Diff: main.cpp

Revision:

17:7c16b5671d0e

Parent:

16:3363b9f14913

Child:

20:8987a9ae2bc7

--- a/main.cpp	Mon Nov 06 22:57:56 2017 +0000
+++ b/main.cpp	Tue Nov 21 22:03:26 2017 +0000
@@ -58,14 +58,37 @@
             (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
+    Modified 2017-11-14 by Troy
+        - Changed tare to void function (functions does not return anything when called)
+        - Added a "subclass" in the cases for the Neutral Finding Sequence (Sinking, Slowly Rise, Check Pitch (and save positions))
+    Modified 2017-11-20 by Troy
+        - Modified StateMachine class to separate keyboard inputs from FSM
+        - Added Neutral Finding sub-statemachine
+        - Verified both state machines are working with hardware on desktop
+        - Added class to save neutral battery and buoyancy engine positions to neutral.cfg file
+    Modified 2017-11-21 by Troy
+        - Need to check remove ConfigFileIO and place saving functions into config_functions.cpp (rename ConfigFunctions.cpp)
+        - Added multi-dive (and multi-rise) states to FSM (may incorporate single dive states into states)
+        - Need to double-check behavior of sub-FSM but bench-top testing showed correct behavior for transition from sinking, to slowly rise, to check pitch
+        - Need to add a check for the multi-dive sequence file (sequence.cfg) being loaded on the MBED
 */
 
 #include "mbed.h"
 #include "StaticDefs.hpp"
 #include "config_functions.h"
 
+volatile bool blocker = true;   //volatile used to prevent compiler from optimizing this (assuming the state is constant)
+volatile bool keyboard_flag = true;
+
+Ticker blocker_ticker;
+
+//blocker using a ticker
+void reset_blocker() {
+    blocker = false;
+};
+
 void setup() {
-    pc().printf("\n\n\r\rFSG 2017-11-06\n\r");
+    pc().printf("\n\n\r\rFSG 2017-11-20\n\r");
     pc().baud(57600);
 
     // start up the system timer
@@ -116,14 +139,48 @@
     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");
+    
+    //set the neutral positions in the FSM
+    // load neutral motor positions from the neutral.cfg file
+    configFileIO().loadNeutralPositions();
+        
+    // in discussion said this was actually in pitch.txt and depth.txt
+    // fixing on Wednesday (Troy)
+    pc().printf("\n\rLoading neutral positions from file.\n\r");
+    stateMachine().setNeutralPositions(configFileIO().getBattPos(), configFileIO().getBCEPos());     //batt, bce
+    
+    //load sequence from file
+    sequenceController().loadSequence();
 }
 
+
+
 int main() {
     setup();
     
+    blocker_ticker.attach(&reset_blocker, 0.01); // 100 Hz loop rate
+    uint32_t n = 0;
+    
     while(1) {
         led1() = !led1(); // blink
         
-        stateMachine().runStateMachine();
+        //"blocker" while loop runs at 100 hz because of the ticker
+        while(blocker) {            
+            if (keyboard_flag) {
+                stateMachine().keyboard();          //current concept runs keyboard and state machine in a while loop
+                stateMachine().runStateMachine();
+            
+                keyboard_flag = false;
+            }
+        }
+        
+        //this runs at 10 hz
+        if (n%10 == 0)
+        {  
+            keyboard_flag = true;   //the flag controls the rate at which this operates
+        }   
+        
+        //keyboard_flag = true;   //set the keyboard flag
+        blocker = true;         //reset the blocker while loop when this is completed
     }
 }
\ No newline at end of file