File content as of revision 11:3b241ecb75ed:

/*
    Starting from Trent's Linear Actuator code from 2017-10-19, these modifications
    by Dan add an outer loop controller for depth and pitch to command the inner
    linear actuator loops.
    Modified 2017-10-20 revA by Dan
        - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update)
    Modified 2017-10-22 revA by Dan
        - outer loop now works with a call to outerloop.update() in main loop(), not with an attached ticker
    Modified 2017-10-22 revB by Dan
        - enabled both depth and pitch outer loop controllers
        - added ability to keyboard reset
    Modified 2017-10-22 revC by Dan
        - major update to the IMU library processing to make a state machine that doesn't hang
        - added lat/lon/alt and GNSS fix information to the IMU library
        - brought out the pin names into the constructors of IMU, omega, SpiADC
    Modified 2017-10-22 revD by Dan
        - everything seems to be working, shy of re-checking on the hardware
        - Depth sensor call done inside the OuterLoop, but should somehow be set as a callback instead
        - IMU sensor call done inside the OuterLoop, but should somehow be set as a callback instead
    Modified 2017-10-23 revA by Dan/Matt
        - linear actuator hardware works great, limit switches, sensing, etc.
        - outer loops run, but move the BCE in the wrong direction.
        - new IMU code doesn't read from the sensor correctly, but doesn't hang up either.
        - depth sensor worked fine, just needs zero bias adjustment.
    Modified 2017-10-24 by Troy
        - added offset to outerloop
    Modified 2017-10-26 by Dan
        - brought over a state machine and new keyboard controls ... currently just dumped into main.
    Modified 2017-10-26 by Matt
        - new IMU code imported and working well with the hardware.
    Modified 2017-10-26 revB by Dan
        - This version has been in the pool.
        - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions.
            But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why.
        - Repeatedly got stuck in RISE with a +60s timeout.  Battery hit end bell and stalled out.
        - keyboard and state machine are in main, probably shouldn't be, but easier to debug.
        - Really happy with the logic and flow of the state machine. Timeouts work.
        - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE.
        - Need to add keyboard commands to modify the zeroOffset positions.
*/

#include "mbed.h"
#include "StaticDefs.hpp"
#include "config_functions.h"


extern "C" void mbed_reset();           // utilized to reset the mbed

// state enumerations
enum {
    SIT_IDLE,           // stops both motors, exits after a keyboard input
    KEYBOARD,           // handles an individual keypress, exits to state by a keyboard menu
    FIND_NEUTRAL,       // dives to depth at zero pitch, exits when stable
    DIVE,               // dives to depth at negative pitch, exits when crossing a defined depth
    RISE,               // rises to surface at positive pitch, exits when near surface
    FLOAT_LEVEL,        // bce position to float, pitch loop active at zero, exits when stable near zero pitch
    FLOAT_BROADCAST,    // bce position to float, batt position forward to hold tail up, exits when actuators done
    EMERGENCY_CLIMB     // bce position to full rise, batt position to full aft, exits when at surface
};

// timer for the state machine
Timer timer;

// these are all the parameters needed for the state machine
int timeout = 60;               // generic timeout for every state, seconds
float depthTolerance = 0.25;    // depth tolerance for neutral finding exit critera
float pitchTolerance = 1.0;     // pitch angle tolerance for neutral finding exit criteria
float bceFloatPosition = 300;   // bce position for "float" states
float battFloatPosition = 50;   // batt position for "broadcast" state
float depthCommand = 3.5; // user keyboard depth
float pitchCommand = -5.0; // user keyboard depth


void setup() {
    pc().printf("\n\n\r\rFSG 2017-10-26 revA\n\r");
    pc().baud(57600);

    // start up the system timer
    systemTime().start();

    // set up and start the adc. This runs on a fixed interval and is interrupt driven
    adc().initialize();
    adc().start();
    
    // set up and start the imu. This polls in the background
    imu().initialize();
    imu().start();
    
    // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
    depth().initialize();
    
    // construct a local file system
    local();

