Flying Sea Glider
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
Diff: main.cpp
- Revision:
- 16:3363b9f14913
- Parent:
- 15:2a8cfd3f1cf5
- Child:
- 17:7c16b5671d0e
--- a/main.cpp Tue Oct 31 22:19:20 2017 +0000
+++ b/main.cpp Mon Nov 06 22:57:56 2017 +0000
@@ -51,43 +51,21 @@
- 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.
+ Modified 2017-11-06 by Troy
+ - Added acronyms to print statements (when running this with XBee you don't know what mode the
+ hardware is in because of signal dropping out)
+ - Fixed print error with setpoints by printing out the setpoint variable, not the outerloop getCommand
+ (command is sent every time hardware dives, finds neutral, etc.)
+ - Set the pitchCommand input to 0 on the "find neutral" command, it was sending a non-zero pitch command
+ - Created a class for the StateMachine
*/
#include "mbed.h"
#include "StaticDefs.hpp"
#include "config_functions.h"
-
-extern "C" void mbed_reset(); // utilized to reset the mbed
-
-// state enumerations
-enum {
- SIT_IDLE, // stops both motors, exits after a keyboard input
- KEYBOARD, // handles an individual keypress, exits to state by a keyboard menu
- FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable
- DIVE, // dives to depth at negative pitch, exits when crossing a defined depth
- RISE, // rises to surface at positive pitch, exits when near surface
- FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch
- FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done
- EMERGENCY_CLIMB // bce position to full rise, batt position to full aft, exits when at surface
-};
-
-// timer for the state machine
-Timer timer;
-
-// these are all the parameters needed for the state machine
-int timeout = 60; // generic timeout for every state, seconds
-float depthTolerance = 0.25; // depth tolerance for neutral finding exit critera
-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 = -20.0; // user keyboard depth
-
-
void setup() {
- pc().printf("\n\n\r\rFSG 2017-10-31\n\r");
+ pc().printf("\n\n\r\rFSG 2017-11-06\n\r");
pc().baud(57600);
// start up the system timer
@@ -126,11 +104,11 @@
// set up the depth and pitch outer loop controllers
depthLoop().init();
depthLoop().start();
- depthLoop().setCommand(depthCommand);
+ depthLoop().setCommand(stateMachine().getDepthCommand());
pitchLoop().init();
pitchLoop().start();
- pitchLoop().setCommand(pitchCommand);
+ pitchLoop().setCommand(stateMachine().getPitchCommand());
// do not leave this in. Check that PID gains are loading
pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
@@ -140,684 +118,12 @@
pc().printf("\n\r");
}
-
-
-void keyboard_menu_BCE_PID_settings() {
- char PID_key;
- float gain_step_size = 0.01; // modify this to change gain step size
- float KP = bce().getControllerP(); // load current value
- float KI = bce().getControllerI(); // load current global value
- float KD = bce().getControllerD(); // load current global value
-
- // show the menu
- pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
- pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
- pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
-
- // handle the key presses
- while(1) {
- // get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- PID_key = pc().getc();
- }
- else {
- continue; // didn't get a user input, so keep waiting for it
- }
-
- // handle the user's key input
- if (PID_key == '-') {
- KP -= gain_step_size;
- pc().printf("P gain: %0.5f \r\n", KP);
- }
- else if (PID_key == '=') {
- KP += gain_step_size;
- pc().printf("P gain: %0.5f \r\n", KP);
- }
- else if (PID_key == '[') {
- KI -= gain_step_size;
- pc().printf("I gain: %0.5f \r\n", KI);
- }
- else if (PID_key == ']') {
- KI += gain_step_size;
- pc().printf("I gain: %0.5f \r\n", KI);
- }
- else if (PID_key == ';') {
- KD -= gain_step_size;
- pc().printf("D gain: %0.5f \r\n", KD);
- }
- else if (PID_key == '\'') {
- KD += gain_step_size;
