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

ConfigFileIO/ConfigFileIO.cpp@57:ec69651c8c21, 2018-06-14 (annotated)

Committer:
tnhnrl
Date:
Thu Jun 14 16:10:25 2018 +0000
Revision:
57:ec69651c8c21
Child:
73:f6f378311c8d
Working version with debug and simple menu

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 57:ec69651c8c21 1 #include "ConfigFileIO.hpp"
tnhnrl 57:ec69651c8c21 2 #include "StaticDefs.hpp"
tnhnrl 57:ec69651c8c21 3
tnhnrl 57:ec69651c8c21 4 //configuration file io, both to read, set, and save
tnhnrl 57:ec69651c8c21 5
tnhnrl 57:ec69651c8c21 6 ConfigFileIO::ConfigFileIO() {
tnhnrl 57:ec69651c8c21 7 }
tnhnrl 57:ec69651c8c21 8
tnhnrl 57:ec69651c8c21 9 void ConfigFileIO::saveBattData(float p_gain, float i_gain, float d_gain) {
tnhnrl 57:ec69651c8c21 10 ConfigFile write_Batt_txt; //write to the config file
tnhnrl 57:ec69651c8c21 11
tnhnrl 57:ec69651c8c21 12 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 13 sprintf(PGain_buffer,"# configuration file for battery mover parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 14
tnhnrl 57:ec69651c8c21 15 char string_pgain[128];
tnhnrl 57:ec69651c8c21 16 sprintf(string_pgain, "%f", p_gain);
tnhnrl 57:ec69651c8c21 17 write_Batt_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 18
tnhnrl 57:ec69651c8c21 19 char string_igain[128];
tnhnrl 57:ec69651c8c21 20 sprintf(string_igain, "%f", i_gain);
tnhnrl 57:ec69651c8c21 21 write_Batt_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 22
tnhnrl 57:ec69651c8c21 23 char string_dgain[128];
tnhnrl 57:ec69651c8c21 24 sprintf(string_dgain, "%f", d_gain);
tnhnrl 57:ec69651c8c21 25 write_Batt_txt.setValue("DGain", string_dgain);
tnhnrl 57:ec69651c8c21 26
tnhnrl 57:ec69651c8c21 27 write_Batt_txt.setValue("\n#string pot parameters\nzeroCounts", "610");
tnhnrl 57:ec69651c8c21 28 write_Batt_txt.setValue("PistonTravelLimit", "73.0");
tnhnrl 57:ec69651c8c21 29 write_Batt_txt.setValue("slope", "0.12176");
tnhnrl 57:ec69651c8c21 30 write_Batt_txt.setValue("filterWn", "6.0");
tnhnrl 57:ec69651c8c21 31 write_Batt_txt.setValue("deadband", "0.5");
tnhnrl 57:ec69651c8c21 32
tnhnrl 57:ec69651c8c21 33 //SAVE THE DATA!
