Diff: main.cpp

Revision:

28:16c83a2fdefa

Parent:

27:0a5b90cd65d6

Child:

30:2964617e7676

--- a/main.cpp	Wed Nov 29 22:37:47 2017 +0000
+++ b/main.cpp	Fri Dec 01 22:43:14 2017 +0000
@@ -2,9 +2,38 @@
     Modified 2017-11-29 revA by Troy
         - changelog.txt carries previous changes
         - Incorporated email changes and did quick bench test
+            1) In FIND_NEUTRAL, add bce().setPosition_mm(bceFloatPosition) to the one-shot actions after the unpause().  
+            2) NEUTRAL_FIRST_PITCH, changed batt position by half from 1.0 to 0.5.
+            3) NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE are using getSetPosition now
+            4) previousPosition_mm deleted (and print statements changed)
+            5) NEUTRAL_SLOWLY_RISE check is using bce().getSetPosition_mm()
+            6) Timers replaced with _neutral_timer variable
+            7) Default timeout is 8 minutes = 480 seconds
         - Redid the sub-state recording method to only update on state changes
     Modified 2017-11-29 revB by Troy
         - minor print fixes
+    Modified 2017-11-29 revC by Troy
+        - removed depthTolerance variable that was not being used.
+    Modified 2017-11-30 revA by Troy/Dan
+        - Modified state RISE to setCommand to -1.0 feet (force out of water) and go to next state (float level) when above 0.5 feet
+        - Modified sub-state NEUTRAL_SINKING to only move 2.5 mm per cycle instead of 5 mm
+        - Commented out home function (accidentally hit home and got stuck while at LASR)
+        - Added max depth neutral and dive variables
+        - Print max recorded depths and current neutral buoyancy positions
+    Modified 2017-11-30 revB by Troy/Dan
+        - Dive and Multi-Dive cycles now exit to FLOAT_BROADCAST state
+        - FLOAT_LEVEL pitchTolerance variable increased from 1.0 degree to 5.0 degrees (PV was difficult to level in LASR pool)
+        - Added the ability to record the states of the FSM and print to user using keyboard "Z"
+    Modified 2017-12-01 revA by Troy
+        - Minor update to 2017-11-30 revB
+        - Now printing current neutral battery and BCE setpoints and max depth in neutral and dive cycle with "C" (and current sensor data)
+        - Pool-tested with successful dives.           
+            1) Dive working correctly.  (And max dive tracker shows that it is reaching the correct commanded depth.)
+            2) Float broadcast working correctly.  (And we are now going directly from dive and rise to float broadcast.)
+            3) Neutral sequence has PV diving with -10 to -20 degrees of pitch, battery command seems to be slow or inactive.
+            3) Float broadcast working correctly.
+            4) FSM tracker and sub-FSM tracker working.
+            5) Antenna working until tail just under water (last depth recorded varies between 1.0 and 1.5 feet)
 */
  
 #include "mbed.h"
@@ -17,7 +46,7 @@
  
 void setup() {
     pc().baud(57600);
-    pc().printf("\n\n\rFSG POOL TEST 2017-11-29 revB\n\n\r");
+    pc().printf("\n\n\rFSG POOL TEST 2017-12-01 revA\n\n\r");
  
     // start up the system timer
     systemTime().start();