl 16:3363b9f14913 2070 }
tnhnrl 16:3363b9f14913 2071 }
tnhnrl 16:3363b9f14913 2072
tnhnrl 16:3363b9f14913 2073 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 16:3363b9f14913 2074 char PID_key;
tnhnrl 63:6cb0405fc6e6 2075
tnhnrl 63:6cb0405fc6e6 2076 float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2077 float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2078 float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 2079
tnhnrl 16:3363b9f14913 2080 // print the menu
tnhnrl 63:6cb0405fc6e6 2081 pc().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 2082 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 2083 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 2084 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 2085
tnhnrl 16:3363b9f14913 2086 // handle the key presses
tnhnrl 16:3363b9f14913 2087 while(1) {
tnhnrl 16:3363b9f14913 2088 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 2089 if (pc().readable()) {
tnhnrl 16:3363b9f14913 2090 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 2091 }
tnhnrl 16:3363b9f14913 2092 else {
tnhnrl 16:3363b9f14913 2093 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2094 }
tnhnrl 63:6cb0405fc6e6 2095
tnhnrl 16:3363b9f14913 2096 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 2097 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2098 // set values
tnhnrl 63:6cb0405fc6e6 2099 pitchLoop().setControllerP(pitch_KP);
tnhnrl 63:6cb0405fc6e6 2100 pitchLoop().setControllerI(pitch_KI);
tnhnrl 63:6cb0405fc6e6 2101 pitchLoop().setControllerD(pitch_KD);
tnhnrl 63:6cb0405fc6e6 2102
tnhnrl 63:6cb0405fc6e6 2103 // save to "PITCH.TXT" file
tnhnrl 63:6cb0405fc6e6 2104 configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm);
tnhnrl 63:6cb0405fc6e6 2105 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 2106
tnhnrl 63:6cb0405fc6e6 2107 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2108 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2109 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 2110 }
tnhnrl 16:3363b9f14913 2111 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 2112 break; //exit the while loop
tnhnrl 16:3363b9f14913 2113 }
tnhnrl 63:6cb0405fc6e6 2114 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 2115 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2116 pitch_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2117 }
tnhnrl 63:6cb0405fc6e6 2118 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 2119 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2120 pitch_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2121 }
tnhnrl 63:6cb0405fc6e6 2122 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 2123 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2124 pitch_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2125 }
tnhnrl 16:3363b9f14913 2126 else {
tnhnrl 63:6cb0405fc6e6 2127 pc().printf("\n\rPITCH: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 2128 }
tnhnrl 16:3363b9f14913 2129 }
tnhnrl 16:3363b9f14913 2130 }
tnhnrl 20:8987a9ae2bc7 2131
tnhnrl 16:3363b9f14913 2132 float StateMachine::getDepthCommand() {
tnhnrl 32:f2f8ae34aadc 2133 return _depth_command;
tnhnrl 16:3363b9f14913 2134 }
tnhnrl 20:8987a9ae2bc7 2135
tnhnrl 16:3363b9f14913 2136 float StateMachine::getPitchCommand() {
tnhnrl 32:f2f8ae34aadc 2137 return _pitch_command;
tnhnrl 32:f2f8ae34aadc 2138 }
tnhnrl 32:f2f8ae34aadc 2139
tnhnrl 32:f2f8ae34aadc 2140 float StateMachine::getDepthReading() {
tnhnrl 32:f2f8ae34aadc 2141 return _depth_reading;
tnhnrl 32:f2f8ae34aadc 2142 }
tnhnrl 32:f2f8ae34aadc 2143
tnhnrl 32:f2f8ae34aadc 2144 float StateMachine::getPitchReading() {