    // load config data from files
    load_BCE_config();      // load the buoyancy engine parameters from the file "bce.txt"
    load_BATT_config();     // load the battery mass mover parameters from the file "batt.txt"
    load_DEPTH_config();    // load the depth control loop parameters from the file "depth.txt"
    load_PITCH_config();    // load the depth control loop parameters from the file "pitch.txt"

    // set up the linear actuators.  adc has to be running first.
    bce().init();
    bce().start();
    bce().setPosition_mm(bce().getPosition_mm()); // start by not moving

    batt().init();
    batt().start();
    batt().setPosition_mm(batt().getPosition_mm()); // start by not moving

    // set up the depth and pitch outer loop controllers
    depthLoop().init();
    depthLoop().setCommand(-2.5);

    pitchLoop().init();
    pitchLoop().setCommand(0.0);

    // do not leave this in. Check that PID gains are loading
    pc().printf("bce    P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
    pc().printf("batt   P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
    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");
}



void keyboard_menu_BCE_PID_settings() {    
    char PID_key;
    float gain_step_size = 0.01;    // modify this to change gain step size
    float KP = bce().getControllerP();  // load current value
    float KI = bce().getControllerI();  // load current global value
    float KD = bce().getControllerD();  // load current global value
 
    // show the menu
    pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.)\n\n\n\r");
    pc().printf("bce    P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
    
    // handle the key presses
    while(1) {
        // get the user's keystroke from either of the two inputs
        if (pc().readable()) {
            PID_key = pc().getc();
        }
        else {
            continue; // didn't get a user input, so keep waiting for it
        }
    
        // handle the user's key input
        if (PID_key == '-') {
            KP -= gain_step_size;
            pc().printf("P gain: %0.5f               \r\n", KP);
        }
        else if (PID_key == '=') {
            KP += gain_step_size;
            pc().printf("P gain: %0.5f               \r\n", KP);
        }
        else if (PID_key == '[') {
            KI -= gain_step_size;
            pc().printf("I gain: %0.5f               \r\n", KI);
        }
        else if (PID_key == ']') {
            KI += gain_step_size;
            pc().printf("I gain: %0.5f               \r\n", KI);
        }
        else if (PID_key == ';') {
            KD -= gain_step_size;
            pc().printf("D gain: %0.5f               \r\n", KD);
        }
        else if (PID_key == '\'') {
            KD += gain_step_size;
            pc().printf("D gain: %0.5f               \r\n", KD);
        }
        else if (PID_key == 'S') { // user wants to save these modified values
            // set values
            bce().setControllerP(KP);
            bce().setControllerI(KI);
            bce().setControllerD(KD);  
 
            // save into "PID.cfg"
            //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
            break;  //exit the while loop
        }
        else if (PID_key == 'X') {    
            break;  //exit the while loop
        }
        else {
            pc().printf("\n\rThis key does nothing here.                              ");
        }
    }
}
 
void keyboard_menu_DEPTH_PID_settings() {    
    char PID_key;
    float gain_step_size = 0.01;    // modify this to change gain step size
    float KP = depthLoop().getControllerP();  // load current global value
    float KI = depthLoop().getControllerI();  // load current global value
    float KD = depthLoop().getControllerD();  // load current global value
 
    // show the menu
    pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.\n\n\n\r");
    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());
    
    // handle the key presses
    while(1) {
        // get the user's keystroke from either of the two inputs
        if (pc().readable()) {
            PID_key = pc().getc();
        }
        else {
            continue; // didn't get a user input, so keep waiting for it
        }
    
        // handle the user's key input
        if (PID_key == '-') {
            KP -= gain_step_size;
            pc().printf("P gain: %0.5f               \r\n", KP);
        }
        else if (PID_key == '=') {
            KP += gain_step_size;
            pc().printf("P gain: %0.5f               \r\n", KP);
        }
        else if (PID_key == '[') {
            KI -= gain_step_size;
            pc().printf("I gain: %0.5f               \r\n", KI);
        }
        else if (PID_key == ']') {
            KI += gain_step_size;
            pc().printf("I gain: %0.5f               \r\n", KI);
        }
        else if (PID_key == ';') {
            KD -= gain_step_size;
            pc().printf("D gain: %0.5f               \r\n", KD);
        }
        else if (PID_key == '\'') {
            KD += gain_step_size;
            pc().printf("D gain: %0.5f               \r\n", KD);
        }
        else if (PID_key == 'S') { // user wants to save these settings
            // set global values
            depthLoop().setControllerP(KP);
            depthLoop().setControllerI(KI);
            depthLoop().setControllerD(KD);
            
