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:
- 11:3b241ecb75ed
- Parent:
- 10:085ab7328054
- Child:
- 12:a0519d11d2b6
--- a/main.cpp Mon Oct 23 12:50:53 2017 +0000
+++ b/main.cpp Fri Oct 27 00:37:32 2017 +0000
@@ -22,16 +22,58 @@
- outer loops run, but move the BCE in the wrong direction.
- new IMU code doesn't read from the sensor correctly, but doesn't hang up either.
- depth sensor worked fine, just needs zero bias adjustment.
+ Modified 2017-10-24 by Troy
+ - added offset to outerloop
+ Modified 2017-10-26 by Dan
+ - brought over a state machine and new keyboard controls ... currently just dumped into main.
+ Modified 2017-10-26 by Matt
+ - new IMU code imported and working well with the hardware.
+ Modified 2017-10-26 revB by Dan
+ - This version has been in the pool.
+ - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions.
+ But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why.
+ - Repeatedly got stuck in RISE with a +60s timeout. Battery hit end bell and stalled out.
+ - keyboard and state machine are in main, probably shouldn't be, but easier to debug.
+ - Really happy with the logic and flow of the state machine. Timeouts work.
+ - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE.
+ - Need to add keyboard commands to modify the zeroOffset positions.
*/
#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 = -5.0; // user keyboard depth
+
+
void setup() {
- pc().printf("\n\n\r\rFSG 2017-10-22 revD\n\r");
+ pc().printf("\n\n\r\rFSG 2017-10-26 revA\n\r");
+ pc().baud(57600);
// start up the system timer
systemTime().start();
@@ -67,22 +109,314 @@
// set up the depth and pitch outer loop controllers
depthLoop().init();
- depthLoop().setCommand(0.0);
+ depthLoop().setCommand(-2.5);
pitchLoop().init();
pitchLoop().setCommand(0.0);
// 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 \n\r", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
- pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \n\r", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
- pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, \n\r", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD());
- pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, \n\r", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD());
+ 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());
+ 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());
+ 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());
+ 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());
pc().printf("\n\r");
}
-void keyboard() {
- static float setpoint = 50.0;
- static bool isOuterLoopActive = false; // allow user to select if the outer loop is active
+
+
+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("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
@@ -91,65 +425,362 @@
userInput = pc().getc();
// check command against desired control buttons
- if (userInput == '+' or userInput == '=') {
- setpoint += 1.0; //increment the command
- }
- else if (userInput == '-' or userInput == '_') {
- setpoint -= 1.0; //decrement the command
+ // change state
+ if (userInput == 'D' or userInput == 'd') {
+ return DIVE;
}
- else if (userInput == 't' or userInput == 'T') {
- isOuterLoopActive = !isOuterLoopActive; // toggle the outer loop
-
- if (isOuterLoopActive)
- pc().printf("Outer loops are now active \n\r");
- else
- pc().printf("Outer loops are now inactive \n\r");
+ 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 == '\r') {
- if (isOuterLoopActive) {
- pc().printf("setting outer loop: %3.0f \n\r", setpoint);
-
- depthLoop().setCommand(setpoint);
- bce().setPosition_mm(depthLoop().getOutput()); // connect outer to inner loop
-
- pitchLoop().setCommand(setpoint);
- batt().setPosition_mm(pitchLoop().getOutput()); // connect outer to inner loop
- }
- else {
- pc().printf("setting inner loop: %3.0f \n\r", setpoint);
-
- batt().setPosition_mm(setpoint);
- bce().setPosition_mm(setpoint);
- }
+ 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().start(); bce().homePiston(); bce().stop();
+// batt().start(); batt().homePiston(); batt().stop();
+// return SIT_IDLE;
+// }
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",depth().getDepth());
+ 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);
+ }
}
-
- if (isOuterLoopActive)
- pc().printf("setpoint %3.1f, depth: %3.1f ft, bce: %3.1f mm \r", setpoint, depth().getDepth(), bce().getPosition_mm());
- //pc().printf("setpoint %3.1f, pitch: %3.1f deg, batt: %3.1f mm \r", setpoint, imu().getPitch(), batt().getPosition_mm());
- else
- pc().printf("setpoint %3.1f, bce: %3.1f mm \r", setpoint, bce().getPosition_mm());
- //pc().printf("setpoint %3.1f, batt: %3.1f mm \r", setpoint, batt().getPosition_mm());
+ return (-1);
}
-void loop() {
- led1() = !led1(); // blink
+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\nstate: SIT_IDLE\r\n");
+ isTimeoutRunning = true;
+
+ // what is active?
+ bce().stop();
+ batt().stop();
+ depthLoop().stop();
+ pitchLoop().stop();
+ }
+ // how exit?
+ if (pc().readable()) {
+ state = KEYBOARD;
+ isTimeoutRunning = false;
+ }
+ break;
+
+ case KEYBOARD :
+ pc().printf("\r\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;
- keyboard();
+ case EMERGENCY_CLIMB :
+ // start local state timer and init any other one-shot actions
+ if (!isTimeoutRunning) {
+ pc().printf("\r\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().start();
+ batt().start();
+
+ // 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 (depth().getDepth() < 0.2) {
+ pc().printf("depth: %3.1f, cmd: 0.5\r\n",depth().getDepth());
+ 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\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().start();
+ batt().start();
+ depthLoop().start();
+ pitchLoop().start();
+
+ // 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(depth().getDepth() - 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 \r", bce().getPosition_mm(), batt().getPosition_mm());
+ bce().setPosition_mm(depthLoop().getOutput());
+ batt().setPosition_mm(pitchLoop().getOutput());
+ break;
- // sequence controllers...
- // check whether depth has been triggered
- // if so, move on to the next line of the script
- // if done, surface or repeat
+ case DIVE :
+ // start local state timer and init any other one-shot actions
+ if (!isTimeoutRunning) {
+ pc().printf("\r\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().start();
+ batt().start();
+ depthLoop().start();
+ pitchLoop().start();
+
+ // 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 = FLOAT_LEVEL;
+ timer.reset();
+ isTimeoutRunning = false;
+ }
+ else if (depth().getDepth() > depthLoop().getCommand()) {
+ pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depth().getDepth(), depthLoop().getCommand());
+ state = RISE;
+ timer.reset();
+ isTimeoutRunning = false;
+ }
+ // what is active?
+ pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm());
+ 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\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().start();
+ batt().start();
+ depthLoop().start();
+ pitchLoop().start();
+
+ // 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 (depth().getDepth() < depthLoop().getCommand()) {
+ pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depth().getDepth(), depthLoop().getCommand());
+ state = FLOAT_LEVEL;
+ timer.reset();
+ isTimeoutRunning = false;
+ }
+ pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm());
+ // 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\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().start();
+ batt().start();
+ pitchLoop().start();
+
+ // 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\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().start();
+ batt().start();
+
+ // 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()) {
+ 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 \r", bce().getPosition_mm(), batt().getPosition_mm());
+ break;
+
+ default :
+ state = SIT_IDLE;
+ }
}
+
int main() {
setup();
while(1) {
- loop();
+ led1() = !led1(); // blink
+ //pc().printf("roll: %3.1f, pitch %3.1f, yaw: %3.1f\r", imu().getRoll(), imu().getPitch(), imu().getHeading());
+ stateMachine();
+ wait(0.2); // must have SOME wait or the outer loops in DIVE and RISE will lock the mbed
}
}
\ No newline at end of file