Diff: main.cpp

Revision:

32:f2f8ae34aadc

Parent:

31:8616e397c22d

Child:

34:9b66c5188051

--- a/main.cpp	Wed Dec 06 22:45:23 2017 +0000
+++ b/main.cpp	Wed Dec 20 13:52:50 2017 +0000
@@ -40,19 +40,54 @@
         - Successful dive and multi-dive sequences exit to FLOAT_BROADCAST state (fix was implemented in code that did not respond, reimplemented here)
             1) Also made the change to the SequenceController (which loads a file that has multiple sequences)
         - FIND_NEUTRAL starts in NEUTRAL_SINKING with fix on sub-FSM to start with NEUTRAL_SINKING (verified via mbed on bench)
+    Modified 2017-12-07 revA by Troy
+        - Using new neutral finding sequence, dive slowly, rise slowly, then check pitch (pitch is not active at all until final state)
+        - Added additional print information (showing neutral parameters with "C")
+    Modified 2017-12-07 revB by Troy
+        - Momentum offsets reintroduced:
+            1) CASE DIVE uses "else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches"
+            2) CASE RISE uses "else if (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) { // including offset for low momentum approaches"
+        - Momentum on rise command does not exit properly, removed
+    Modified 2017-12-11 revA by Troy
+        - Added a logger function the main while loop
+        - Added vectors (essentially resizable arrays) to hold the data in the State Machine because of memory limitations
+    Modified 2017-12-12 revA by Troy
+        - Logger directly implemented in StateMachine (records every 5 seconds)
+    Modified 2017-12-12 revB by Troy
+        - Logger fixes implemented in StateMachine, was not logging each state, fixed the reset
+        - Made logger into a function call
+    Modified 2017-12-13 revA by Troy
+        - Added function to print log file to screen (tested on bench with multiple dives and timers)
+    Modified 2017-12-18 revA by Troy
+        - Redo of the code to stop opening and closing files each time
+        - This should allow you to write to the open file, then close it once you exit the sequence back to SIT_IDLE
+        - Start record in dive, end when you exit float broadcast...
+    Modified 2017-12-19 revA by Troy
+        - Fixed OpenLog printing to include states and variable names.  Currently logs to LOG#####.TXT files
+            1) Note: The OpenLog only starts a new log when it is power-cycled (with the MBED)
+    Modified 2017-12-20 rev A by Troy
+        - Modified code to log every 1 second in current iteration
 */
  
 #include "mbed.h"
 #include "StaticDefs.hpp"
  
-// loop rate timer for slowing down how fast while(1) runs in main()
+// loop rate used to determine how fast events trigger in the while loop
 Ticker loop_rate_ticker;
-volatile bool loop = false;
-void loop_trigger() { loop = true; }; // loop trigger
- 
+
+volatile bool loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable)
+
+void loop_trigger() { loop = true;} // loop trigger (used in while loop)
+//void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop)
+
+
 void setup() {
     pc().baud(57600);
-    pc().printf("\n\n\rFSG POOL TEST 2017-12-01 revA\n\n\r");
+    pc().printf("\n\n\rFSG POOL TEST 2017-12-20 revA (DESKTOP SAVE TEST)\n\n\r");
+    
+    //setup data logger baud rate and write the start of the program (every time you reset)
+    datalogger().baud(57600);
+    datalogger().printf("DATA, LOGGER, START\n");
  
     // start up the system timer
     systemTime().start();
@@ -108,17 +143,27 @@
  
     // establish the main loop rate
     loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate
+    
+    // setup the data logger rate
+//    loop_log_rate_ticker.attach(&loop_log_trigger, 5.0); // fires the ticker at 0.2 Hz rate (every 5 seconds)
+
 } 
  
 int main() {
     setup();
     
     while(1) {
-        // does this stuff at the loop rate
+        // runs at 10 hz
         if(loop) {
-            led1() = !led1(); // blink
+            led1() = !led1(); // blink led 1
             stateMachine().runStateMachine();
             loop = false; // wait until the loop rate timer fires again
         }
+        
+//        if (log_loop) {
+//            led3() = !led3(); // blink led 3
+//            datalogger().printf("");
+//            log_loop = false;   // wait until the loop rate timer fires again
+//        }
     }
 }
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