            // save into "PID.cfg"
            //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
            break;  //exit the while loop
        }
        else if (PID_key == 'X') {    
            break;  //exit the while loop
        }
        else {
            pc().printf("\n\rThis key does nothing here.                              ");
        }
    }
}
 
void keyboard_menu_BATT_PID_settings() {    
    char PID_key;
    float gain_step_size = 0.01;    // modify this to change gain step size
    float KP = batt().getControllerP(); // load current global value
    float KI = batt().getControllerI(); // load current global value
    float KD = batt().getControllerD(); // load current global value
 
    // print the menu
    pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.\n\r");
    pc().printf("batt   P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());

    // handle the key presses
    while(1) {
        // get the user's keystroke from either of the two inputs
        if (pc().readable()) {
            PID_key = pc().getc();
        }
        else {
            continue; // didn't get a user input, so keep waiting for it
        }
 
        // handle the user's key input
        if (PID_key == '-') {
            KP -= gain_step_size;
            pc().printf("\rP gain: %0.5f               ", KP);
        }
        else if (PID_key == '=') {
            KP += gain_step_size;
            pc().printf("\rP gain: %0.5f               ", KP);
        }
        else if (PID_key == '[') {
            KI -= gain_step_size;
            pc().printf("\rI gain: %0.5f               ", KI);
        }
        else if (PID_key == ']') {
            KI += gain_step_size;
            pc().printf("\rI gain: %0.5f               ", KI);
        }
        else if (PID_key == ';') {
            KD -= gain_step_size;
            pc().printf("\rD gain: %0.5f               ", KD);
        }
        else if (PID_key == '\'') {
            KD += gain_step_size;
            pc().printf("\rD gain: %0.5f               ", KD);
        }
        else if (PID_key == 'S') { // user wants to save the modified values
            // set global values
            batt().setControllerP(KP);
            batt().setControllerI(KI);
            batt().setControllerD(KD);
            
            // save to "PID.cfg" file
            //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
            break;  //exit the while loop
        }
        else if (PID_key == 'X') {    
            break;  //exit the while loop
        }
        else {
            pc().printf("This key does nothing here.\r");
        }
    }
}
 
void keyboard_menu_PITCH_PID_settings() {    
    char PID_key;
    float gain_step_size = 0.01;    // modify this to change gain step size
    float KP = pitchLoop().getControllerP();  // load current global value
    float KI = pitchLoop().getControllerI();  // load current global value
    float KD = pitchLoop().getControllerD();  // load current global value
 
    // print the menu
    pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.\n\r");
    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());

    // handle the key presses
    while(1) {
        // get the user's keystroke from either of the two inputs
        if (pc().readable()) {
            PID_key = pc().getc();
        }
        else {
            continue; // didn't get a user input, so keep waiting for it
        }
 
        // handle the user's key input
        if (PID_key == '-') {
            KP -= gain_step_size;
            pc().printf("\rP gain: %0.5f               ", KP);
        }
        else if (PID_key == '=') {
            KP += gain_step_size;
            pc().printf("\rP gain: %0.5f               ", KP);
        }
        else if (PID_key == '[') {
            KI -= gain_step_size;
            pc().printf("\rI gain: %0.5f               ", KI);
        }
        else if (PID_key == ']') {
            KI += gain_step_size;
            pc().printf("\rI gain: %0.5f               ", KI);
        }
        else if (PID_key == ';') {
            KD -= gain_step_size;
            pc().printf("\rD gain: %0.5f               ", KD);
        }
        else if (PID_key == '\'') {
            KD += gain_step_size;
            pc().printf("\rD gain: %0.5f               ", KD);
        }
        else if (PID_key == 'S') { // user wants to save the modified values
            // set global values
            pitchLoop().setControllerP(KP);
            pitchLoop().setControllerI(KI);
            pitchLoop().setControllerD(KD);
            
