most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
StateMachine/StateMachine.cpp@18:85a7535af8fd, 2017-11-22 (annotated)
- Committer:
- tnhnrl
- Date:
- Wed Nov 22 00:06:48 2017 +0000
- Revision:
- 18:85a7535af8fd
- Parent:
- 17:7c16b5671d0e
- Child:
- 19:aaa0f4f29d50
flipped checks on neutral finding subsequence
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tnhnrl | 16:3363b9f14913 | 1 | #include "StateMachine.hpp" |
tnhnrl | 16:3363b9f14913 | 2 | #include "StaticDefs.hpp" |
tnhnrl | 16:3363b9f14913 | 3 | |
tnhnrl | 16:3363b9f14913 | 4 | StateMachine::StateMachine() { |
tnhnrl | 17:7c16b5671d0e | 5 | _timeout = 20; // generic timeout for every state, seconds |
tnhnrl | 16:3363b9f14913 | 6 | depthTolerance = 0.25; // depth tolerance for neutral finding exit critera |
tnhnrl | 16:3363b9f14913 | 7 | pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria |
tnhnrl | 16:3363b9f14913 | 8 | bceFloatPosition = 300; // bce position for "float" states |
tnhnrl | 16:3363b9f14913 | 9 | battFloatPosition = 50; // batt position for "broadcast" state |
tnhnrl | 16:3363b9f14913 | 10 | |
tnhnrl | 16:3363b9f14913 | 11 | depthCommand = 3.5; // user keyboard depth |
tnhnrl | 16:3363b9f14913 | 12 | pitchCommand = -20.0; // user keyboard depth |
tnhnrl | 17:7c16b5671d0e | 13 | |
tnhnrl | 17:7c16b5671d0e | 14 | _neutral_sink_timer = 10; |
tnhnrl | 17:7c16b5671d0e | 15 | _neutral_rise_timer = 5; |
tnhnrl | 17:7c16b5671d0e | 16 | |
tnhnrl | 17:7c16b5671d0e | 17 | previousPosition_mm = 220; //centered, overwritten by the state machine (LOAD THIS FROM CONFIG?) |
tnhnrl | 17:7c16b5671d0e | 18 | _state = SIT_IDLE; // select starting state here |
tnhnrl | 17:7c16b5671d0e | 19 | |
tnhnrl | 17:7c16b5671d0e | 20 | isTimeoutRunning = false; // default timer to not running |
tnhnrl | 17:7c16b5671d0e | 21 | isSubStateTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 22 | |
tnhnrl | 17:7c16b5671d0e | 23 | _neutral_buoyancy_bce_pos_mm = 0; |
tnhnrl | 17:7c16b5671d0e | 24 | _neutral_buoyancy_batt_pos_mm = 0; |
tnhnrl | 17:7c16b5671d0e | 25 | |
tnhnrl | 17:7c16b5671d0e | 26 | //new |
tnhnrl | 17:7c16b5671d0e | 27 | _next_state = -1; //next state is used to prevent states from changing as the FSM executes |
tnhnrl | 17:7c16b5671d0e | 28 | _state_counter = 0; |
tnhnrl | 16:3363b9f14913 | 29 | } |
tnhnrl | 16:3363b9f14913 | 30 | |
tnhnrl | 17:7c16b5671d0e | 31 | //Finite State Machine (FSM) |
tnhnrl | 17:7c16b5671d0e | 32 | void StateMachine::runStateMachine() { |
tnhnrl | 17:7c16b5671d0e | 33 | //use the _next_state when the state machine is run again (so that it cannot change states while the FSM executes) |
tnhnrl | 17:7c16b5671d0e | 34 | |
tnhnrl | 17:7c16b5671d0e | 35 | static bool runFirstNeutral = false; |
tnhnrl | 17:7c16b5671d0e | 36 | |
tnhnrl | 17:7c16b5671d0e | 37 | //use the _next_state when the state machine is run again (so that it cannot change states while the FSM executes) |
tnhnrl | 17:7c16b5671d0e | 38 | if (_next_state > -1) |
tnhnrl | 17:7c16b5671d0e | 39 | _state = _next_state; //current state comes from the state at the completion of the FSM |
tnhnrl | 17:7c16b5671d0e | 40 | |
tnhnrl | 16:3363b9f14913 | 41 | // finite state machine ... each state has at least one exit criteria |
tnhnrl | 17:7c16b5671d0e | 42 | switch (_state) { |
tnhnrl | 16:3363b9f14913 | 43 | case SIT_IDLE : |
tnhnrl | 16:3363b9f14913 | 44 | // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions |
tnhnrl | 16:3363b9f14913 | 45 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 46 | showMenu(); |
tnhnrl | 16:3363b9f14913 | 47 | pc().printf("\r\n\nstate: SIT_IDLE\r\n"); |
tnhnrl | 17:7c16b5671d0e | 48 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 49 | |
tnhnrl | 16:3363b9f14913 | 50 | // what is active? |
tnhnrl | 16:3363b9f14913 | 51 | bce().pause(); |
tnhnrl | 16:3363b9f14913 | 52 | batt().pause(); |
tnhnrl | 17:7c16b5671d0e | 53 | |
tnhnrl | 17:7c16b5671d0e | 54 | //reset sub FSM |
tnhnrl | 17:7c16b5671d0e | 55 | isSubStateTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 56 | } |
tnhnrl | 16:3363b9f14913 | 57 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 58 | // separate keyboard function will change the states |
tnhnrl | 16:3363b9f14913 | 59 | break; |
tnhnrl | 16:3363b9f14913 | 60 | |
tnhnrl | 16:3363b9f14913 | 61 | case EMERGENCY_CLIMB : |
tnhnrl | 16:3363b9f14913 | 62 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 63 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 64 | pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n"); |
tnhnrl | 16:3363b9f14913 | 65 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 66 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 67 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 68 | |
tnhnrl | 16:3363b9f14913 | 69 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 70 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 71 | batt().unpause(); |
tnhnrl | 16:3363b9f14913 | 72 | |
tnhnrl | 16:3363b9f14913 | 73 | // what is active? |
tnhnrl | 16:3363b9f14913 | 74 | bce().setPosition_mm(bce().getTravelLimit()); |
tnhnrl | 16:3363b9f14913 | 75 | batt().setPosition_mm(0.0); |
tnhnrl | 16:3363b9f14913 | 76 | } |
tnhnrl | 16:3363b9f14913 | 77 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 78 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 79 | pc().printf("EC: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 80 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 81 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 82 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 83 | } |
tnhnrl | 17:7c16b5671d0e | 84 | else if (depthLoop().getPosition() < 0.2) { //if the depth is greater than 0.2 feet, go to float broadcast |
tnhnrl | 16:3363b9f14913 | 85 | pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read()); |
tnhnrl | 17:7c16b5671d0e | 86 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 87 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 88 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 89 | } |
tnhnrl | 16:3363b9f14913 | 90 | break; |
tnhnrl | 16:3363b9f14913 | 91 | |
tnhnrl | 16:3363b9f14913 | 92 | case FIND_NEUTRAL : |
tnhnrl | 17:7c16b5671d0e | 93 | /* start local state timer and init any other one-shot actions */ |
tnhnrl | 16:3363b9f14913 | 94 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 95 | pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n"); |
tnhnrl | 16:3363b9f14913 | 96 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 97 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 98 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 99 | |
tnhnrl | 16:3363b9f14913 | 100 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 101 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 102 | batt().unpause(); |
tnhnrl | 17:7c16b5671d0e | 103 | |
tnhnrl | 17:7c16b5671d0e | 104 | //first iteration sends SINKING sub-state |
tnhnrl | 17:7c16b5671d0e | 105 | runFirstNeutral = true; |
tnhnrl | 16:3363b9f14913 | 106 | } |
tnhnrl | 17:7c16b5671d0e | 107 | |
tnhnrl | 17:7c16b5671d0e | 108 | /* how exit? (exit with the timer, if timer still running continue processing sub FSM) */ |
tnhnrl | 17:7c16b5671d0e | 109 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 110 | pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read()); |
tnhnrl | 17:7c16b5671d0e | 111 | _next_state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces) |
tnhnrl | 16:3363b9f14913 | 112 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 113 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 114 | } |
tnhnrl | 16:3363b9f14913 | 115 | |
tnhnrl | 17:7c16b5671d0e | 116 | // what is active? (call neutral finding sub-function every iteration) |
tnhnrl | 17:7c16b5671d0e | 117 | if (runFirstNeutral) { |