- pc().printf("D gain: %0.5f \r\n", KD);
- }
- else if (PID_key == 'S') { // user wants to save these modified values
- // set values
- bce().setControllerP(KP);
- bce().setControllerI(KI);
- bce().setControllerD(KD);
-
- // save into "PID.cfg"
- //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
- break; //exit the while loop
- }
- else if (PID_key == 'X') {
- break; //exit the while loop
- }
- else {
- pc().printf("\n\rThis key does nothing here. ");
- }
- }
-}
-
-void keyboard_menu_DEPTH_PID_settings() {
- char PID_key;
- float gain_step_size = 0.01; // modify this to change gain step size
- float KP = depthLoop().getControllerP(); // load current global value
- float KI = depthLoop().getControllerI(); // load current global value
- float KD = depthLoop().getControllerD(); // load current global value
-
- // show the menu
- pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
- pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r");
- pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
-
- // handle the key presses
- while(1) {
- // get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- PID_key = pc().getc();
- }
- else {
- continue; // didn't get a user input, so keep waiting for it
- }
-
- // handle the user's key input
- if (PID_key == '-') {
- KP -= gain_step_size;
- pc().printf("P gain: %0.5f \r\n", KP);
- }
- else if (PID_key == '=') {
- KP += gain_step_size;
- pc().printf("P gain: %0.5f \r\n", KP);
- }
- else if (PID_key == '[') {
- KI -= gain_step_size;
- pc().printf("I gain: %0.5f \r\n", KI);
- }
- else if (PID_key == ']') {
- KI += gain_step_size;
- pc().printf("I gain: %0.5f \r\n", KI);
- }
- else if (PID_key == ';') {
- KD -= gain_step_size;
- pc().printf("D gain: %0.5f \r\n", KD);
- }
- else if (PID_key == '\'') {
- KD += gain_step_size;
- pc().printf("D gain: %0.5f \r\n", KD);
- }
- else if (PID_key == 'S') { // user wants to save these settings
- // set global values
- depthLoop().setControllerP(KP);
- depthLoop().setControllerI(KI);
- depthLoop().setControllerD(KD);
-
- // save into "PID.cfg"
- //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
- break; //exit the while loop
- }
- else if (PID_key == 'X') {
- break; //exit the while loop
- }
- else {
- pc().printf("\n\rThis key does nothing here. ");
- }
- }
-}
-
-void keyboard_menu_BATT_PID_settings() {
- char PID_key;
- float gain_step_size = 0.01; // modify this to change gain step size
- float KP = batt().getControllerP(); // load current global value
- float KI = batt().getControllerI(); // load current global value
- float KD = batt().getControllerD(); // load current global value
-
- // print the menu
- pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
- pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
- pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
-
- // handle the key presses
- while(1) {
- // get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- PID_key = pc().getc();
- }
- else {
- continue; // didn't get a user input, so keep waiting for it
- }
-
- // handle the user's key input
- if (PID_key == '-') {
- KP -= gain_step_size;
- pc().printf("\rP gain: %0.5f ", KP);
- }
- else if (PID_key == '=') {
- KP += gain_step_size;
- pc().printf("\rP gain: %0.5f ", KP);
- }
- else if (PID_key == '[') {
- KI -= gain_step_size;
- pc().printf("\rI gain: %0.5f ", KI);
- }
- else if (PID_key == ']') {
- KI += gain_step_size;
- pc().printf("\rI gain: %0.5f ", KI);
- }
- else if (PID_key == ';') {
- KD -= gain_step_size;
- pc().printf("\rD gain: %0.5f ", KD);
- }
- else if (PID_key == '\'') {
- KD += gain_step_size;
- pc().printf("\rD gain: %0.5f ", KD);
- }
- else if (PID_key == 'S') { // user wants to save the modified values
- // set global values
- batt().setControllerP(KP);
- batt().setControllerI(KI);
- batt().setControllerD(KD);
-
- // save to "PID.cfg" file
- //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
- break; //exit the while loop