            //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
            break;  //exit the while loop
        }
        else if (PID_key == 'X') {    
            break;  //exit the while loop
        }
        else {
            pc().printf("This key does nothing here.\r");
        }
    }
}


// output the keyboard menu for user's reference
void showMenu() {
    pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
    pc().printf(" N to find neutral\r\n");
    pc().printf(" D to initiate dive cycle\r\n");
    pc().printf(" R to initiate rise\r\n");
    pc().printf(" L to float level\r\n");
    pc().printf(" B to float at broadcast pitch\r\n");
    pc().printf(" E to initiate emergency climb\r\n");
    //pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
    pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand());
    pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand());
    pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout);
    pc().printf(" 1 BCE PID sub-menu\r\n");
    pc().printf(" 2 BATT PID sub-menu\r\n");
    pc().printf(" 3 Depth PID sub-menu\r\n");
    pc().printf(" 4 Pitch PID sub-menu\r\n");
    pc().printf(" C See sensor readings\r\n");
    pc().printf(" ? to reset mbed\r\n");
}

// keyboard currently handles a key at a time
// returns -1 if not a state command
// returns a positive number to command a new state
int keyboard() {
    char userInput;
    
    // check keyboard and make settings changes as requested
    if (pc().readable()) {
        // get the key
        userInput = pc().getc();

        // check command against desired control buttons
        // change state
        if (userInput == 'D' or userInput == 'd') {
            return DIVE;
        }
        else if (userInput == 'N' or userInput == 'n') {
            return FIND_NEUTRAL;
        }
        else if (userInput == 'R' or userInput == 'r') {
            return RISE;
        }
        else if (userInput == 'L' or userInput == 'l') {
            return FLOAT_LEVEL;
        }
        else if (userInput == 'B' or userInput == 'b') {
            return FLOAT_BROADCAST;
        }
        else if (userInput == 'E' or userInput == 'e') {
            return EMERGENCY_CLIMB;
        }
//        else if (userInput == 'H' or userInput == 'h') {
//            pc().printf("running homing procedure\r\n");
//            bce().start();  bce().homePiston();  bce().stop();
//            batt().start(); batt().homePiston(); batt().stop();
//            return SIT_IDLE;
//        }
        else if (userInput == '?') {
            pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
            wait(0.5);
            mbed_reset();
        }

        // change settings        
        else if (userInput == 'Q' or userInput == 'q') {
            pitchCommand -= 0.5;         //decrement the pitch setpoint
            pitchLoop().setCommand(pitchCommand);
            pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
        }
        else if (userInput == 'W' or userInput == 'w') {
            pitchCommand += 0.5;         //increment the pitch setpoint
            pitchLoop().setCommand(pitchCommand);
            pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
        }
        else if (userInput == 'A' or userInput == 'a') {
            depthCommand -= 0.5;         //decrement the depth setpoint
            depthLoop().setCommand(depthCommand);
            pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
        }
        else if (userInput == 'S' or userInput == 's') {
            depthCommand += 0.5;         //increment the depth setpoint
            depthLoop().setCommand(depthCommand);
            pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
        }
        else if (userInput == '-') {
            timeout -= 10.0;               //decrement the timeout
            pc().printf(">>> timeout decreased: %d\r\n", timeout);
        }
        else if (userInput == '=' or userInput == '+') {
            timeout += 10.0;               //increment the timeout
            pc().printf(">>> timeout increased: %d\r\n", timeout);
        }
        