tnhnrl | 17:7c16b5671d0e | 118 | //pc().printf("First iteration of find neutral\n\r"); // debug (confirmed working) |
tnhnrl | 17:7c16b5671d0e | 119 | _sub_state = findNeutralSubState(NEUTRAL_SINKING); |
tnhnrl | 17:7c16b5671d0e | 120 | _previous_sub_state = _sub_state; //save previous sub-state |
tnhnrl | 17:7c16b5671d0e | 121 | runFirstNeutral = false; |
tnhnrl | 16:3363b9f14913 | 122 | } |
tnhnrl | 17:7c16b5671d0e | 123 | |
tnhnrl | 17:7c16b5671d0e | 124 | //second and further iterations this is running |
tnhnrl | 17:7c16b5671d0e | 125 | else { |
tnhnrl | 17:7c16b5671d0e | 126 | _sub_state = findNeutralSubState(_previous_sub_state); |
tnhnrl | 17:7c16b5671d0e | 127 | _previous_sub_state = _sub_state; //save previous sub-state |
tnhnrl | 17:7c16b5671d0e | 128 | |
tnhnrl | 17:7c16b5671d0e | 129 | //if sub-FSM has completed its state machine |
tnhnrl | 17:7c16b5671d0e | 130 | if (_sub_state == NEUTRAL_EXIT) { |
tnhnrl | 17:7c16b5671d0e | 131 | pc().printf("DEBUG: FIND_NEUTRAL sub FSM completed!\n\r"); |
tnhnrl | 17:7c16b5671d0e | 132 | _next_state = RISE; //your next state will be RISE in the FSM |
tnhnrl | 17:7c16b5671d0e | 133 | } |
tnhnrl | 17:7c16b5671d0e | 134 | } |
tnhnrl | 17:7c16b5671d0e | 135 | break; |
tnhnrl | 17:7c16b5671d0e | 136 | |
tnhnrl | 16:3363b9f14913 | 137 | case DIVE : |
tnhnrl | 16:3363b9f14913 | 138 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 139 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 140 | pc().printf("\r\n\nstate: DIVE\r\n"); |
tnhnrl | 16:3363b9f14913 | 141 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 142 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 143 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 144 | |
tnhnrl | 16:3363b9f14913 | 145 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 146 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 147 | batt().unpause(); |
tnhnrl | 16:3363b9f14913 | 148 | |
tnhnrl | 16:3363b9f14913 | 149 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 150 | depthLoop().setCommand(depthCommand); |
tnhnrl | 16:3363b9f14913 | 151 | pitchLoop().setCommand(pitchCommand); |
tnhnrl | 16:3363b9f14913 | 152 | pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 153 | pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 154 | } |
tnhnrl | 16:3363b9f14913 | 155 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 156 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 157 | pc().printf("DIVE: timed out\n\n\r"); |
tnhnrl | 17:7c16b5671d0e | 158 | _next_state = RISE; //new behavior 11/17/2017 |
tnhnrl | 16:3363b9f14913 | 159 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 160 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 161 | } |
tnhnrl | 16:3363b9f14913 | 162 | else if (depthLoop().getPosition() > depthLoop().getCommand()) { |
tnhnrl | 16:3363b9f14913 | 163 | pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 164 | _next_state = RISE; |
tnhnrl | 16:3363b9f14913 | 165 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 166 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 167 | } |
tnhnrl | 16:3363b9f14913 | 168 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 169 | pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.2f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 16:3363b9f14913 | 170 | bce().setPosition_mm(depthLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 171 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 172 | break; |
tnhnrl | 16:3363b9f14913 | 173 | |
tnhnrl | 16:3363b9f14913 | 174 | case RISE : |
tnhnrl | 16:3363b9f14913 | 175 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 176 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 177 | pc().printf("\r\n\nstate: RISE\r\n"); |
tnhnrl | 16:3363b9f14913 | 178 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 179 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 180 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 181 | |
tnhnrl | 16:3363b9f14913 | 182 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 183 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 184 | batt().unpause(); |
tnhnrl | 16:3363b9f14913 | 185 | |
tnhnrl | 16:3363b9f14913 | 186 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 187 | depthLoop().setCommand(0.0); |
tnhnrl | 16:3363b9f14913 | 188 | pitchLoop().setCommand(-pitchCommand); |
tnhnrl | 16:3363b9f14913 | 189 | pc().printf("RISE: depth cmd: 0.0\r\n"); |
tnhnrl | 16:3363b9f14913 | 190 | pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 191 | } |
tnhnrl | 16:3363b9f14913 | 192 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 193 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 194 | pc().printf("RISE: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 195 | _next_state = EMERGENCY_CLIMB; |
tnhnrl | 16:3363b9f14913 | 196 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 197 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 198 | } |
tnhnrl | 16:3363b9f14913 | 199 | else if (depthLoop().getPosition() < depthLoop().getCommand()) { |
tnhnrl | 16:3363b9f14913 | 200 | pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 201 | _next_state = FLOAT_LEVEL; |
tnhnrl | 16:3363b9f14913 | 202 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 203 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 204 | } |
tnhnrl | 16:3363b9f14913 | 205 | pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 16:3363b9f14913 | 206 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 207 | bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors |
tnhnrl | 17:7c16b5671d0e | 208 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 209 | break; |
tnhnrl | 16:3363b9f14913 | 210 | |
tnhnrl | 16:3363b9f14913 | 211 | case FLOAT_LEVEL : |
tnhnrl | 16:3363b9f14913 | 212 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 213 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 214 | pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n"); |
tnhnrl | 16:3363b9f14913 | 215 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 216 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 217 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 218 | |
tnhnrl | 16:3363b9f14913 | 219 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 220 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 221 | batt().unpause(); |
tnhnrl | 16:3363b9f14913 | 222 | |
tnhnrl | 16:3363b9f14913 | 223 | // what are the commands |
tnhnrl | 16:3363b9f14913 | 224 | bce().setPosition_mm(bceFloatPosition); |
tnhnrl | 16:3363b9f14913 | 225 | pitchLoop().setCommand(0.0); |
tnhnrl | 16:3363b9f14913 | 226 | } |
tnhnrl | 16:3363b9f14913 | 227 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 228 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 229 | pc().printf("FL: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 230 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 231 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 232 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 233 | } |
tnhnrl | 17:7c16b5671d0e | 234 | else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(pitchTolerance)) { |
tnhnrl | 16:3363b9f14913 | 235 | pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance); |
tnhnrl | 17:7c16b5671d0e | 236 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 237 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 238 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 239 | } |
tnhnrl | 16:3363b9f14913 | 240 | // what is active? |
tnhnrl | 16:3363b9f14913 | 241 | pc().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), timer.read()); |
tnhnrl | 16:3363b9f14913 | 242 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 243 | break; |
tnhnrl | 16:3363b9f14913 | 244 | |