tnhnrl 57:ec69651c8c21 34 pc().printf("Saving BATTERY MOVER PID data!");
tnhnrl 57:ec69651c8c21 35
tnhnrl 57:ec69651c8c21 36 if (!write_Batt_txt.write("/local/batt.txt")) {
tnhnrl 57:ec69651c8c21 37 pc().printf("\n\rERROR: (SAVE)Failure to write batt.txt file.");
tnhnrl 57:ec69651c8c21 38 }
tnhnrl 57:ec69651c8c21 39 else {
tnhnrl 57:ec69651c8c21 40 pc().printf("\n\rFile batt.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 41 }
tnhnrl 57:ec69651c8c21 42 }
tnhnrl 57:ec69651c8c21 43
tnhnrl 57:ec69651c8c21 44 void ConfigFileIO::savePitchData(float p_gain, float i_gain, float d_gain, int batt_zeroOffset) {
tnhnrl 57:ec69651c8c21 45 ConfigFile write_pitch_txt; //write to the config file
tnhnrl 57:ec69651c8c21 46
tnhnrl 57:ec69651c8c21 47 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 48 sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 49
tnhnrl 57:ec69651c8c21 50 char string_pgain[128];
tnhnrl 57:ec69651c8c21 51 sprintf(string_pgain, "%f", p_gain);
tnhnrl 57:ec69651c8c21 52 write_pitch_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 53
tnhnrl 57:ec69651c8c21 54 char string_igain[128];
tnhnrl 57:ec69651c8c21 55 sprintf(string_igain, "%f", i_gain);
tnhnrl 57:ec69651c8c21 56 write_pitch_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 57
tnhnrl 57:ec69651c8c21 58 char string_dgain[128];
tnhnrl 57:ec69651c8c21 59 sprintf(string_dgain, "%f", d_gain);
tnhnrl 57:ec69651c8c21 60 write_pitch_txt.setValue("DGain", string_dgain);
tnhnrl 57:ec69651c8c21 61
tnhnrl 57:ec69651c8c21 62 write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", "6.0");
tnhnrl 57:ec69651c8c21 63 write_pitch_txt.setValue("deadband", "0.5");
tnhnrl 57:ec69651c8c21 64
tnhnrl 57:ec69651c8c21 65 char string_zeroOffset[128];
tnhnrl 57:ec69651c8c21 66 sprintf(string_zeroOffset, "%d", batt_zeroOffset);
tnhnrl 57:ec69651c8c21 67 //bce setting was 41 mm during LASR experiments
tnhnrl 57:ec69651c8c21 68 write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 69
tnhnrl 57:ec69651c8c21 70 //SAVE THE DATA!
tnhnrl 57:ec69651c8c21 71 pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 72
tnhnrl 57:ec69651c8c21 73 if (!write_pitch_txt.write("/local/pitch.txt")) {
tnhnrl 57:ec69651c8c21 74 pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 75 }
tnhnrl 57:ec69651c8c21 76 else {
tnhnrl 57:ec69651c8c21 77 pc().printf("\n\rFile pitch.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 78 }
tnhnrl 57:ec69651c8c21 79 }
tnhnrl 57:ec69651c8c21 80
tnhnrl 57:ec69651c8c21 81 void ConfigFileIO::saveBCEData(float p_gain, float i_gain, float d_gain) {
tnhnrl 57:ec69651c8c21 82 ConfigFile write_BCE_txt; //write to the config file
tnhnrl 57:ec69651c8c21 83
tnhnrl 57:ec69651c8c21 84 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 85 sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 86
tnhnrl 57:ec69651c8c21 87 char string_pgain[128];
tnhnrl 57:ec69651c8c21 88 sprintf(string_pgain, "%f", p_gain);
tnhnrl 57:ec69651c8c21 89 write_BCE_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 90
tnhnrl 57:ec69651c8c21 91 char string_igain[128];
tnhnrl 57:ec69651c8c21 92 sprintf(string_igain, "%f", i_gain);
tnhnrl 57:ec69651c8c21 93 write_BCE_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 94
tnhnrl 57:ec69651c8c21 95 char string_dgain[128];
tnhnrl 57:ec69651c8c21 96 sprintf(string_dgain, "%f", d_gain);
tnhnrl 57:ec69651c8c21 97 write_BCE_txt.setValue("DGain", string_dgain);
tnhnrl 57:ec69651c8c21 98
tnhnrl 57:ec69651c8c21 99 write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", "253");
tnhnrl 57:ec69651c8c21 100 write_BCE_txt.setValue("PistonTravelLimit", "320.0");
tnhnrl 57:ec69651c8c21 101 write_BCE_txt.setValue("slope", "0.12176");
tnhnrl 57:ec69651c8c21 102 write_BCE_txt.setValue("filterWn", "6.0");
tnhnrl 57:ec69651c8c21 103 write_BCE_txt.setValue("deadband", "0.5");
tnhnrl 57:ec69651c8c21 104
tnhnrl 57:ec69651c8c21 105 //SAVE THE DATA!
