Diff: main.cpp

Revision:

74:d281aaef9766

Parent:

73:f6f378311c8d

Child:

75:92e79d23d29a

--- a/main.cpp	Mon Jul 30 16:48:48 2018 +0000
+++ b/main.cpp	Tue Aug 14 21:06:48 2018 +0000
@@ -1,10 +1,6 @@
 #include "mbed.h"
 #include "StaticDefs.hpp"
 
-#ifndef lround
-#define lround(var)    (long)(var+0.5f)
-#endif
-
 ////////////////////////////////////////////////////////////////// NEW TICKER
 Ticker systemTicker;
 bool setup_complete = false;
@@ -56,7 +52,7 @@
                            
                 file_opened = true;                             //stops it from continuing to open it
 
-                pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r");
+                xbee().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r");
             }
             
             //record to Mbed file system   
@@ -77,10 +73,10 @@
                 
                 file_opened = false;
                 
-                pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r");
+                xbee().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r");
             }
         }
-    }   //END OF LOG LOOP
+    }   //END OF LOG LOOP8
     
     log_loop = false;   // wait until the loop rate timer fires again
 }
@@ -93,7 +89,7 @@
     
     //only start these updates when everything is properly setup (through setup function)
     if (setup_complete) {
-        if ( (timer_counter % 1) == 0) {    //this runs at 0.001 second intervals (1000 Hz)
+        if ( (timer_counter % 5) == 0) {    //this runs at 0.005 second intervals (200 Hz)
             adc().update();  //every iteration of this the A/D converter runs   //now this runs at 0.01 second intervals 03/12/2018
         }
         
@@ -103,7 +99,7 @@
         }
         
         if ( (timer_counter % 20) == 0 ) {    // 0.02 second intervals
-            //rudder().runServo();
+            rudder().runServo();
         }
         
         if ( (timer_counter % 50) == 0 ) {    // 0.05 second intervals 
@@ -119,12 +115,18 @@
         if ( (timer_counter % 1000) == 0) {        // update at 1.0 second intervals
             //gui().updateGUI();
         }
+        
+        if ( (timer_counter % 30000) == 0) {        // update at 30.0 second intervals
+            //pc().printf("XB!\n");
+        }
     }
 }
 
 void setup() {
-    pc().baud(57600);
-    pc().printf("\n\n\r FSG PCB Bench Test version 1.7C)\n\n\r");
+    xbee().baud(115200);
+    xbee().printf("\n\n\r FSG PCB Bench Test version 1.8L 115200 BAUD)\n\n\r");
+    
+    //pc().baud(57600);
  
     // start up the system timer
     //systemTimer().start();
@@ -135,7 +137,7 @@
     
     // setup and run the rudder(servo) pwm signal (start the ticker)
     //rudder().init();
-    pc().printf("Rudder servo initialized!\n\r");
+    xbee().printf("Rudder servo initialized!\n\r");
     
     // set up and start the imu. This polls in the background
     imu().initialize();
@@ -189,15 +191,15 @@
     
  
     // show that the PID gains are loading from the file
-    pc().printf("bce    P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f  \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
-    pc().printf("batt   P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f  \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
-    pc().printf("rudder min pwm: %6.2f, max pwm: %6.2f, center pwm: %6.2f, min deg: %6.2f, max deg: %6.2f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
+    xbee().printf("bce    P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f  \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
+    xbee().printf("batt   P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f  \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
+    xbee().printf("rudder min pwm: %6.2f, max pwm: %6.2f, center pwm: %6.2f, min deg: %6.2f, max deg: %6.2f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
     
-    pc().printf("depth   P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
-    pc().printf("pitch   P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
-    pc().printf("heading P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f deg (deadband: %0.1f)\r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband());
+    xbee().printf("depth   P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
+    xbee().printf("pitch   P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
+    xbee().printf("heading P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f deg (deadband: %0.1f)\r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband());
     
-    pc().printf("\n\r");
+    xbee().printf("\n\r");
          
     //load sequence from file
     sequenceController().loadSequence();
@@ -221,9 +223,8 @@
     systemTicker.attach_us(&system_timer, 1000);         // Interrupt timer running at 0.001 seconds       (slower than original ADC time interval)
     
     unsigned int tNow = 0;
-    
-    //pc().baud(57600);
-    pc().printf("\n\n\r FSG PCB v1.8 (XBee) 07/12/2018 \n\n\r");
+
+    xbee().printf("\n\n\r FSG PCB v1.8D (XBee) 08/07/2018 \n\n\r");
     
     systemTicker.attach_us(&system_timer, 1000);         // Interrupt timer running at 0.001 seconds       (slower than original ADC time interval)
         
@@ -233,7 +234,7 @@
             ++tNow;
 
             //run finite state machine fast when transmitting data
-            if (current_state == TX_MBED_LOG or current_state == RECEIVE_SEQUENCE) {
+            if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) {
                 if ( (tNow % 100) == 0 ) {   // 0.01 second intervals  (100 Hz)
                     fsm_loop = true;
                     FSM();
@@ -258,10 +259,4 @@
             }
         }
     }
-}
-
-
-
-
-
-
+}
\ No newline at end of file