Diff: main.cpp

Revision:

15:2a8cfd3f1cf5

Parent:

14:85b64a4d08e8

Child:

16:3363b9f14913

--- a/main.cpp	Tue Oct 31 17:06:52 2017 +0000
+++ b/main.cpp	Tue Oct 31 22:19:20 2017 +0000
@@ -45,6 +45,12 @@
         - added oversampling and a tare function to the depth sensor.
         - updated main and keyboard to include tare in setup() and a keyboard tare option.
         - looks like the piston isn't zeroing correctly, unclear why, should be unrelated to depth sensor.
+    Modified 2017-10-31 (again) by Dan, Matt, and Troy
+        - POOL TESTED!
+        - Tuned the PID gains with magic.  Works to hold mostly level during BCE runs.  Dive is awesome.
+        - Neutral won't do what we want ... without large depth P, it won't get to depth.
+        - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg.  Timeout should probably be RISE.
+        - Files depth/pitch updated with tuned defaults.
 */
 
 #include "mbed.h"
@@ -75,12 +81,13 @@
 float pitchTolerance = 1.0;     // pitch angle tolerance for neutral finding exit criteria
 float bceFloatPosition = 300;   // bce position for "float" states
 float battFloatPosition = 50;   // batt position for "broadcast" state
-float depthCommand = 3.5; // user keyboard depth
-float pitchCommand = 0.0; // user keyboard depth
+
+float depthCommand = 3.5;       // user keyboard depth
+float pitchCommand = -20.0;     // user keyboard depth
 
 
 void setup() {
-    pc().printf("\n\n\r\rFSG 2017-10-26 revA\n\r");
+    pc().printf("\n\n\r\rFSG 2017-10-31\n\r");
     pc().baud(57600);
 
     // start up the system timer
@@ -414,6 +421,8 @@
     pc().printf(" E to initiate emergency climb\r\n");
     pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
     pc().printf(" T to tare the depth sensor\r\n");
+    pc().printf("[/] to change bce neutral position\r\n");
+    pc().printf("</> to change batt neutral position\r\n");
     pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand());
     pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand());
     pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout);
@@ -469,6 +478,24 @@
             depth().tare(); // tares to ambient (do on surface)
             pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
         }
+        
+        else if (userInput == '[' or userInput == '{') {
+            depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint
+            pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
+        }
+        else if (userInput == ']' or userInput == '}') {
+            depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint
+            pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
+        }
+        else if (userInput == '<' or userInput == ',') {
+            pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint
+            pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
+        }
+        else if (userInput == '>' or userInput == '.') {
+            pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint
+            pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
+        }
+        
         else if (userInput == '?') {
             pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
             wait(0.5);
@@ -660,7 +687,7 @@
         // how exit?
         if (timer > timeout) {
             pc().printf("timed out\r\n");
-            state = FLOAT_LEVEL;
+            state = EMERGENCY_CLIMB;
             timer.reset();
             isTimeoutRunning = false;
         }
@@ -770,7 +797,8 @@
             timer.reset();
             isTimeoutRunning = false;
         }
-        if (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) {
+        if ( (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
+             (abs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
             pc().printf("position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband());
             state = SIT_IDLE;
             timer.reset();