tnhnrl 57:ec69651c8c21 106 pc().printf("Saving BCE PID data!");
tnhnrl 57:ec69651c8c21 107
tnhnrl 57:ec69651c8c21 108 if (!write_BCE_txt.write("/local/bce.txt")) {
tnhnrl 57:ec69651c8c21 109 pc().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
tnhnrl 57:ec69651c8c21 110 }
tnhnrl 57:ec69651c8c21 111 else {
tnhnrl 57:ec69651c8c21 112 pc().printf("\n\rFile bce.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 113 }
tnhnrl 57:ec69651c8c21 114 }
tnhnrl 57:ec69651c8c21 115
tnhnrl 57:ec69651c8c21 116 void ConfigFileIO::saveDepthData(float p_gain, float i_gain, float d_gain, int bce_zeroOffset) {
tnhnrl 57:ec69651c8c21 117 ConfigFile write_depth_txt; //write to the config file
tnhnrl 57:ec69651c8c21 118
tnhnrl 57:ec69651c8c21 119 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 120 sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 121
tnhnrl 57:ec69651c8c21 122 char string_pgain[128];
tnhnrl 57:ec69651c8c21 123 sprintf(string_pgain, "%f", p_gain);
tnhnrl 57:ec69651c8c21 124 write_depth_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 125
tnhnrl 57:ec69651c8c21 126 char string_igain[128];
tnhnrl 57:ec69651c8c21 127 sprintf(string_igain, "%f", i_gain);
tnhnrl 57:ec69651c8c21 128 write_depth_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 129
tnhnrl 57:ec69651c8c21 130 char string_dgain[128];
tnhnrl 57:ec69651c8c21 131 sprintf(string_dgain, "%f", d_gain);
tnhnrl 57:ec69651c8c21 132 write_depth_txt.setValue("DGain", string_dgain);
tnhnrl 57:ec69651c8c21 133
tnhnrl 57:ec69651c8c21 134 write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", "6.0");
tnhnrl 57:ec69651c8c21 135 write_depth_txt.setValue("deadband", "0.5");
tnhnrl 57:ec69651c8c21 136
tnhnrl 57:ec69651c8c21 137 char string_zeroOffset[128];
tnhnrl 57:ec69651c8c21 138 sprintf(string_zeroOffset, "%d", bce_zeroOffset);
tnhnrl 57:ec69651c8c21 139 //bce setting was 240 mm during LASR experiments
tnhnrl 57:ec69651c8c21 140 write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 141
tnhnrl 57:ec69651c8c21 142 //SAVE THE DATA!
tnhnrl 57:ec69651c8c21 143 pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 144
tnhnrl 57:ec69651c8c21 145 if (!write_depth_txt.write("/local/depth.txt")) {
tnhnrl 57:ec69651c8c21 146 pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 147 }
tnhnrl 57:ec69651c8c21 148 else {
tnhnrl 57:ec69651c8c21 149 pc().printf("\n\rFile depth.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 150 }
tnhnrl 57:ec69651c8c21 151 }
tnhnrl 57:ec69651c8c21 152
tnhnrl 57:ec69651c8c21 153 //write rudder (servo driver) file rudder.txt
tnhnrl 57:ec69651c8c21 154 void ConfigFileIO::saveRudderData(float setMinDeg, float setMaxDeg, float setCenterPWM, float setMinPWM, float setMaxPWM) {
tnhnrl 57:ec69651c8c21 155 ConfigFile rudder_txt;
tnhnrl 57:ec69651c8c21 156
tnhnrl 57:ec69651c8c21 157 char header[128];
tnhnrl 57:ec69651c8c21 158 sprintf(header,"# rudder (servo) inner loop (heading outer loop uses this)");
tnhnrl 57:ec69651c8c21 159
tnhnrl 57:ec69651c8c21 160 char string_min_deg[128];
tnhnrl 57:ec69651c8c21 161 sprintf(string_min_deg, "%f", setMinDeg);
tnhnrl 57:ec69651c8c21 162 rudder_txt.setValue("setMinDeg", string_min_deg);
tnhnrl 57:ec69651c8c21 163
tnhnrl 57:ec69651c8c21 164 char string_max_deg[128];
tnhnrl 57:ec69651c8c21 165 sprintf(string_max_deg, "%f", setMaxDeg);
tnhnrl 57:ec69651c8c21 166 rudder_txt.setValue("setMaxDeg", string_max_deg);
tnhnrl 57:ec69651c8c21 167
tnhnrl 57:ec69651c8c21 168 char string_ctr_pwm[128];
tnhnrl 57:ec69651c8c21 169 sprintf(string_ctr_pwm, "%f", setCenterPWM);