- }
- else if (PID_key == 'X') {
- break; //exit the while loop
- }
- else {
- pc().printf("This key does nothing here.\r");
- }
- }
-}
-
-void keyboard_menu_PITCH_PID_settings() {
- char PID_key;
- float gain_step_size = 0.01; // modify this to change gain step size
- float KP = pitchLoop().getControllerP(); // load current global value
- float KI = pitchLoop().getControllerI(); // load current global value
- float KD = pitchLoop().getControllerD(); // load current global value
-
- // print the menu
- pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
- pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
- pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
-
- // handle the key presses
- while(1) {
- // get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- PID_key = pc().getc();
- }
- else {
- continue; // didn't get a user input, so keep waiting for it
- }
-
- // handle the user's key input
- if (PID_key == '-') {
- KP -= gain_step_size;
- pc().printf("\rP gain: %0.5f ", KP);
- }
- else if (PID_key == '=') {
- KP += gain_step_size;
- pc().printf("\rP gain: %0.5f ", KP);
- }
- else if (PID_key == '[') {
- KI -= gain_step_size;
- pc().printf("\rI gain: %0.5f ", KI);
- }
- else if (PID_key == ']') {
- KI += gain_step_size;
- pc().printf("\rI gain: %0.5f ", KI);
- }
- else if (PID_key == ';') {
- KD -= gain_step_size;
- pc().printf("\rD gain: %0.5f ", KD);
- }
- else if (PID_key == '\'') {
- KD += gain_step_size;
- pc().printf("\rD gain: %0.5f ", KD);
- }
- else if (PID_key == 'S') { // user wants to save the modified values
- // set global values
- pitchLoop().setControllerP(KP);
- pitchLoop().setControllerI(KI);
- pitchLoop().setControllerD(KD);
-
- //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
- break; //exit the while loop
- }
- else if (PID_key == 'X') {
- break; //exit the while loop
- }
- else {
- pc().printf("This key does nothing here.\r");
- }
- }
-}
-
-
-// output the keyboard menu for user's reference
-void showMenu() {
- pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
- pc().printf(" N to find neutral\r\n");
- pc().printf(" D to initiate dive cycle\r\n");
- pc().printf(" R to initiate rise\r\n");
- pc().printf(" L to float level\r\n");
- pc().printf(" B to float at broadcast pitch\r\n");
- 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);
- pc().printf(" 1 BCE PID sub-menu\r\n");
- pc().printf(" 2 BATT PID sub-menu\r\n");
- pc().printf(" 3 Depth PID sub-menu\r\n");
- pc().printf(" 4 Pitch PID sub-menu\r\n");
- pc().printf(" C See sensor readings\r\n");
- pc().printf(" ? to reset mbed\r\n");
-}
-
-// keyboard currently handles a key at a time
-// returns -1 if not a state command
-// returns a positive number to command a new state
-int keyboard() {
- char userInput;
-
- // check keyboard and make settings changes as requested
- if (pc().readable()) {
- // get the key
- userInput = pc().getc();
-
- // check command against desired control buttons
- // change state
- if (userInput == 'D' or userInput == 'd') {
- return DIVE;
- }
- else if (userInput == 'N' or userInput == 'n') {
- return FIND_NEUTRAL;
- }
- else if (userInput == 'R' or userInput == 'r') {
- return RISE;
- }
- else if (userInput == 'L' or userInput == 'l') {
- return FLOAT_LEVEL;
- }
- else if (userInput == 'B' or userInput == 'b') {
- return FLOAT_BROADCAST;
- }
- else if (userInput == 'E' or userInput == 'e') {
- return EMERGENCY_CLIMB;
- }
- else if (userInput == 'H' or userInput == 'h') {
- pc().printf("running homing procedure\r\n");
- bce().unpause(); bce().homePiston(); bce().pause();
- batt().unpause(); batt().homePiston(); batt().pause();
- return SIT_IDLE;
- }
- else if (userInput == 'T' or userInput == 't') {
- pc().printf("taring depth sensor\r\n");
- pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
- wait(0.1);
- 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);
- mbed_reset();
- }
-
- // change settings