tnhnrl 32:f2f8ae34aadc 2145 return _pitch_reading;
tnhnrl 32:f2f8ae34aadc 2146 }
tnhnrl 32:f2f8ae34aadc 2147
tnhnrl 32:f2f8ae34aadc 2148 float StateMachine::getTimerReading() {
tnhnrl 32:f2f8ae34aadc 2149 return _timer_reading;
tnhnrl 17:7c16b5671d0e 2150 }
tnhnrl 28:16c83a2fdefa 2151
tnhnrl 17:7c16b5671d0e 2152 void StateMachine::setState(int input_state) {
tnhnrl 21:38c8544db6f4 2153 _state = input_state;
tnhnrl 17:7c16b5671d0e 2154 }
tnhnrl 20:8987a9ae2bc7 2155
tnhnrl 17:7c16b5671d0e 2156 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 2157 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 2158 }
tnhnrl 20:8987a9ae2bc7 2159
tnhnrl 17:7c16b5671d0e 2160 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 2161 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 2162 }
tnhnrl 20:8987a9ae2bc7 2163
tnhnrl 17:7c16b5671d0e 2164 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 32:f2f8ae34aadc 2165 _depth_command = input_depth_command;
tnhnrl 17:7c16b5671d0e 2166 }
tnhnrl 20:8987a9ae2bc7 2167
tnhnrl 17:7c16b5671d0e 2168 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 32:f2f8ae34aadc 2169 _pitch_command = input_pitch_command;
tnhnrl 17:7c16b5671d0e 2170 }
tnhnrl 20:8987a9ae2bc7 2171
tnhnrl 17:7c16b5671d0e 2172 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 2173 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 2174 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 2175
tnhnrl 58:94b7fd55185e 2176 pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 2177 }
tnhnrl 20:8987a9ae2bc7 2178
tnhnrl 17:7c16b5671d0e 2179 int StateMachine::timeoutRunning() {
tnhnrl 28:16c83a2fdefa 2180 return _isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 2181 }
tnhnrl 20:8987a9ae2bc7 2182
tnhnrl 17:7c16b5671d0e 2183 //process one state at a time
tnhnrl 17:7c16b5671d0e 2184 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 2185 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 2186 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 2187 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 2188 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 2189 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
tnhnrl 17:7c16b5671d0e 2190
tnhnrl 17:7c16b5671d0e 2191 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 32:f2f8ae34aadc 2192 }
tnhnrl 32:f2f8ae34aadc 2193
tnhnrl 32:f2f8ae34aadc 2194 void StateMachine::printCurrentSdLog() {
tnhnrl 58:94b7fd55185e 2195 pc().printf("SD card log work in progress\r\n");
tnhnrl 32:f2f8ae34aadc 2196 //might be worth saving the last few logs to the MBED...
tnhnrl 32:f2f8ae34aadc 2197 }
tnhnrl 32:f2f8ae34aadc 2198
tnhnrl 32:f2f8ae34aadc 2199 //check if the file is still opened
tnhnrl 32:f2f8ae34aadc 2200 void StateMachine::createNewFile() {
tnhnrl 32:f2f8ae34aadc 2201 if (_file_closed) {
tnhnrl 34:9b66c5188051 2202 //mbedLogger().createFile(); //create a new MBED file
tnhnrl 32:f2f8ae34aadc 2203
tnhnrl 32:f2f8ae34aadc 2204 _file_closed = false; //file is still open until you get to SIT_IDLE
tnhnrl 32:f2f8ae34aadc 2205 }
tnhnrl 32:f2f8ae34aadc 2206 }
tnhnrl 32:f2f8ae34aadc 2207
tnhnrl 32:f2f8ae34aadc 2208 void StateMachine::transmitData() {
tnhnrl 32:f2f8ae34aadc 2209 static float transmit_timer = 0;
tnhnrl 32:f2f8ae34aadc 2210 static bool is_transmit_timer_running = false;
tnhnrl 32:f2f8ae34aadc 2211
tnhnrl 32:f2f8ae34aadc 2212 if (!is_transmit_timer_running) {
tnhnrl 58:94b7fd55185e 2213 //pc().printf("\r\n\nTRANSMIT timer running...\r\n\n"); //debug
tnhnrl 32:f2f8ae34aadc 2214
tnhnrl 32:f2f8ae34aadc 2215 transmit_timer = timer.read() + 1; //record the time when this block is first entered and add 5 seconds
tnhnrl 32:f2f8ae34aadc 2216 is_transmit_timer_running = true; //disable this block after one iteration