tnhnrl | 16:3363b9f14913 | 245 | case FLOAT_BROADCAST : |
tnhnrl | 16:3363b9f14913 | 246 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 247 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 248 | pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n"); |
tnhnrl | 16:3363b9f14913 | 249 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 250 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 251 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 252 | |
tnhnrl | 16:3363b9f14913 | 253 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 254 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 255 | batt().unpause(); |
tnhnrl | 16:3363b9f14913 | 256 | |
tnhnrl | 16:3363b9f14913 | 257 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 258 | bce().setPosition_mm(bceFloatPosition); |
tnhnrl | 16:3363b9f14913 | 259 | batt().setPosition_mm(battFloatPosition); |
tnhnrl | 16:3363b9f14913 | 260 | } |
tnhnrl | 16:3363b9f14913 | 261 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 262 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 263 | pc().printf("FB: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 264 | _next_state = SIT_IDLE; |
tnhnrl | 16:3363b9f14913 | 265 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 266 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 267 | } |
tnhnrl | 17:7c16b5671d0e | 268 | if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and |
tnhnrl | 17:7c16b5671d0e | 269 | (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) { |
tnhnrl | 16:3363b9f14913 | 270 | pc().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband()); |
tnhnrl | 17:7c16b5671d0e | 271 | _next_state = SIT_IDLE; |
tnhnrl | 16:3363b9f14913 | 272 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 273 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 274 | } |
tnhnrl | 16:3363b9f14913 | 275 | pc().printf("FB: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 16:3363b9f14913 | 276 | break; |
tnhnrl | 17:7c16b5671d0e | 277 | |
tnhnrl | 17:7c16b5671d0e | 278 | case MULTI_DIVE : |
tnhnrl | 17:7c16b5671d0e | 279 | // start local state timer and init any other one-shot actions |
tnhnrl | 17:7c16b5671d0e | 280 | if (!isTimeoutRunning) { |
tnhnrl | 17:7c16b5671d0e | 281 | pc().printf("\r\n\nstate: MULTI-DIVE\r\n"); |
tnhnrl | 17:7c16b5671d0e | 282 | timer.reset(); // timer goes back to zero |
tnhnrl | 17:7c16b5671d0e | 283 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 284 | isTimeoutRunning = true; |
tnhnrl | 17:7c16b5671d0e | 285 | |
tnhnrl | 17:7c16b5671d0e | 286 | // what needs to be started? |
tnhnrl | 17:7c16b5671d0e | 287 | bce().unpause(); |
tnhnrl | 17:7c16b5671d0e | 288 | batt().unpause(); |
tnhnrl | 17:7c16b5671d0e | 289 | |
tnhnrl | 17:7c16b5671d0e | 290 | //NEW: retrieve depth and pitch commands from config file struct |
tnhnrl | 17:7c16b5671d0e | 291 | // concept is to load this each time the multi-dive restarts |
tnhnrl | 17:7c16b5671d0e | 292 | |
tnhnrl | 17:7c16b5671d0e | 293 | //keyboard starts sequence at 0 from keyboard function |
tnhnrl | 17:7c16b5671d0e | 294 | //stateMachine().getDiveSequence(); |
tnhnrl | 17:7c16b5671d0e | 295 | |
tnhnrl | 17:7c16b5671d0e | 296 | //retrieve commands from structs |
tnhnrl | 17:7c16b5671d0e | 297 | float sequenceDepthCommand = currentStateStruct.depth; |
tnhnrl | 17:7c16b5671d0e | 298 | float sequencePitchCommand = currentStateStruct.pitch; |
tnhnrl | 17:7c16b5671d0e | 299 | |
tnhnrl | 17:7c16b5671d0e | 300 | // what are the commands? |
tnhnrl | 17:7c16b5671d0e | 301 | depthLoop().setCommand(sequenceDepthCommand); |
tnhnrl | 17:7c16b5671d0e | 302 | pitchLoop().setCommand(sequencePitchCommand); |
tnhnrl | 17:7c16b5671d0e | 303 | pc().printf("MULTI-DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 304 | pc().printf("MULTI-DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 305 | } |
tnhnrl | 17:7c16b5671d0e | 306 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 307 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 308 | pc().printf("MULTI-DIVE: timed out\n\n\r"); |
tnhnrl | 17:7c16b5671d0e | 309 | _next_state = MULTI_RISE; //new behavior 11/17/2017 |
tnhnrl | 17:7c16b5671d0e | 310 | timer.reset(); |
tnhnrl | 17:7c16b5671d0e | 311 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 312 | } |
tnhnrl | 17:7c16b5671d0e | 313 | else if (depthLoop().getPosition() > depthLoop().getCommand()) { |
tnhnrl | 17:7c16b5671d0e | 314 | pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 315 | _next_state = MULTI_RISE; |
tnhnrl | 17:7c16b5671d0e | 316 | timer.reset(); |
tnhnrl | 17:7c16b5671d0e | 317 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 318 | } |
tnhnrl | 17:7c16b5671d0e | 319 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 320 | pc().printf("MULTI-DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 17:7c16b5671d0e | 321 | bce().setPosition_mm(depthLoop().getOutput()); |
tnhnrl | 17:7c16b5671d0e | 322 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 17:7c16b5671d0e | 323 | break; |
tnhnrl | 17:7c16b5671d0e | 324 | |
tnhnrl | 17:7c16b5671d0e | 325 | case MULTI_RISE : |
tnhnrl | 17:7c16b5671d0e | 326 | // start local state timer and init any other one-shot actions |
tnhnrl | 17:7c16b5671d0e | 327 | if (!isTimeoutRunning) { |
tnhnrl | 17:7c16b5671d0e | 328 | pc().printf("\r\n\nstate: MULTI-RISE\r\n"); |
tnhnrl | 17:7c16b5671d0e | 329 | timer.reset(); // timer goes back to zero |
tnhnrl | 17:7c16b5671d0e | 330 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 331 | isTimeoutRunning = true; |
tnhnrl | 17:7c16b5671d0e | 332 | |
tnhnrl | 17:7c16b5671d0e | 333 | // what needs to be started? |
tnhnrl | 17:7c16b5671d0e | 334 | bce().unpause(); |
tnhnrl | 17:7c16b5671d0e | 335 | batt().unpause(); |
tnhnrl | 17:7c16b5671d0e | 336 | |
tnhnrl | 17:7c16b5671d0e | 337 | //NEW: retrieve depth and pitch commands from config file struct |
tnhnrl | 17:7c16b5671d0e | 338 | // concept is to load this each time the multi-dive restarts |
tnhnrl | 17:7c16b5671d0e | 339 | stateMachine().getDiveSequence(); |
tnhnrl | 17:7c16b5671d0e | 340 | |
tnhnrl | 17:7c16b5671d0e | 341 | //retrieve just pitch command from struct |
tnhnrl | 17:7c16b5671d0e | 342 | float sequencePitchCommand = currentStateStruct.pitch; |
tnhnrl | 17:7c16b5671d0e | 343 | |
tnhnrl | 17:7c16b5671d0e | 344 | // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017 |
tnhnrl | 17:7c16b5671d0e | 345 | depthLoop().setCommand(0.5); |
tnhnrl | 17:7c16b5671d0e | 346 | pitchLoop().setCommand(-sequencePitchCommand); |
tnhnrl | 17:7c16b5671d0e | 347 | pc().printf("MULTI-RISE: depth cmd: 0.0\r\n"); |
tnhnrl | 17:7c16b5671d0e | 348 | pc().printf("MULTI-RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 349 | } |
tnhnrl | 17:7c16b5671d0e | 350 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 351 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 352 | pc().printf("MULTI-RISE: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 353 | _next_state = EMERGENCY_CLIMB; |
tnhnrl | 17:7c16b5671d0e | 354 | timer.reset(); |
tnhnrl | 17:7c16b5671d0e | 355 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 356 | |
tnhnrl | 17:7c16b5671d0e | 357 | //reset multi-dive sequence to start |
tnhnrl | 17:7c16b5671d0e | 358 | _state_counter = 0; |
tnhnrl | 17:7c16b5671d0e | 359 | } |
tnhnrl | 17:7c16b5671d0e | 360 | |
tnhnrl | 17:7c16b5671d0e | 361 | //depth is less than 0.5 (zero is surface level) |
tnhnrl | 17:7c16b5671d0e | 362 | else if (depthLoop().getPosition() < 0.5) { |
tnhnrl | 17:7c16b5671d0e | 363 | pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 364 | |
tnhnrl | 17:7c16b5671d0e | 365 | //going to next state |
tnhnrl | 17:7c16b5671d0e | 366 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 367 | |