tnhnrl 57:ec69651c8c21 170 rudder_txt.setValue("setCenterPWM", string_ctr_pwm);
tnhnrl 57:ec69651c8c21 171
tnhnrl 57:ec69651c8c21 172 char string_min_pwm[128];
tnhnrl 57:ec69651c8c21 173 sprintf(string_min_pwm, "%f", setMinPWM);
tnhnrl 57:ec69651c8c21 174 rudder_txt.setValue("setMinPWM", string_min_pwm);
tnhnrl 57:ec69651c8c21 175
tnhnrl 57:ec69651c8c21 176 char string_max_pwm[128];
tnhnrl 57:ec69651c8c21 177 sprintf(string_max_pwm, "%f", setMaxPWM);
tnhnrl 57:ec69651c8c21 178 rudder_txt.setValue("setMaxPWM", string_max_pwm);
tnhnrl 57:ec69651c8c21 179
tnhnrl 57:ec69651c8c21 180 //SAVE THE DATA!
tnhnrl 57:ec69651c8c21 181 pc().printf("Saving RUDDER DATA!");
tnhnrl 57:ec69651c8c21 182
tnhnrl 57:ec69651c8c21 183 if (!rudder_txt.write("/local/rudder.txt")) {
tnhnrl 57:ec69651c8c21 184 pc().printf("\n\rERROR: (SAVE)Failure to write rudder.txt file.");
tnhnrl 57:ec69651c8c21 185 }
tnhnrl 57:ec69651c8c21 186 else {
tnhnrl 57:ec69651c8c21 187 pc().printf("\n\rFile rudder.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 188 }
tnhnrl 57:ec69651c8c21 189 }
tnhnrl 57:ec69651c8c21 190
tnhnrl 57:ec69651c8c21 191 int ConfigFileIO::load_BCE_config() {
tnhnrl 57:ec69651c8c21 192 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 193 int count = 0;
tnhnrl 57:ec69651c8c21 194 if (!cfg.read("/local/bce.txt")) {
tnhnrl 57:ec69651c8c21 195 error("File Read Error");
tnhnrl 57:ec69651c8c21 196 }
tnhnrl 57:ec69651c8c21 197 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 198
tnhnrl 57:ec69651c8c21 199 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 200 bce().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 201 count++;
tnhnrl 57:ec69651c8c21 202 }
tnhnrl 57:ec69651c8c21 203 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 204 bce().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 205 count++;
tnhnrl 57:ec69651c8c21 206 }
tnhnrl 57:ec69651c8c21 207 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 208 bce().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 209 count++;
tnhnrl 57:ec69651c8c21 210 }
tnhnrl 57:ec69651c8c21 211 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 212 bce().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 213 count++;
tnhnrl 57:ec69651c8c21 214 }
tnhnrl 57:ec69651c8c21 215 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 216 bce().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 217 count++;
tnhnrl 57:ec69651c8c21 218 }
tnhnrl 57:ec69651c8c21 219 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 220 bce().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 221 count++;
tnhnrl 57:ec69651c8c21 222 }
tnhnrl 57:ec69651c8c21 223 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 224 bce().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 225 count++;
tnhnrl 57:ec69651c8c21 226 }
tnhnrl 57:ec69651c8c21 227 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 228 bce().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 229 count++;
tnhnrl 57:ec69651c8c21 230 }
tnhnrl 57:ec69651c8c21 231
tnhnrl 57:ec69651c8c21 232 return count;
tnhnrl 57:ec69651c8c21 233 }
tnhnrl 57:ec69651c8c21 234
tnhnrl 57:ec69651c8c21 235 //write to heading.txt
tnhnrl 57:ec69651c8c21 236 void ConfigFileIO::saveHeadingData(float heading_p_gain, float heading_i_gain, float heading_d_gain, float heading_offset) {
tnhnrl 57:ec69651c8c21 237 ConfigFile heading_txt;
tnhnrl 57:ec69651c8c21 238