- else if (userInput == 'Q' or userInput == 'q') {
- pitchCommand -= 0.5; //decrement the pitch setpoint
- pitchLoop().setCommand(pitchCommand);
- pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
- }
- else if (userInput == 'W' or userInput == 'w') {
- pitchCommand += 0.5; //increment the pitch setpoint
- pitchLoop().setCommand(pitchCommand);
- pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
- }
- else if (userInput == 'A' or userInput == 'a') {
- depthCommand -= 0.5; //decrement the depth setpoint
- depthLoop().setCommand(depthCommand);
- pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
- }
- else if (userInput == 'S' or userInput == 's') {
- depthCommand += 0.5; //increment the depth setpoint
- depthLoop().setCommand(depthCommand);
- pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
- }
- else if (userInput == '-') {
- timeout -= 10.0; //decrement the timeout
- pc().printf(">>> timeout decreased: %d\r\n", timeout);
- }
- else if (userInput == '=' or userInput == '+') {
- timeout += 10.0; //increment the timeout
- pc().printf(">>> timeout increased: %d\r\n", timeout);
- }
-
- // add keyboard commands to move the neutral zero offsets, both bce and batt
-
- // go to sub-menus for the PID gains (this is blocking)
- else if (userInput == '1') {
- keyboard_menu_BCE_PID_settings();
- }
- else if (userInput == '2') {
- keyboard_menu_BATT_PID_settings();
- }
- else if (userInput == '3') {
- keyboard_menu_DEPTH_PID_settings();
- }
- else if (userInput == '4') {
- keyboard_menu_PITCH_PID_settings();
- }
-
- else if (userInput == 'C' or userInput == 'c') {
- pc().printf("depth: %3.1f\r\n",depthLoop().getPosition());
- pc().printf("pitch: %3.1f\r\n",imu().getPitch());
- pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
- pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
- pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
- pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
- pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
- pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
- }
- else {
- return (-1);
- }
- }
- return (-1);
-}
-
-void stateMachine() {
- static int state = SIT_IDLE; // select starting state here
- static bool isTimeoutRunning = false; // default timer to not running
-
- // finite state machine ... each state has at least one exit criteria
- switch (state) {
- case SIT_IDLE :
- // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
- if (!isTimeoutRunning) {
- showMenu();
- pc().printf("\r\n\nstate: SIT_IDLE\r\n");
- isTimeoutRunning = true;
-
- // what is active?
- bce().pause();
- batt().pause();
- }
- // how exit?
- if (pc().readable()) {
- state = KEYBOARD;
- isTimeoutRunning = false;
- }
- break;
-
- case KEYBOARD :
- pc().printf("\r\n\nstate: KEYBOARD\r\n");
- if (pc().readable()) {
- state = keyboard(); // get new state command
- if (state == -1) { // error, that wasn't a new state command
- state = SIT_IDLE;
- }
- //pc().printf("new state is: %d \r\n",state);
- }
- break;
-
- case EMERGENCY_CLIMB :
- // start local state timer and init any other one-shot actions
- if (!isTimeoutRunning) {
- pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
- isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what is active?
- bce().setPosition_mm(bce().getTravelLimit());
- batt().setPosition_mm(0.0);
- }
- // how exit?
- if (timer > timeout) {
- pc().printf("timed out\r\n");
- state = FLOAT_LEVEL;
- timer.reset();
- isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() < 0.2) {
- pc().printf("depth: %3.1f, cmd: 0.5\r\n",depthLoop().getPosition());
- state = FLOAT_LEVEL;
- timer.reset();
- isTimeoutRunning = false;
- }
- break;
-
- case FIND_NEUTRAL :
- // start local state timer and init any other one-shot actions
- if (!isTimeoutRunning) {
- pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
- isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what is active?