tnhnrl 32:f2f8ae34aadc 2217
tnhnrl 58:94b7fd55185e 2218 pc().printf("TESTING to see if this transmits once a second. (timer: %0.1f)\r\n", timer.read());
tnhnrl 32:f2f8ae34aadc 2219 }
tnhnrl 32:f2f8ae34aadc 2220 if (timer.read() >= transmit_timer) {
tnhnrl 32:f2f8ae34aadc 2221 is_transmit_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 32:f2f8ae34aadc 2222 }
tnhnrl 34:9b66c5188051 2223 }
tnhnrl 34:9b66c5188051 2224
tnhnrl 36:966a86937e17 2225 float * StateMachine::dataArray() {
tnhnrl 36:966a86937e17 2226 //return the array to a calling function
tnhnrl 36:966a86937e17 2227 return _data_log;
tnhnrl 52:f207567d3ea4 2228 }
tnhnrl 52:f207567d3ea4 2229
tnhnrl 52:f207567d3ea4 2230 // 06/06/2018
tnhnrl 52:f207567d3ea4 2231 float StateMachine::getFloatUserInput() {
tnhnrl 52:f207567d3ea4 2232 float float_conversion = 0.0;
tnhnrl 52:f207567d3ea4 2233
tnhnrl 52:f207567d3ea4 2234 while(1) {
tnhnrl 52:f207567d3ea4 2235 bool valid_input = false; //flag for valid or invalid input
tnhnrl 52:f207567d3ea4 2236
tnhnrl 58:94b7fd55185e 2237 pc().printf("\n\rPlease enter your number below and press ENTER:\r\n");
tnhnrl 52:f207567d3ea4 2238 char user_string [80]; //variable to store input as a character array
tnhnrl 52:f207567d3ea4 2239
tnhnrl 52:f207567d3ea4 2240 pc().scanf("%s", user_string); //read formatted data from stdin
tnhnrl 58:94b7fd55185e 2241 pc().printf("\n\n\ruser_string was <%s>\r\n", user_string);
tnhnrl 52:f207567d3ea4 2242
tnhnrl 52:f207567d3ea4 2243 //check through the string for invalid characters (decimal values 43 through 57)
tnhnrl 52:f207567d3ea4 2244 for (int c = 0; c < strlen(user_string); c++) {
tnhnrl 58:94b7fd55185e 2245 //pc().printf("character is [%c]\r\n", user_string[c]); //debug
tnhnrl 52:f207567d3ea4 2246 if (user_string[c] >= 43 and user_string[c] <= 57) {
tnhnrl 58:94b7fd55185e 2247 //pc().printf("VALID CHARACTER!\r\n"); //debug
tnhnrl 52:f207567d3ea4 2248 ;
tnhnrl 52:f207567d3ea4 2249 }
tnhnrl 52:f207567d3ea4 2250 else {
tnhnrl 58:94b7fd55185e 2251 pc().printf("INVALID INPUT!\r\n");
tnhnrl 52:f207567d3ea4 2252 break;
tnhnrl 52:f207567d3ea4 2253 }
tnhnrl 52:f207567d3ea4 2254
tnhnrl 52:f207567d3ea4 2255 if (c == (strlen(user_string) - 1)) {
tnhnrl 52:f207567d3ea4 2256 valid_input = true;
tnhnrl 52:f207567d3ea4 2257 }
tnhnrl 52:f207567d3ea4 2258 }
tnhnrl 52:f207567d3ea4 2259
tnhnrl 52:f207567d3ea4 2260 if (valid_input) {
tnhnrl 52:f207567d3ea4 2261 float_conversion = atof(user_string);
tnhnrl 63:6cb0405fc6e6 2262 pc().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
tnhnrl 52:f207567d3ea4 2263 break;
tnhnrl 52:f207567d3ea4 2264 }
tnhnrl 52:f207567d3ea4 2265 }
tnhnrl 52:f207567d3ea4 2266
tnhnrl 52:f207567d3ea4 2267 return float_conversion;
tnhnrl 67:c86a4b464682 2268 }
tnhnrl 67:c86a4b464682 2269
tnhnrl 67:c86a4b464682 2270 //added because channel readings failed multiple times (if they fail, motors could break parts)
tnhnrl 67:c86a4b464682 2271 void StateMachine::checkMotorPositions() {
tnhnrl 67:c86a4b464682 2272
tnhnrl 67:c86a4b464682 2273 /* 1. If channel readings fail, calculations will give negative positions
tnhnrl 67:c86a4b464682 2274 2. If the potentiometers are reporting negative positions, send the system into float broadcast
tnhnrl 67:c86a4b464682 2275 3. The motors will move in the correct direction and if something is wrong the will go to their full extension but be at the surface */
tnhnrl 67:c86a4b464682 2276
tnhnrl 67:c86a4b464682 2277 if (bce().getPosition_mm() < 0 or batt().getPosition_mm() < 0 ) {
tnhnrl 67:c86a4b464682 2278 //_state = FLOAT_BROADCAST;
tnhnrl 67:c86a4b464682 2279 }
tnhnrl 16:3363b9f14913 2280 }