tnhnrl | 17:7c16b5671d0e | 368 | //successful dive-rise sequence CONTINUES the multi-dive sequence |
tnhnrl | 17:7c16b5671d0e | 369 | _state_counter++; |
tnhnrl | 17:7c16b5671d0e | 370 | |
tnhnrl | 17:7c16b5671d0e | 371 | //UPDATE THE SEQUENCE DATA HERE |
tnhnrl | 17:7c16b5671d0e | 372 | stateMachine().getDiveSequence(); |
tnhnrl | 17:7c16b5671d0e | 373 | |
tnhnrl | 17:7c16b5671d0e | 374 | //check if this is the end of the dive sequence |
tnhnrl | 17:7c16b5671d0e | 375 | //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (Float_Level) |
tnhnrl | 17:7c16b5671d0e | 376 | if (currentStateStruct.state == FLOAT_LEVEL) { |
tnhnrl | 17:7c16b5671d0e | 377 | _next_state = FLOAT_LEVEL; |
tnhnrl | 17:7c16b5671d0e | 378 | return; |
tnhnrl | 17:7c16b5671d0e | 379 | } |
tnhnrl | 17:7c16b5671d0e | 380 | |
tnhnrl | 17:7c16b5671d0e | 381 | else |
tnhnrl | 17:7c16b5671d0e | 382 | _next_state = MULTI_DIVE; |
tnhnrl | 17:7c16b5671d0e | 383 | |
tnhnrl | 17:7c16b5671d0e | 384 | //have to stop this with the _state_counter variable! |
tnhnrl | 17:7c16b5671d0e | 385 | } |
tnhnrl | 17:7c16b5671d0e | 386 | pc().printf("MULTI-RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 17:7c16b5671d0e | 387 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 388 | bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors |
tnhnrl | 17:7c16b5671d0e | 389 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 17:7c16b5671d0e | 390 | break; |
tnhnrl | 16:3363b9f14913 | 391 | |
tnhnrl | 16:3363b9f14913 | 392 | default : |
tnhnrl | 17:7c16b5671d0e | 393 | pc().printf("DEBUG: SIT_IDLE\n\r"); |
tnhnrl | 17:7c16b5671d0e | 394 | _next_state = SIT_IDLE; |
tnhnrl | 17:7c16b5671d0e | 395 | } |
tnhnrl | 16:3363b9f14913 | 396 | } |
tnhnrl | 16:3363b9f14913 | 397 | |
tnhnrl | 16:3363b9f14913 | 398 | // output the keyboard menu for user's reference |
tnhnrl | 16:3363b9f14913 | 399 | void StateMachine::showMenu() { |
tnhnrl | 16:3363b9f14913 | 400 | pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n"); |
tnhnrl | 16:3363b9f14913 | 401 | pc().printf(" N to find neutral\r\n"); |
tnhnrl | 17:7c16b5671d0e | 402 | pc().printf(" M to initiate multi-dive cycle\r\n"); |
tnhnrl | 16:3363b9f14913 | 403 | pc().printf(" D to initiate dive cycle\r\n"); |
tnhnrl | 16:3363b9f14913 | 404 | pc().printf(" R to initiate rise\r\n"); |
tnhnrl | 16:3363b9f14913 | 405 | pc().printf(" L to float level\r\n"); |
tnhnrl | 16:3363b9f14913 | 406 | pc().printf(" B to float at broadcast pitch\r\n"); |
tnhnrl | 16:3363b9f14913 | 407 | pc().printf(" E to initiate emergency climb\r\n"); |
tnhnrl | 16:3363b9f14913 | 408 | pc().printf(" H to run homing sequence on both BCE and Batt\r\n"); |
tnhnrl | 16:3363b9f14913 | 409 | pc().printf(" T to tare the depth sensor\r\n"); |
tnhnrl | 16:3363b9f14913 | 410 | pc().printf("[/] to change bce neutral position\r\n"); |
tnhnrl | 16:3363b9f14913 | 411 | pc().printf("</> to change batt neutral position\r\n"); |
tnhnrl | 16:3363b9f14913 | 412 | pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchCommand); |
tnhnrl | 16:3363b9f14913 | 413 | pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthCommand); |
tnhnrl | 17:7c16b5671d0e | 414 | pc().printf("+/- to decrease/increase timeout: %d s\r\n",_timeout); |
tnhnrl | 16:3363b9f14913 | 415 | pc().printf(" 1 BCE PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 416 | pc().printf(" 2 BATT PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 417 | pc().printf(" 3 Depth PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 418 | pc().printf(" 4 Pitch PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 419 | pc().printf(" C See sensor readings\r\n"); |
tnhnrl | 16:3363b9f14913 | 420 | pc().printf(" ? to reset mbed\r\n"); |
tnhnrl | 16:3363b9f14913 | 421 | } |
tnhnrl | 16:3363b9f14913 | 422 | |
tnhnrl | 17:7c16b5671d0e | 423 | //Find Neutral sub finite state machine |
tnhnrl | 17:7c16b5671d0e | 424 | // Note: the sub-fsm only moves the pistons once at the start of each timer loop |
tnhnrl | 17:7c16b5671d0e | 425 | // (timer completes, move piston, timer completes, move piston, etc) |
tnhnrl | 17:7c16b5671d0e | 426 | int StateMachine::findNeutralSubState(int input_substate) { |
tnhnrl | 17:7c16b5671d0e | 427 | float pitch_angle = pitchLoop().getPosition(); |
tnhnrl | 17:7c16b5671d0e | 428 | float pitch_rate = pitchLoop().getVelocity(); |
tnhnrl | 17:7c16b5671d0e | 429 | |
tnhnrl | 17:7c16b5671d0e | 430 | float abs_pitch_angle = fabs(pitch_angle); |
tnhnrl | 17:7c16b5671d0e | 431 | float abs_pitch_rate = fabs(pitch_rate); |
tnhnrl | 17:7c16b5671d0e | 432 | |
tnhnrl | 17:7c16b5671d0e | 433 | //output substate is the input substate unless it is changed in the sub FSM |
tnhnrl | 17:7c16b5671d0e | 434 | static int output_substate = NEUTRAL_SINKING; //to start |
tnhnrl | 17:7c16b5671d0e | 435 | //int output_substate = input_substate; |
tnhnrl | 17:7c16b5671d0e | 436 | |
tnhnrl | 17:7c16b5671d0e | 437 | switch (input_substate) { |
tnhnrl | 17:7c16b5671d0e | 438 | case NEUTRAL_SINKING: |
tnhnrl | 17:7c16b5671d0e | 439 | //start the 10 second timer |
tnhnrl | 17:7c16b5671d0e | 440 | if (!isSubStateTimeoutRunning) { |
tnhnrl | 17:7c16b5671d0e | 441 | pc().printf(" input_substate: %d\n\r", input_substate); //debug |
tnhnrl | 17:7c16b5671d0e | 442 | _neutral_sink_timer = timer.read()+ 10; //record the time when this block is first entered and add 10 seconds |
tnhnrl | 17:7c16b5671d0e | 443 | pc().printf("\r\n\n(8) START NEUTRAL_SINKING (_neutral_sink_timer will go off at %0.1f sec) %3.1f\r\n", _neutral_sink_timer,timer.read()); |
tnhnrl | 17:7c16b5671d0e | 444 | |
tnhnrl | 17:7c16b5671d0e | 445 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 446 | //move piston at start of sequence (retract 10 mm) |
tnhnrl | 17:7c16b5671d0e | 447 | pc().printf("Neutral Sinking: Retracting piston 10 mm\n\r"); |
tnhnrl | 17:7c16b5671d0e | 448 | previousPosition_mm -= 10; |
tnhnrl | 17:7c16b5671d0e | 449 | bce().setPosition_mm(previousPosition_mm); //no depth command |
tnhnrl | 17:7c16b5671d0e | 450 | |
tnhnrl | 17:7c16b5671d0e | 451 | isSubStateTimeoutRunning = true; //disable this block after one iteration |
tnhnrl | 17:7c16b5671d0e | 452 | } |
tnhnrl | 17:7c16b5671d0e | 453 | |
tnhnrl | 17:7c16b5671d0e | 454 | //once the 10 second timer is complete move the piston with code above |
tnhnrl | 17:7c16b5671d0e | 455 | if (timer.read() >= _neutral_sink_timer) { |
tnhnrl | 17:7c16b5671d0e | 456 | pc().printf("\r\n\n(8) NEUTRAL_SINKING TIMER COMPLETE! %3.1f\r\n", timer.read()); |
tnhnrl | 17:7c16b5671d0e | 457 | pc().printf("\r\n\n(8) (BATT POS: %0.1f) retract 10 mm (time: %3.1f)\r\n", previousPosition_mm, timer.read()); |
tnhnrl | 17:7c16b5671d0e | 458 | |
tnhnrl | 17:7c16b5671d0e | 459 | //when you finish executing the motor controls, reset the neutral sinking timer in the next state |
tnhnrl | 17:7c16b5671d0e | 460 | isSubStateTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 461 | } |
tnhnrl | 17:7c16b5671d0e | 462 | |
tnhnrl | 17:7c16b5671d0e | 463 | |
tnhnrl | 17:7c16b5671d0e | 464 | |
tnhnrl | 17:7c16b5671d0e | 465 | //depth >= depth command, go to the next substate the next iteration |
tnhnrl | 17:7c16b5671d0e | 466 | if (depthLoop().getPosition() > depthCommand) { |
tnhnrl | 17:7c16b5671d0e | 467 | pc().printf("Next substate: NEUTRAL_SLOWLY_RISE\n\r"); |
tnhnrl | 17:7c16b5671d0e | 468 | output_substate = NEUTRAL_SLOWLY_RISE; |
tnhnrl | 17:7c16b5671d0e | 469 | |
tnhnrl | 17:7c16b5671d0e | 470 | //when you finish executing the motor controls, reset the neutral sinking timer in the next state |
tnhnrl | 17:7c16b5671d0e | 471 | isSubStateTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 472 | } |
tnhnrl | 17:7c16b5671d0e | 473 | |
tnhnrl | 18:85a7535af8fd | 474 | //before the sub-fsm runs again, make sure the piston is in a safe position (retracted) |