tnhnrl 57:ec69651c8c21 239 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 240 sprintf(PGain_buffer,"# HEADING (rudder outer loop) parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 241
tnhnrl 57:ec69651c8c21 242 //convert input numbers into text and save them to text file
tnhnrl 57:ec69651c8c21 243 char string_pgain[128];
tnhnrl 57:ec69651c8c21 244 sprintf(string_pgain, "%f", heading_p_gain);
tnhnrl 57:ec69651c8c21 245 heading_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 246
tnhnrl 57:ec69651c8c21 247 char string_igain[128];
tnhnrl 57:ec69651c8c21 248 sprintf(string_igain, "%f", heading_i_gain);
tnhnrl 57:ec69651c8c21 249 heading_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 250
tnhnrl 57:ec69651c8c21 251 char string_dgain[128];
tnhnrl 57:ec69651c8c21 252 sprintf(string_dgain, "%f", heading_d_gain);
tnhnrl 57:ec69651c8c21 253 heading_txt.setValue("DGain", string_dgain);
tnhnrl 57:ec69651c8c21 254
tnhnrl 57:ec69651c8c21 255 heading_txt.setValue("\n# HEADING sensor filter parameters\nfilterWn", "6.0");
tnhnrl 57:ec69651c8c21 256 heading_txt.setValue("deadband", "0.5");
tnhnrl 57:ec69651c8c21 257
tnhnrl 57:ec69651c8c21 258 char string_zeroOffset[128];
tnhnrl 57:ec69651c8c21 259 sprintf(string_zeroOffset, "%f", heading_offset);
tnhnrl 57:ec69651c8c21 260 heading_txt.setValue("\n#HEADING offset for dive (no default!)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 261
tnhnrl 57:ec69651c8c21 262 //SAVE THE DATA!
tnhnrl 57:ec69651c8c21 263 pc().printf("(ConfigFileIO) Saving HEADING parameters!");
tnhnrl 57:ec69651c8c21 264
tnhnrl 57:ec69651c8c21 265 if (!heading_txt.write("/local/heading.txt")) {
tnhnrl 57:ec69651c8c21 266 pc().printf("\n\rERROR: (SAVE) Failure to write heading.txt file.");
tnhnrl 57:ec69651c8c21 267 }
tnhnrl 57:ec69651c8c21 268 else {
tnhnrl 57:ec69651c8c21 269 pc().printf("\n\rFile heading.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 270 }
tnhnrl 57:ec69651c8c21 271 }
tnhnrl 57:ec69651c8c21 272
tnhnrl 57:ec69651c8c21 273 int ConfigFileIO::load_BATT_config() {
tnhnrl 57:ec69651c8c21 274 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 275 int count = 0;
tnhnrl 57:ec69651c8c21 276 if (!cfg.read("/local/batt.txt")) {
tnhnrl 57:ec69651c8c21 277 error("BATT File Read Error");
tnhnrl 57:ec69651c8c21 278 }
tnhnrl 57:ec69651c8c21 279 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 280
tnhnrl 57:ec69651c8c21 281
tnhnrl 57:ec69651c8c21 282 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 283 batt().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 284 count++;
tnhnrl 57:ec69651c8c21 285 }
tnhnrl 57:ec69651c8c21 286 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 287 batt().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 288 count++;
tnhnrl 57:ec69651c8c21 289 }
tnhnrl 57:ec69651c8c21 290 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 291 batt().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 292 count++;
tnhnrl 57:ec69651c8c21 293 }
tnhnrl 57:ec69651c8c21 294 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 295 batt().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 296 count++;
tnhnrl 57:ec69651c8c21 297 }
tnhnrl 57:ec69651c8c21 298 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 299 batt().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 300 count++;
tnhnrl 57:ec69651c8c21 301 }
tnhnrl 57:ec69651c8c21 302 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 303 batt().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 304 count++;
tnhnrl 57:ec69651c8c21 305 }