        // add keyboard commands to move the neutral zero offsets, both bce and batt
        
        // go to sub-menus for the PID gains (this is blocking)
        else if (userInput == '1') {
            keyboard_menu_BCE_PID_settings();
        }
        else if (userInput == '2') {
            keyboard_menu_BATT_PID_settings();
        }
        else if (userInput == '3') {
            keyboard_menu_DEPTH_PID_settings();
        }
        else if (userInput == '4') {
            keyboard_menu_PITCH_PID_settings();
        }
        
        else if (userInput == 'C' or userInput == 'c') {
            pc().printf("depth: %3.1f\r\n",depth().getDepth());
            pc().printf("pitch: %3.1f\r\n",imu().getPitch());
            pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
            pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
            pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
            pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
            pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
            pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
        }
        else {
            return (-1);
        }
    }
    return (-1);
}

void stateMachine() {
    static int state = SIT_IDLE; // select starting state here
    static bool isTimeoutRunning = false; // default timer to not running
    
    // finite state machine ... each state has at least one exit criteria
    switch (state) {
    case SIT_IDLE :
        // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
        if (!isTimeoutRunning) {
            showMenu();
            pc().printf("\r\nstate: SIT_IDLE\r\n");
            isTimeoutRunning = true;

            // what is active?
            bce().stop();
            batt().stop();
            depthLoop().stop();
            pitchLoop().stop();
        }
        // how exit?
        if (pc().readable()) {
            state = KEYBOARD;
            isTimeoutRunning = false;
        }
        break;
        
    case KEYBOARD :
        pc().printf("\r\nstate: KEYBOARD\r\n");
        if (pc().readable()) {
            state = keyboard(); // get new state command
            if (state == -1) { // error, that wasn't a new state command
                state = SIT_IDLE;
            }
            //pc().printf("new state is: %d \r\n",state);
        }
        break;
    
    case EMERGENCY_CLIMB :
        // start local state timer and init any other one-shot actions
        if (!isTimeoutRunning) {
            pc().printf("\r\nstate: EMERGENCY_CLIMB\r\n");
            timer.reset(); // timer goes back to zero
            timer.start(); // background timer starts running
            isTimeoutRunning = true;
            
            // what needs to be started?
            bce().start();
            batt().start();

            // what is active?
            bce().setPosition_mm(bce().getTravelLimit());
            batt().setPosition_mm(0.0);
        }
        // how exit?
        if (timer > timeout) {
            pc().printf("timed out\r\n");
            state = FLOAT_LEVEL;
            timer.reset();
            isTimeoutRunning = false;
        }
        else if (depth().getDepth() < 0.2) {
            pc().printf("depth: %3.1f, cmd: 0.5\r\n",depth().getDepth());
            state = FLOAT_LEVEL;
            timer.reset();
            isTimeoutRunning = false;
        }
        break;

    case FIND_NEUTRAL :
        // start local state timer and init any other one-shot actions
        if (!isTimeoutRunning) {
            pc().printf("\r\nstate: FIND_NEUTRAL\r\n");
            timer.reset(); // timer goes back to zero
            timer.start(); // background timer starts running
            isTimeoutRunning = true;
            
            // what needs to be started?
            bce().start();
            batt().start();
            depthLoop().start();
            pitchLoop().start();
            
            // what is active?
            depthLoop().setCommand(depthCommand);
            pitchLoop().setCommand(pitchCommand);
        }
        // how exit?
        if (timer > timeout) {
            pc().printf("timed out\r\n");
            state = FLOAT_LEVEL;
            timer.reset();
            isTimeoutRunning = false;
        }
        else if ((abs(depth().getDepth() - depthLoop().getCommand()) < depthTolerance) and
                  (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) {
            state = RISE;
            timer.reset();
            isTimeoutRunning = false;
        }
        // what is active?
        pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm());
        bce().setPosition_mm(depthLoop().getOutput());
        batt().setPosition_mm(pitchLoop().getOutput());
        break;
    
    case DIVE :
        // start local state timer and init any other one-shot actions
        if (!isTimeoutRunning) {
            pc().printf("\r\nstate: DIVE\r\n");
            timer.reset(); // timer goes back to zero
            timer.start(); // background timer starts running
            isTimeoutRunning = true;
            
            // what needs to be started?
            bce().start();
            batt().start();
            depthLoop().start();
            pitchLoop().start();

