Diff: main.cpp

Revision:

23:434f04ef1fad

Parent:

22:a10ee088403b

Child:

24:c7d9b5bf3829

--- a/main.cpp	Thu Nov 23 02:20:08 2017 +0000
+++ b/main.cpp	Tue Nov 28 18:00:09 2017 +0000
@@ -86,6 +86,20 @@
     Modified 2017-11-22 by Dan
         - added ability for substate NEUTRAL_CHECK_PITCH to move the battery toward level, then saves offsets.
         - added new entry state NEUTRAL_FIRST_PITCH that also moves the battery toward level, but doesn't save.
+    Modified 2017-11-27 by Troy
+        - Fixed exit condition (restart at NEUTRAL_FIRST_PITCH)
+        - Pool tested, needed to run timer for longer than 5 minutes (neutral finding sequence timed out)
+        - IMU fell off tape
+    Modified 2017-11-28 Rev A by Dan/Troy
+        - Modified NEUTRAL_FIRST_PITCH to save the battery offset into the Pitch Outer Loop before beginning neutral finding sequence before sinking
+        - Pitch Outer Loop now runs NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE states (instead of batt fixed position control)
+        - NEUTRAL_SINKING has been changed to a 5-second timer (vice 10 seconds)
+        - NEUTRAL_SLOWLY_RISE has been changed to move the piston 2 mm each interval (vice 1 mm)
+    Modified 2017-11-28 Rev B by Dan/Troy
+        - Changed pitch rate margin from absolute value < 0.5 deg/sec to 5.0 deg/s
+        - Changed sink timer to move piston 5 mm at a time instead of 10 mm
+        - Find level motion will now run every 10 seconds instead of 5 seconds
+        - Created an integer array to do a quick check of what states Find Neutral sub-FSM ran through (press "c" to see states)
 */
  
 #include "mbed.h"
@@ -98,7 +112,7 @@
  
 void setup() {
     pc().baud(57600);
-    pc().printf("\n\n\rFSG 2017-11-22\n\n\r");
+    pc().printf("\n\n\rFSG 2017-11-27\n\n\r");
  
     // start up the system timer
     systemTime().start();