tnhnrl 57:ec69651c8c21 306 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 307 batt().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 308 count++;
tnhnrl 57:ec69651c8c21 309 }
tnhnrl 57:ec69651c8c21 310 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 311 batt().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 312 count++;
tnhnrl 57:ec69651c8c21 313 }
tnhnrl 57:ec69651c8c21 314
tnhnrl 57:ec69651c8c21 315 return count;
tnhnrl 57:ec69651c8c21 316 }
tnhnrl 57:ec69651c8c21 317
tnhnrl 57:ec69651c8c21 318 int ConfigFileIO::load_DEPTH_config() {
tnhnrl 57:ec69651c8c21 319 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 320 int count = 0;
tnhnrl 57:ec69651c8c21 321 if (!cfg.read("/local/depth.txt")) {
tnhnrl 57:ec69651c8c21 322 error("DEPTH File Read Error");
tnhnrl 57:ec69651c8c21 323 }
tnhnrl 57:ec69651c8c21 324 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 325
tnhnrl 57:ec69651c8c21 326 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 327 depthLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 328 count++;
tnhnrl 57:ec69651c8c21 329 }
tnhnrl 57:ec69651c8c21 330 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 331 depthLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 332 count++;
tnhnrl 57:ec69651c8c21 333 }
tnhnrl 57:ec69651c8c21 334 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 335 depthLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 336 count++;
tnhnrl 57:ec69651c8c21 337 }
tnhnrl 57:ec69651c8c21 338 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 339 depthLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 340 count++;
tnhnrl 57:ec69651c8c21 341 }
tnhnrl 57:ec69651c8c21 342 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 343 depthLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 344 count++;
tnhnrl 57:ec69651c8c21 345 }
tnhnrl 57:ec69651c8c21 346 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 347 depthLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 348 count++;
tnhnrl 57:ec69651c8c21 349 }
tnhnrl 57:ec69651c8c21 350 return count;
tnhnrl 57:ec69651c8c21 351 }
tnhnrl 57:ec69651c8c21 352
tnhnrl 57:ec69651c8c21 353 int ConfigFileIO::load_PITCH_config() {
tnhnrl 57:ec69651c8c21 354 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 355 int count = 0;
tnhnrl 57:ec69651c8c21 356 if (!cfg.read("/local/pitch.txt")){
tnhnrl 57:ec69651c8c21 357 error("PITCH File Read Error");
tnhnrl 57:ec69651c8c21 358 }
tnhnrl 57:ec69651c8c21 359 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 360
tnhnrl 57:ec69651c8c21 361 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 362 pitchLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 363 count++;
tnhnrl 57:ec69651c8c21 364 }
tnhnrl 57:ec69651c8c21 365 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 366 pitchLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 367 count++;
tnhnrl 57:ec69651c8c21 368 }
tnhnrl 57:ec69651c8c21 369 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 370 pitchLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 371 count++;
tnhnrl 57:ec69651c8c21 372 }
tnhnrl 57:ec69651c8c21 373 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 374 pitchLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 375 count++;
tnhnrl 57:ec69651c8c21 376 }
tnhnrl 57:ec69651c8c21 377 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 378 pitchLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 379 count++;
tnhnrl 57:ec69651c8c21 380 }
tnhnrl 57:ec69651c8c21 381
tnhnrl 57:ec69651c8c21 382 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 383 pitchLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 384 count++;