tnhnrl | 17:7c16b5671d0e | 475 | //NEW: need to double-check this behavior |
tnhnrl | 18:85a7535af8fd | 476 | if (bce().getPosition_mm() <= 0) { |
tnhnrl | 17:7c16b5671d0e | 477 | output_substate = NEUTRAL_EXIT; |
tnhnrl | 17:7c16b5671d0e | 478 | //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed |
tnhnrl | 17:7c16b5671d0e | 479 | } |
tnhnrl | 17:7c16b5671d0e | 480 | break; |
tnhnrl | 17:7c16b5671d0e | 481 | |
tnhnrl | 17:7c16b5671d0e | 482 | case NEUTRAL_SLOWLY_RISE: |
tnhnrl | 17:7c16b5671d0e | 483 | if (!isSubStateTimeoutRunning) { |
tnhnrl | 17:7c16b5671d0e | 484 | pc().printf("\r\n\n(9) START NEUTRAL_SLOWLY_RISE (will go off at %0.1f sec)\r\n", timer.read()); |
tnhnrl | 17:7c16b5671d0e | 485 | _neutral_sink_timer = timer.read()+ 5; //record the time when this block is first entered and add 10 seconds |
tnhnrl | 17:7c16b5671d0e | 486 | |
tnhnrl | 17:7c16b5671d0e | 487 | isSubStateTimeoutRunning = true; //disable this block after one iteration |
tnhnrl | 17:7c16b5671d0e | 488 | |
tnhnrl | 17:7c16b5671d0e | 489 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 490 | //move piston at start of sequence (retract 10 mm) |
tnhnrl | 17:7c16b5671d0e | 491 | pc().printf("Neutral Slowly Rise: Extending piston 1 mm\n\r"); |
tnhnrl | 17:7c16b5671d0e | 492 | previousPosition_mm += 1; |
tnhnrl | 17:7c16b5671d0e | 493 | bce().setPosition_mm(previousPosition_mm); //no depth command |
tnhnrl | 17:7c16b5671d0e | 494 | } |
tnhnrl | 17:7c16b5671d0e | 495 | |
tnhnrl | 17:7c16b5671d0e | 496 | //once 5 second timer complete move the piston with code above |
tnhnrl | 17:7c16b5671d0e | 497 | if (timer.read() >= _neutral_sink_timer) { |
tnhnrl | 17:7c16b5671d0e | 498 | pc().printf("\r\n\n(9)NEUTRAL_SLOWLY_RISE TIMER COMPLETE! (time: %3.1f)\r\n", timer.read()); |
tnhnrl | 17:7c16b5671d0e | 499 | pc().printf("\r\n\n(9) (BATT POS: %0.1f) extend 1 mm %3.1f\r\n", previousPosition_mm, timer.read()); |
tnhnrl | 17:7c16b5671d0e | 500 | |
tnhnrl | 17:7c16b5671d0e | 501 | //when you finish executing the motor controls, reset the neutral sinking timer in the next state |
tnhnrl | 17:7c16b5671d0e | 502 | isSubStateTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 503 | } |
tnhnrl | 17:7c16b5671d0e | 504 | |
tnhnrl | 17:7c16b5671d0e | 505 | //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration |
tnhnrl | 17:7c16b5671d0e | 506 | if (depthLoop().getVelocity() < 0) { //less than zero ft/s |
tnhnrl | 17:7c16b5671d0e | 507 | pc().printf("\r\n\n(9) NEUTRAL_SLOWLY_RISE: Sink Rate below 0 ft/s [time: %0.1f]\r\n", timer.read()); |
tnhnrl | 17:7c16b5671d0e | 508 | |
tnhnrl | 17:7c16b5671d0e | 509 | pc().printf("Next substate: NEUTRAL_CHECK_PITCH\n\r"); |
tnhnrl | 17:7c16b5671d0e | 510 | output_substate = NEUTRAL_CHECK_PITCH; |
tnhnrl | 17:7c16b5671d0e | 511 | } |
tnhnrl | 17:7c16b5671d0e | 512 | |
tnhnrl | 18:85a7535af8fd | 513 | //before the sub-fsm runs again, make sure the piston is in a safe position (retracted) |
tnhnrl | 17:7c16b5671d0e | 514 | //NEW: need to double-check this behavior |
tnhnrl | 17:7c16b5671d0e | 515 | //need to set a max travel position ? or just hardcode? or use bceFloatPosition? |
tnhnrl | 17:7c16b5671d0e | 516 | if (bce().getPosition_mm() >= 320) { |
tnhnrl | 17:7c16b5671d0e | 517 | output_substate = NEUTRAL_EXIT; |
tnhnrl | 17:7c16b5671d0e | 518 | //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed |
tnhnrl | 17:7c16b5671d0e | 519 | } |
tnhnrl | 17:7c16b5671d0e | 520 | break; |
tnhnrl | 17:7c16b5671d0e | 521 | |
tnhnrl | 17:7c16b5671d0e | 522 | case NEUTRAL_CHECK_PITCH: |
tnhnrl | 17:7c16b5671d0e | 523 | //no timeout in this sub FSM state (find_neutral timer still running) |
tnhnrl | 17:7c16b5671d0e | 524 | |
tnhnrl | 17:7c16b5671d0e | 525 | //what is active? |
tnhnrl | 17:7c16b5671d0e | 526 | //the BCE piston is maintaining its position |
tnhnrl | 17:7c16b5671d0e | 527 | //the battery is maintaining the pitch at zero degrees |
tnhnrl | 17:7c16b5671d0e | 528 | |
tnhnrl | 17:7c16b5671d0e | 529 | //check sink rate < 0.5 ft/s, go to the next substate the next iteration (pitch velocity) |
tnhnrl | 17:7c16b5671d0e | 530 | //check pitch angle is less than 1.0 degree |
tnhnrl | 17:7c16b5671d0e | 531 | |
tnhnrl | 17:7c16b5671d0e | 532 | pc().printf("(10) NEUTRAL_CHECK_PITCH (time: %3.1f) [%0.1f deg, %0.1f deg/s] \r", timer.read(), pitch_angle, pitch_rate); //debug |
tnhnrl | 17:7c16b5671d0e | 533 | output_substate = NEUTRAL_CHECK_PITCH; |
tnhnrl | 17:7c16b5671d0e | 534 | |
tnhnrl | 17:7c16b5671d0e | 535 | //benchtop tests confirm it needs to be around 2 degrees |
tnhnrl | 17:7c16b5671d0e | 536 | if ((abs_pitch_rate < 0.5) && (abs_pitch_angle < 2.0)) { //less than zero ft/s and 1 degree |
tnhnrl | 17:7c16b5671d0e | 537 | //SAVE POSITIONS |
tnhnrl | 17:7c16b5671d0e | 538 | _neutral_buoyancy_bce_pos_mm = bce().getPosition_mm(); |
tnhnrl | 17:7c16b5671d0e | 539 | _neutral_buoyancy_batt_pos_mm = batt().getPosition_mm(); |
tnhnrl | 17:7c16b5671d0e | 540 | |
tnhnrl | 17:7c16b5671d0e | 541 | //save to neutral.cfg |
tnhnrl | 17:7c16b5671d0e | 542 | ConfigFileIO().saveNeutralPositions(_neutral_buoyancy_bce_pos_mm,_neutral_buoyancy_batt_pos_mm); //BCE, BATT |
tnhnrl | 17:7c16b5671d0e | 543 | |
tnhnrl | 17:7c16b5671d0e | 544 | pc().printf("Saving Positions: BCE: %0.1f mm, BATT: %0.1f\n\r",_neutral_buoyancy_bce_pos_mm,_neutral_buoyancy_batt_pos_mm); |
tnhnrl | 17:7c16b5671d0e | 545 | pc().printf("Next substate: NEUTRAL_EXIT\n\r"); |
tnhnrl | 17:7c16b5671d0e | 546 | output_substate = NEUTRAL_EXIT; //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed |
tnhnrl | 17:7c16b5671d0e | 547 | } |
tnhnrl | 17:7c16b5671d0e | 548 | break; |
tnhnrl | 17:7c16b5671d0e | 549 | |
tnhnrl | 17:7c16b5671d0e | 550 | default: |
tnhnrl | 17:7c16b5671d0e | 551 | pc().printf("DEFAULT: check_pitch (state 10)\n\r"); //debug |
tnhnrl | 17:7c16b5671d0e | 552 | output_substate = NEUTRAL_CHECK_PITCH; //a default within the sub-state machine |
tnhnrl | 17:7c16b5671d0e | 553 | break; |
tnhnrl | 17:7c16b5671d0e | 554 | } |
tnhnrl | 17:7c16b5671d0e | 555 | return output_substate; |
tnhnrl | 17:7c16b5671d0e | 556 | } |
tnhnrl | 17:7c16b5671d0e | 557 | |
tnhnrl | 16:3363b9f14913 | 558 | // keyboard currently handles a key at a time |
tnhnrl | 16:3363b9f14913 | 559 | // returns -1 if not a state command |
tnhnrl | 16:3363b9f14913 | 560 | // returns a positive number to command a new state |
tnhnrl | 17:7c16b5671d0e | 561 | void StateMachine::keyboard() { |
tnhnrl | 16:3363b9f14913 | 562 | char userInput; |
tnhnrl | 16:3363b9f14913 | 563 | |
tnhnrl | 16:3363b9f14913 | 564 | // check keyboard and make settings changes as requested |
tnhnrl | 17:7c16b5671d0e | 565 | // states can be changed only at the start of a sequence (when the system is in SIT_IDLE) |
tnhnrl | 17:7c16b5671d0e | 566 | if (pc().readable() && (_state == SIT_IDLE)) { |
tnhnrl | 16:3363b9f14913 | 567 | // get the key |
tnhnrl | 17:7c16b5671d0e | 568 | userInput = pc().getc(); |
tnhnrl | 17:7c16b5671d0e | 569 | |
tnhnrl | 17:7c16b5671d0e | 570 | isTimeoutRunning = false; //keyboard resets timer each time it's used |
tnhnrl | 17:7c16b5671d0e | 571 | |
tnhnrl | 17:7c16b5671d0e | 572 | pc().printf("KEYBOARD isTimeoutRunning: %d\n\r", isTimeoutRunning); |
tnhnrl | 17:7c16b5671d0e | 573 | |
tnhnrl | 17:7c16b5671d0e | 574 | //_keyboard_state = SIT_IDLE; //new |
tnhnrl | 16:3363b9f14913 | 575 | |
tnhnrl | 16:3363b9f14913 | 576 | // check command against desired control buttons |
tnhnrl | 16:3363b9f14913 | 577 | // change state |
tnhnrl | 16:3363b9f14913 | 578 | if (userInput == 'D' or userInput == 'd') { |
tnhnrl | 17:7c16b5671d0e | 579 | _keyboard_state = DIVE; |
tnhnrl | 16:3363b9f14913 | 580 | } |
