Diff: main.cpp

Revision:

4:66f13fbb035d

Parent:

3:7824127c5cfd

Child:

5:15bd96205bb2

--- a/main.cpp	Fri Oct 06 21:16:55 2017 +0000
+++ b/main.cpp	Tue Oct 10 20:22:57 2017 +0000
@@ -2,46 +2,28 @@
 #include "StaticDefs.hpp"
 #include "config_functions.h"
 
-#define BCE_P 0.1
-#define BCE_I 0.0
-#define BCE_D 0.0
-
-#define BCE_ZERO 400    //counts
-#define BCE_LIMIT 498.729   //mm
-#define POT_SLOPE .121760   // mm/counts
+int main()
+{
+    float positionCmd = 10.0;
+    char userInput;
 
-#define BATT_P 0.1
-#define BATT_I 0.0
-#define BATT_D 0.0
-
-#define BATT_ZERO 100    //counts
-#define BATT_LIMIT 50.0 //mm
-
-int main()
-{   
     local();  //this makes sure the local file system is constructed
-    
+    //pc().baud(115200);
     //Read in and load the BCE parameters from the text file "bce.txt"
     load_BCE_config();
-    
+    bce().init();
+
     ////Read in and load the battery mover parameters from the text file "batt.txt"
-    
+
     // do not leave this in. It is just there to check that things are working
-    pc().printf("\n\rP: %3.2f I: %3.2f D %3.2f zero: %3i limit %3.2f slope %3.2f", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
-    
-    //Front load the desired parameters into the linear acuator objects.  
+    pc().printf("\n\rP: %3.2f I: %3.2f D %3.2f zero: %3i limit %3.2f slope %3.2f  \n\r", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
+
+    //Front load the desired parameters into the linear acuator objects.
     //This could be done using ConfigFile, if it worked
-    
+
     //I need to also check up in whether the limits are being passed to the linear
     //actuator's PID objects. I noticed I have defaults that are appropriate for only
     //the bouyancy engine
-    
-    batt().setControllerP(BATT_P);
-    batt().setControllerI(BATT_I);
-    batt().setControllerD(BATT_D);
-    batt().setZeroCounts(BATT_ZERO);
-    batt().setTravelLimit(BATT_LIMIT);
-    batt().setPotSlope(POT_SLOPE);
 
     //start up the system timer
     systemTime().start();
@@ -52,47 +34,53 @@
 
     //start the bce and batt control loops.  ADC has to be running first.
     //The motors will not activate until their respective position filters have
-    //converged
+    //converged, but just to be sure we pause them until we want them to really run
     bce().start();
+    bce().pause();
+
+    bce().setPosition_mm(positionCmd);
+
+    bce().unpause();
+
     batt().start();
-    
+    batt().pause();
+
     //read in a script file describing the dive cycle
     //I envision entries such as
     // target pitch angle  target depth  target depth rate
     // 10 degrees          5 ft          0.05 ft/s         example dive request
     // -10 degrees         0 ft          -0.05 ft/s        example surface request
-    
+
     //this implies two pid controllers
     // one that manages the batt mover for pitch
-    // the other manages the buoyance engine for dive speed    
-    
+    // the other manages the buoyance engine for dive speed
+
     // then some logic is needed to check the box when the desired condition is reached
     // like a waypoint threshold. This allows you to get away from worrying as much about
-    // keeping time            
+    // keeping time 
 
 
 
     while(1) {
-        
         //psuedo code to outline what we want to do
         /*
         check for and parse IMU data
-        
+
         poll for depth adc reading (eventually this will come from the external adc)
-        
+
         run depth data through position velocity filter
-        
+
         update the PID controllers for Pitch and depth rate
-        
+
         check whether depth has been triggered
             if so, move on to the next line of the script
             if done , surface or repeat
-        
-*/
+
+        */
 
-/*
-        This can be ignored for now this was the old serial comms stuff for when I
-        was prototyping the BCE controls
+
+        //This can be ignored for now this was the old serial comms stuff for when I
+        //was prototyping the BCE controls
         
         if (pc().readable()) {
             // get the key
@@ -105,63 +93,16 @@
             } else if (userInput == '-') {
                 //decrement the duty cycle
                 positionCmd -= 5.0 ;
-            }
-
-            if (userInput == 'w') {
-                //increment the P gain
-                P += 0.01;
-            }
-            if (userInput == 's') {
-                //decrement the P gain
-                P -= 0.01;
-            }
-            if (userInput == 'i') {
-                //increment the D gain
-                D += 0.001;
-            }
-            if (userInput == 'k') {
-                //decrement the D gain
-                D -= 0.001;
-            }
-            if (userInput == 't') {
-                //increment the I gain
-                I += 0.001;
-            }
-            if (userInput == 'g') {
-                //decrement the I gain
-                I -= 0.001;
+            } else if (userInput == '\r') {
+                bce().setPosition_mm(positionCmd);
             }
-            if (userInput == ' ') {
-                //reset the h-bridge
-                //hBridge().reset();
-            }
-
-            //if (userInput == ' ') {
-            //stop the ride
-            //    motor_cmd = 0.0 ;
-            //}
+        }
 
-            //clip pwm if over range
-            //if (motor_cmd > 1.0) {
-            //    motor_cmd = 1.0;
-            //}
-            //if (motor_cmd < -1.0) {
-            //    motor_cmd = -1.0;
-            //}
-            // assign the shiny new commands to the pins
-            //hBridge().run(motor_cmd);
-            if (userInput == '\r') {
-                bce().setPosition_mm(positionCmd);
-                //    posCon().setPgain(P);
-                //    posCon().setIgain(I);
-                //    posCon().setDgain(D);
-            }*/
+        //pc().printf("set point %3.1f  \r", positionCmd);
 
-     //   }  
 
         //pc().printf("Position: %10.1f mm  Velocity: % 2.2f mm/s  Output: % 1.3f   switch: %d    \r", bce().getPosition_mm(), bce().getVelocity_mms(), bce().getOutput(), bce().getSwitch());
-        //pc().printf("pos: %3.0f mm  vel: % 2.2f mm/s  Set Point %3.0f  controller output: % 1.3f P: %1.3f I: %1.4f D: %1.4f\r", pvf().getPosition(), pvf().getVelocity(), positionCmd, posCon().getOutput(), P, I, D);
-
+        pc().printf("pos: %3.2f mm  vel: % 3.2f mm/s  Set Point %3.1f       \r", bce().getPosition_mm(), bce().getVelocity_mms(), positionCmd);
 
     }
 }