tnhnrl 57:ec69651c8c21 385 }
tnhnrl 57:ec69651c8c21 386 return count;
tnhnrl 57:ec69651c8c21 387 }
tnhnrl 57:ec69651c8c21 388
tnhnrl 57:ec69651c8c21 389 int ConfigFileIO::load_HEADING_config() {
tnhnrl 57:ec69651c8c21 390 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 391 int count = 0;
tnhnrl 57:ec69651c8c21 392 if (!cfg.read("/local/heading.txt")){
tnhnrl 57:ec69651c8c21 393 error("HEADING File Read Error");
tnhnrl 57:ec69651c8c21 394 }
tnhnrl 57:ec69651c8c21 395 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 396
tnhnrl 57:ec69651c8c21 397 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 398 headingLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 399 count++;
tnhnrl 57:ec69651c8c21 400 }
tnhnrl 57:ec69651c8c21 401 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 402 headingLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 403 count++;
tnhnrl 57:ec69651c8c21 404 }
tnhnrl 57:ec69651c8c21 405 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 406 headingLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 407 count++;
tnhnrl 57:ec69651c8c21 408 }
tnhnrl 57:ec69651c8c21 409 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 410 headingLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 411 count++;
tnhnrl 57:ec69651c8c21 412 }
tnhnrl 57:ec69651c8c21 413 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 414 headingLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 415 count++;
tnhnrl 57:ec69651c8c21 416 }
tnhnrl 57:ec69651c8c21 417
tnhnrl 57:ec69651c8c21 418 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 419 headingLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 420 count++;
tnhnrl 57:ec69651c8c21 421 }
tnhnrl 57:ec69651c8c21 422 return count;
tnhnrl 57:ec69651c8c21 423 }
tnhnrl 57:ec69651c8c21 424
tnhnrl 57:ec69651c8c21 425 int ConfigFileIO::load_RUDDER_config() {
tnhnrl 57:ec69651c8c21 426 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 427 int count = 0;
tnhnrl 57:ec69651c8c21 428 if (!cfg.read("/local/rudder.txt")){
tnhnrl 57:ec69651c8c21 429 error("RUDDER File Read Error");
tnhnrl 57:ec69651c8c21 430 }
tnhnrl 57:ec69651c8c21 431 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 432
tnhnrl 57:ec69651c8c21 433 //float values below
tnhnrl 57:ec69651c8c21 434 if (cfg.getValue("setMinDeg", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 435 rudder().setMinDeg(atof(value));
tnhnrl 57:ec69651c8c21 436 count++;
tnhnrl 57:ec69651c8c21 437 }
tnhnrl 57:ec69651c8c21 438 if (cfg.getValue("setMaxDeg", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 439 rudder().setMaxDeg(atof(value));
tnhnrl 57:ec69651c8c21 440 count++;
tnhnrl 57:ec69651c8c21 441 }
tnhnrl 57:ec69651c8c21 442
tnhnrl 57:ec69651c8c21 443 //integer values below
tnhnrl 57:ec69651c8c21 444 if (cfg.getValue("setCenterPWM", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 445 rudder().setCenterPWM(atof(value));
tnhnrl 57:ec69651c8c21 446 count++;
tnhnrl 57:ec69651c8c21 447 }
tnhnrl 57:ec69651c8c21 448 if (cfg.getValue("setMinPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 449 rudder().setMinPWM(atof(value));
tnhnrl 57:ec69651c8c21 450 count++;
tnhnrl 57:ec69651c8c21 451 }
tnhnrl 57:ec69651c8c21 452 if (cfg.getValue("setMaxPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 453 rudder().setMaxPWM(atof(value));
tnhnrl 57:ec69651c8c21 454 count++;
tnhnrl 57:ec69651c8c21 455 }
tnhnrl 57:ec69651c8c21 456 return count;
tnhnrl 57:ec69651c8c21 457 }