tnhnrl | 16:3363b9f14913 | 581 | else if (userInput == 'N' or userInput == 'n') { |
tnhnrl | 17:7c16b5671d0e | 582 | _keyboard_state = FIND_NEUTRAL; |
tnhnrl | 17:7c16b5671d0e | 583 | } |
tnhnrl | 17:7c16b5671d0e | 584 | else if (userInput == 'M' or userInput == 'm') { |
tnhnrl | 17:7c16b5671d0e | 585 | //currently does not run if there is no file. |
tnhnrl | 17:7c16b5671d0e | 586 | |
tnhnrl | 17:7c16b5671d0e | 587 | //need to add method to Sequence Controller that returns -1 |
tnhnrl | 17:7c16b5671d0e | 588 | // or some check that insures you cannot run the dive sequence without a file |
tnhnrl | 17:7c16b5671d0e | 589 | |
tnhnrl | 17:7c16b5671d0e | 590 | stateMachine().getDiveSequence(); //get first sequence on keyboard press |
tnhnrl | 17:7c16b5671d0e | 591 | _keyboard_state = currentStateStruct.state; |
tnhnrl | 17:7c16b5671d0e | 592 | |
tnhnrl | 17:7c16b5671d0e | 593 | pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles |
tnhnrl | 16:3363b9f14913 | 594 | } |
tnhnrl | 16:3363b9f14913 | 595 | else if (userInput == 'R' or userInput == 'r') { |
tnhnrl | 17:7c16b5671d0e | 596 | _keyboard_state = RISE; |
tnhnrl | 16:3363b9f14913 | 597 | } |
tnhnrl | 16:3363b9f14913 | 598 | else if (userInput == 'L' or userInput == 'l') { |
tnhnrl | 17:7c16b5671d0e | 599 | _keyboard_state = FLOAT_LEVEL; |
tnhnrl | 16:3363b9f14913 | 600 | } |
tnhnrl | 16:3363b9f14913 | 601 | else if (userInput == 'B' or userInput == 'b') { |
tnhnrl | 17:7c16b5671d0e | 602 | _keyboard_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 603 | } |
tnhnrl | 16:3363b9f14913 | 604 | else if (userInput == 'E' or userInput == 'e') { |
tnhnrl | 17:7c16b5671d0e | 605 | _keyboard_state = EMERGENCY_CLIMB; |
tnhnrl | 16:3363b9f14913 | 606 | } |
tnhnrl | 16:3363b9f14913 | 607 | else if (userInput == 'H' or userInput == 'h') { |
tnhnrl | 16:3363b9f14913 | 608 | pc().printf("running homing procedure\r\n"); |
tnhnrl | 16:3363b9f14913 | 609 | bce().unpause(); bce().homePiston(); bce().pause(); |
tnhnrl | 16:3363b9f14913 | 610 | batt().unpause(); batt().homePiston(); batt().pause(); |
tnhnrl | 16:3363b9f14913 | 611 | } |
tnhnrl | 16:3363b9f14913 | 612 | else if (userInput == 'T' or userInput == 't') { |
tnhnrl | 16:3363b9f14913 | 613 | pc().printf("taring depth sensor\r\n"); |
tnhnrl | 16:3363b9f14913 | 614 | pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); |
tnhnrl | 16:3363b9f14913 | 615 | wait(0.1); |
tnhnrl | 16:3363b9f14913 | 616 | depth().tare(); // tares to ambient (do on surface) |
tnhnrl | 16:3363b9f14913 | 617 | pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); |
tnhnrl | 16:3363b9f14913 | 618 | } |
tnhnrl | 16:3363b9f14913 | 619 | |
tnhnrl | 16:3363b9f14913 | 620 | else if (userInput == '[' or userInput == '{') { |
tnhnrl | 16:3363b9f14913 | 621 | depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint |
tnhnrl | 16:3363b9f14913 | 622 | pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 623 | } |
tnhnrl | 16:3363b9f14913 | 624 | else if (userInput == ']' or userInput == '}') { |
tnhnrl | 16:3363b9f14913 | 625 | depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint |
tnhnrl | 16:3363b9f14913 | 626 | pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 627 | } |
tnhnrl | 16:3363b9f14913 | 628 | else if (userInput == '<' or userInput == ',') { |
tnhnrl | 16:3363b9f14913 | 629 | pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint |
tnhnrl | 16:3363b9f14913 | 630 | pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 631 | } |
tnhnrl | 16:3363b9f14913 | 632 | else if (userInput == '>' or userInput == '.') { |
tnhnrl | 16:3363b9f14913 | 633 | pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint |
tnhnrl | 16:3363b9f14913 | 634 | pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 635 | } |
tnhnrl | 16:3363b9f14913 | 636 | |
tnhnrl | 16:3363b9f14913 | 637 | else if (userInput == '?') { |
tnhnrl | 16:3363b9f14913 | 638 | pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n"); |
tnhnrl | 16:3363b9f14913 | 639 | wait(0.5); |
tnhnrl | 16:3363b9f14913 | 640 | mbed_reset(); |
tnhnrl | 16:3363b9f14913 | 641 | } |
tnhnrl | 16:3363b9f14913 | 642 | |
tnhnrl | 16:3363b9f14913 | 643 | // change settings |
tnhnrl | 16:3363b9f14913 | 644 | else if (userInput == 'Q' or userInput == 'q') { |
tnhnrl | 16:3363b9f14913 | 645 | pitchCommand -= 0.5; //decrement the pitch setpoint |
tnhnrl | 16:3363b9f14913 | 646 | pitchLoop().setCommand(pitchCommand); |
tnhnrl | 16:3363b9f14913 | 647 | pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 648 | } |
tnhnrl | 16:3363b9f14913 | 649 | else if (userInput == 'W' or userInput == 'w') { |
tnhnrl | 16:3363b9f14913 | 650 | pitchCommand += 0.5; //increment the pitch setpoint |
tnhnrl | 16:3363b9f14913 | 651 | pitchLoop().setCommand(pitchCommand); |
tnhnrl | 16:3363b9f14913 | 652 | pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 653 | } |
tnhnrl | 16:3363b9f14913 | 654 | else if (userInput == 'A' or userInput == 'a') { |
tnhnrl | 16:3363b9f14913 | 655 | depthCommand -= 0.5; //decrement the depth setpoint |
tnhnrl | 16:3363b9f14913 | 656 | depthLoop().setCommand(depthCommand); |
tnhnrl | 16:3363b9f14913 | 657 | pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 658 | } |
tnhnrl | 16:3363b9f14913 | 659 | else if (userInput == 'S' or userInput == 's') { |
tnhnrl | 16:3363b9f14913 | 660 | depthCommand += 0.5; //increment the depth setpoint |
tnhnrl | 16:3363b9f14913 | 661 | depthLoop().setCommand(depthCommand); |
tnhnrl | 16:3363b9f14913 | 662 | pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 663 | } |
tnhnrl | 16:3363b9f14913 | 664 | else if (userInput == '-') { |
tnhnrl | 17:7c16b5671d0e | 665 | _timeout -= 10.0; //decrement the timeout |
tnhnrl | 17:7c16b5671d0e | 666 | pc().printf(">>> timeout decreased: %d\r\n", _timeout); |
tnhnrl | 16:3363b9f14913 | 667 | } |
tnhnrl | 16:3363b9f14913 | 668 | else if (userInput == '=' or userInput == '+') { |
tnhnrl | 17:7c16b5671d0e | 669 | _timeout += 10.0; //increment the timeout |
tnhnrl | 17:7c16b5671d0e | 670 | pc().printf(">>> timeout increased: %d\r\n", _timeout); |
tnhnrl | 16:3363b9f14913 | 671 | } |
tnhnrl | 16:3363b9f14913 | 672 | |
tnhnrl | 16:3363b9f14913 | 673 | // add keyboard commands to move the neutral zero offsets, both bce and batt |
tnhnrl | 16:3363b9f14913 | 674 | |
tnhnrl | 16:3363b9f14913 | 675 | // go to sub-menus for the PID gains (this is blocking) |
tnhnrl | 16:3363b9f14913 | 676 | else if (userInput == '1') { |
tnhnrl | 16:3363b9f14913 | 677 | keyboard_menu_BCE_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 678 | } |
tnhnrl | 16:3363b9f14913 | 679 | else if (userInput == '2') { |
tnhnrl | 16:3363b9f14913 | 680 | keyboard_menu_BATT_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 681 | } |
tnhnrl | 16:3363b9f14913 | 682 | else if (userInput == '3') { |
tnhnrl | 16:3363b9f14913 | 683 | keyboard_menu_DEPTH_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 684 | } |
tnhnrl | 16:3363b9f14913 | 685 | else if (userInput == '4') { |
tnhnrl | 16:3363b9f14913 | 686 | keyboard_menu_PITCH_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 687 | } |
tnhnrl | 16:3363b9f14913 | 688 | |
tnhnrl | 16:3363b9f14913 | 689 | else if (userInput == 'C' or userInput == 'c') { |
tnhnrl | 16:3363b9f14913 | 690 | pc().printf("depth: %3.1f\r\n",depthLoop().getPosition()); |
tnhnrl | 16:3363b9f14913 | 691 | pc().printf("pitch: %3.1f\r\n",imu().getPitch()); |
tnhnrl | 16:3363b9f14913 | 692 | pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 693 | pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 694 | pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 695 | pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 696 | pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 697 | pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 698 | } |