- depthLoop().setCommand(depthCommand);
- pitchLoop().setCommand(pitchCommand);
- }
- // how exit?
- if (timer > timeout) {
- pc().printf("timed out\r\n");
- state = FLOAT_LEVEL;
- timer.reset();
- isTimeoutRunning = false;
- }
- else if ((abs(depthLoop().getPosition() - depthLoop().getCommand()) < depthTolerance) and
- (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) {
- state = RISE;
- timer.reset();
- isTimeoutRunning = false;
- }
- // what is active?
- pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
- bce().setPosition_mm(depthLoop().getOutput());
- batt().setPosition_mm(pitchLoop().getOutput());
- break;
-
- case DIVE :
- // start local state timer and init any other one-shot actions
- if (!isTimeoutRunning) {
- pc().printf("\r\n\nstate: DIVE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
- isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- depthLoop().setCommand(depthCommand);
- pitchLoop().setCommand(pitchCommand);
- pc().printf("depth cmd: %3.1f\r\n",depthLoop().getCommand());
- pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
- }
- // how exit?
- if (timer > timeout) {
- pc().printf("timed out\r\n");
- state = EMERGENCY_CLIMB;
- timer.reset();
- isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() > depthLoop().getCommand()) {
- pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- state = RISE;
- timer.reset();
- isTimeoutRunning = false;
- }
- // what is active?
- pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
- bce().setPosition_mm(depthLoop().getOutput());
- batt().setPosition_mm(pitchLoop().getOutput());
- break;
-
- case RISE :
- // start local state timer and init any other one-shot actions
- if (!isTimeoutRunning) {
- pc().printf("\r\n\nstate: RISE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
- isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- depthLoop().setCommand(0.0);
- pitchLoop().setCommand(-pitchCommand);
- pc().printf("depth cmd: 0.0\r\n");
- pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
- }
- // how exit?
- if (timer > timeout) {
- pc().printf("timed out\r\n");
- state = FLOAT_LEVEL;
- timer.reset();
- isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() < depthLoop().getCommand()) {
- pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- state = FLOAT_LEVEL;
- timer.reset();
- isTimeoutRunning = false;
- }
- pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
- // what is active?
- bce().setPosition_mm(depthLoop().getOutput());
- batt().setPosition_mm(pitchLoop().getOutput());
- break;
-
- case FLOAT_LEVEL :
- // start local state timer and init any other one-shot actions
- if (!isTimeoutRunning) {
- pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
- isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands
- bce().setPosition_mm(bceFloatPosition);
- pitchLoop().setCommand(0.0);
- }
- // how exit?
- if (timer > timeout) {
- pc().printf("timed out\r\n");
- state = FLOAT_BROADCAST;
- timer.reset();
- isTimeoutRunning = false;
- }
- else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) {
- pc().printf("pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance);
- state = FLOAT_BROADCAST;
- timer.reset();
- isTimeoutRunning = false;
- }
- // what is active?
- pc().printf("pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm());
- batt().setPosition_mm(pitchLoop().getOutput());
- break;
-
- case FLOAT_BROADCAST :
- // start local state timer and init any other one-shot actions
- if (!isTimeoutRunning) {
- pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
- isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- bce().setPosition_mm(bceFloatPosition);
- batt().setPosition_mm(battFloatPosition);
- }
- // how exit?
- if (timer > timeout) {
- pc().printf("timed out\r\n");
- state = SIT_IDLE;
- timer.reset();
- isTimeoutRunning = false;
- }
- 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();
- isTimeoutRunning = false;
- }
- pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
- break;
-
- default :
- state = SIT_IDLE;
- }
-}
-
-
int main() {
setup();
+
while(1) {
led1() = !led1(); // blink
- //pc().printf("roll: %3.1f, pitch %3.1f, yaw: %3.1f\r", imu().getRoll(), imu().getPitch(), imu().getHeading());
- stateMachine();
+
+ stateMachine().runStateMachine();
}
}
\ No newline at end of file