            // what are the commands?
            depthLoop().setCommand(depthCommand);
            pitchLoop().setCommand(pitchCommand);
            pc().printf("depth cmd: %3.1f\r\n",depthLoop().getCommand());
            pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
        }
        // how exit?
        if (timer > timeout) {
            pc().printf("timed out\r\n");
            state = FLOAT_LEVEL;
            timer.reset();
            isTimeoutRunning = false;
        }
        else if (depth().getDepth() > depthLoop().getCommand()) {
            pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depth().getDepth(), depthLoop().getCommand());
            state = RISE;
            timer.reset();
            isTimeoutRunning = false;
        }
        // what is active?
        pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm());
        bce().setPosition_mm(depthLoop().getOutput());
        batt().setPosition_mm(pitchLoop().getOutput());
        break;
    
    case RISE :
        // start local state timer and init any other one-shot actions
        if (!isTimeoutRunning) {
            pc().printf("\r\nstate: RISE\r\n");
            timer.reset(); // timer goes back to zero
            timer.start(); // background timer starts running
            isTimeoutRunning = true;
            
            // what needs to be started?
            bce().start();
            batt().start();
            depthLoop().start();
            pitchLoop().start();

            // what are the commands?
            depthLoop().setCommand(0.0);
            pitchLoop().setCommand(-pitchCommand);
            pc().printf("depth cmd: 0.0\r\n");
            pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
        }
        // how exit?
        if (timer > timeout) {
            pc().printf("timed out\r\n");
            state = FLOAT_LEVEL;
            timer.reset();
            isTimeoutRunning = false;
        }
        else if (depth().getDepth() < depthLoop().getCommand()) {
            pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depth().getDepth(), depthLoop().getCommand());
            state = FLOAT_LEVEL;
            timer.reset();
            isTimeoutRunning = false;
        }
        pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm());
        // what is active?
        bce().setPosition_mm(depthLoop().getOutput());
        batt().setPosition_mm(pitchLoop().getOutput());
        break;  
    
    case FLOAT_LEVEL :
        // start local state timer and init any other one-shot actions
        if (!isTimeoutRunning) {
            pc().printf("\r\nstate: FLOAT_LEVEL\r\n");
            timer.reset(); // timer goes back to zero
            timer.start(); // background timer starts running
            isTimeoutRunning = true;
            
            // what needs to be started?
            bce().start();
            batt().start();
            pitchLoop().start();

            // what are the commands
            bce().setPosition_mm(bceFloatPosition);
            pitchLoop().setCommand(0.0);
        }
        // how exit?
        if (timer > timeout) {
            pc().printf("timed out\r\n");
            state = FLOAT_BROADCAST;
            timer.reset();
            isTimeoutRunning = false;
        }
        else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) {
            pc().printf("pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance);
            state = FLOAT_BROADCAST;
            timer.reset();
            isTimeoutRunning = false;
        }
        // what is active?
        pc().printf("pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm());
        batt().setPosition_mm(pitchLoop().getOutput());
        break;
    
    case FLOAT_BROADCAST :
        // start local state timer and init any other one-shot actions
        if (!isTimeoutRunning) {
            pc().printf("\r\nstate: FLOAT_BROADCAST\r\n");
            timer.reset(); // timer goes back to zero
            timer.start(); // background timer starts running
            isTimeoutRunning = true;
            
            // what needs to be started?
            bce().start();
            batt().start();

            // what are the commands?
            bce().setPosition_mm(bceFloatPosition);
            batt().setPosition_mm(battFloatPosition);
        }
        // how exit?
        if (timer > timeout) {
            pc().printf("timed out\r\n");
            state = SIT_IDLE;
            timer.reset();
            isTimeoutRunning = false;
        }
        if (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) {
            pc().printf("position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband());
            state = SIT_IDLE;
            timer.reset();
            isTimeoutRunning = false;
        }
        pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm());
        break;
    
    default :
        state = SIT_IDLE;
    }
}


int main() {
    setup();
    while(1) {
        led1() = !led1(); // blink
        //pc().printf("roll: %3.1f, pitch %3.1f, yaw: %3.1f\r", imu().getRoll(), imu().getPitch(), imu().getHeading());
        stateMachine();
        wait(0.2); // must have SOME wait or the outer loops in DIVE and RISE will lock the mbed
    }
}