tnhnrl | 16:3363b9f14913 | 699 | else { |
tnhnrl | 17:7c16b5671d0e | 700 | _keyboard_state = -1; |
tnhnrl | 16:3363b9f14913 | 701 | } |
tnhnrl | 17:7c16b5671d0e | 702 | |
tnhnrl | 17:7c16b5671d0e | 703 | //when you read the keyboard successfully, change the state |
tnhnrl | 17:7c16b5671d0e | 704 | _next_state = _keyboard_state; //set state at the end of this function |
tnhnrl | 16:3363b9f14913 | 705 | } |
tnhnrl | 16:3363b9f14913 | 706 | } |
tnhnrl | 16:3363b9f14913 | 707 | |
tnhnrl | 17:7c16b5671d0e | 708 | //11/19/2017 |
tnhnrl | 17:7c16b5671d0e | 709 | //you want to modify the keyboard to return the values that will be used in the state machine |
tnhnrl | 17:7c16b5671d0e | 710 | //BUT the state machine does not call they keyboard |
tnhnrl | 17:7c16b5671d0e | 711 | //the keyboard runs independently and only allows input when the state is "idle" |
tnhnrl | 17:7c16b5671d0e | 712 | //therefore keyboard should run maybe 1/10th of a second when pc readable |
tnhnrl | 17:7c16b5671d0e | 713 | //and it will change a class variable that says what the current state is |
tnhnrl | 17:7c16b5671d0e | 714 | |
tnhnrl | 17:7c16b5671d0e | 715 | //make it void |
tnhnrl | 17:7c16b5671d0e | 716 | |
tnhnrl | 17:7c16b5671d0e | 717 | |
tnhnrl | 17:7c16b5671d0e | 718 | |
tnhnrl | 17:7c16b5671d0e | 719 | |
tnhnrl | 16:3363b9f14913 | 720 | void StateMachine::keyboard_menu_BCE_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 721 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 722 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 723 | float KP = bce().getControllerP(); // load current value |
tnhnrl | 16:3363b9f14913 | 724 | float KI = bce().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 725 | float KD = bce().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 726 | |
tnhnrl | 16:3363b9f14913 | 727 | // show the menu |
tnhnrl | 16:3363b9f14913 | 728 | pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 729 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 730 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); |
tnhnrl | 16:3363b9f14913 | 731 | 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()); |
tnhnrl | 16:3363b9f14913 | 732 | |
tnhnrl | 16:3363b9f14913 | 733 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 734 | while(1) { |
tnhnrl | 16:3363b9f14913 | 735 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 736 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 737 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 738 | } |
tnhnrl | 16:3363b9f14913 | 739 | else { |
tnhnrl | 16:3363b9f14913 | 740 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 741 | } |
tnhnrl | 16:3363b9f14913 | 742 | |
tnhnrl | 16:3363b9f14913 | 743 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 744 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 745 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 746 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 747 | } |
tnhnrl | 16:3363b9f14913 | 748 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 749 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 750 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 751 | } |
tnhnrl | 16:3363b9f14913 | 752 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 753 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 754 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 755 | } |
tnhnrl | 16:3363b9f14913 | 756 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 757 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 758 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 759 | } |
tnhnrl | 16:3363b9f14913 | 760 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 761 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 762 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 763 | } |
tnhnrl | 16:3363b9f14913 | 764 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 765 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 766 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 767 | } |
tnhnrl | 16:3363b9f14913 | 768 | else if (PID_key == 'S') { // user wants to save these modified values |
tnhnrl | 16:3363b9f14913 | 769 | // set values |
tnhnrl | 16:3363b9f14913 | 770 | bce().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 771 | bce().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 772 | bce().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 773 | |
tnhnrl | 16:3363b9f14913 | 774 | // save into "PID.cfg" |
tnhnrl | 16:3363b9f14913 | 775 | //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); |
tnhnrl | 16:3363b9f14913 | 776 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 777 | } |
tnhnrl | 16:3363b9f14913 | 778 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 779 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 780 | } |
tnhnrl | 16:3363b9f14913 | 781 | else { |
tnhnrl | 16:3363b9f14913 | 782 | pc().printf("\n\rThis key does nothing here. "); |
tnhnrl | 16:3363b9f14913 | 783 | } |
tnhnrl | 16:3363b9f14913 | 784 | } |
tnhnrl | 16:3363b9f14913 | 785 | } |
tnhnrl | 16:3363b9f14913 | 786 | |
tnhnrl | 16:3363b9f14913 | 787 | void StateMachine::keyboard_menu_BATT_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 788 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 789 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 790 | float KP = batt().getControllerP(); // load current global value |
tnhnrl | 16:3363b9f14913 | 791 | float KI = batt().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 792 | float KD = batt().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 793 | |
tnhnrl | 16:3363b9f14913 | 794 | // print the menu |
tnhnrl | 16:3363b9f14913 | 795 | pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 796 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 797 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); |
tnhnrl | 16:3363b9f14913 | 798 | 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()); |
tnhnrl | 16:3363b9f14913 | 799 | |
tnhnrl | 16:3363b9f14913 | 800 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 801 | while(1) { |
tnhnrl | 16:3363b9f14913 | 802 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 803 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 804 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 805 | } |
tnhnrl | 16:3363b9f14913 | 806 | else { |
tnhnrl | 16:3363b9f14913 | 807 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 808 | } |
tnhnrl | 16:3363b9f14913 | 809 | |
tnhnrl | 16:3363b9f14913 | 810 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 811 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 812 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 813 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 814 | } |
tnhnrl | 16:3363b9f14913 | 815 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 816 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 817 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 818 | } |
tnhnrl | 16:3363b9f14913 | 819 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 820 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 821 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 822 | } |
tnhnrl | 16:3363b9f14913 | 823 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 824 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 825 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 826 | } |
tnhnrl | 16:3363b9f14913 | 827 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 828 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 829 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 830 | } |
tnhnrl | 16:3363b9f14913 | 831 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 832 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 833 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 834 | } |
tnhnrl | 16:3363b9f14913 | 835 | else if (PID_key == 'S') { // user wants to save the modified values |
tnhnrl | 16:3363b9f14913 | 836 | // set global values |
tnhnrl | 16:3363b9f14913 | 837 | batt().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 838 | batt().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 839 | batt().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 840 | |
tnhnrl | 16:3363b9f14913 | 841 | // save to "PID.cfg" file |
tnhnrl | 16:3363b9f14913 | 842 | //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); |
tnhnrl | 16:3363b9f14913 | 843 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 844 | } |
tnhnrl | 16:3363b9f14913 | 845 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 846 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 847 | } |
tnhnrl | 16:3363b9f14913 | 848 | else { |
tnhnrl | 16:3363b9f14913 | 849 | pc().printf("This key does nothing here.\r"); |
tnhnrl | 16:3363b9f14913 | 850 | } |
tnhnrl | 16:3363b9f14913 | 851 | } |
tnhnrl | 16:3363b9f14913 | 852 | } |
tnhnrl | 16:3363b9f14913 | 853 | |
tnhnrl | 16:3363b9f14913 | 854 | void StateMachine::keyboard_menu_DEPTH_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 855 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 856 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 857 | float KP = depthLoop().getControllerP(); // load current global value |
tnhnrl | 16:3363b9f14913 | 858 | float KI = depthLoop().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 859 | float KD = depthLoop().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 860 | |
tnhnrl | 16:3363b9f14913 | 861 | // show the menu |
tnhnrl | 16:3363b9f14913 | 862 | pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 863 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 864 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r"); |
tnhnrl | 16:3363b9f14913 | 865 | 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()); |
tnhnrl | 16:3363b9f14913 | 866 | |
tnhnrl | 16:3363b9f14913 | 867 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 868 | while(1) { |
tnhnrl | 16:3363b9f14913 | 869 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 870 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 871 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 872 | } |
tnhnrl | 16:3363b9f14913 | 873 | else { |
tnhnrl | 16:3363b9f14913 | 874 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 875 | } |
tnhnrl | 16:3363b9f14913 | 876 | |
tnhnrl | 16:3363b9f14913 | 877 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 878 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 879 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 880 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 881 | } |
tnhnrl | 16:3363b9f14913 | 882 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 883 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 884 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 885 | } |
tnhnrl | 16:3363b9f14913 | 886 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 887 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 888 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 889 | } |
tnhnrl | 16:3363b9f14913 | 890 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 891 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 892 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 893 | } |
tnhnrl | 16:3363b9f14913 | 894 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 895 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 896 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 897 | } |
tnhnrl | 16:3363b9f14913 | 898 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 899 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 900 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 901 | } |
tnhnrl | 16:3363b9f14913 | 902 | else if (PID_key == 'S') { // user wants to save these settings |
tnhnrl | 16:3363b9f14913 | 903 | // set global values |
tnhnrl | 16:3363b9f14913 | 904 | depthLoop().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 905 | depthLoop().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 906 | depthLoop().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 907 | |
tnhnrl | 16:3363b9f14913 | 908 | // save into "PID.cfg" |
tnhnrl | 16:3363b9f14913 | 909 | //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); |
tnhnrl | 16:3363b9f14913 | 910 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 911 | } |
tnhnrl | 16:3363b9f14913 | 912 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 913 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 914 | } |
tnhnrl | 16:3363b9f14913 | 915 | else { |
tnhnrl | 16:3363b9f14913 | 916 | pc().printf("\n\rThis key does nothing here. "); |
tnhnrl | 16:3363b9f14913 | 917 | } |
tnhnrl | 16:3363b9f14913 | 918 | } |
tnhnrl | 16:3363b9f14913 | 919 | } |
tnhnrl | 16:3363b9f14913 | 920 | |
tnhnrl | 16:3363b9f14913 | 921 | void StateMachine::keyboard_menu_PITCH_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 922 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 923 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 924 | float KP = pitchLoop().getControllerP(); // load current global value |
tnhnrl | 16:3363b9f14913 | 925 | float KI = pitchLoop().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 926 | float KD = pitchLoop().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 927 | |
tnhnrl | 16:3363b9f14913 | 928 | // print the menu |
tnhnrl | 16:3363b9f14913 | 929 | pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 930 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 931 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); |
tnhnrl | 16:3363b9f14913 | 932 | 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()); |
tnhnrl | 16:3363b9f14913 | 933 | |
tnhnrl | 16:3363b9f14913 | 934 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 935 | while(1) { |
tnhnrl | 16:3363b9f14913 | 936 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 937 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 938 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 939 | } |
tnhnrl | 16:3363b9f14913 | 940 | else { |
tnhnrl | 16:3363b9f14913 | 941 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 942 | } |
tnhnrl | 16:3363b9f14913 | 943 | |
tnhnrl | 16:3363b9f14913 | 944 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 945 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 946 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 947 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 948 | } |
tnhnrl | 16:3363b9f14913 | 949 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 950 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 951 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 952 | } |
tnhnrl | 16:3363b9f14913 | 953 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 954 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 955 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 956 | } |
tnhnrl | 16:3363b9f14913 | 957 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 958 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 959 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 960 | } |
tnhnrl | 16:3363b9f14913 | 961 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 962 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 963 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 964 | } |
tnhnrl | 16:3363b9f14913 | 965 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 966 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 967 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 968 | } |
tnhnrl | 16:3363b9f14913 | 969 | else if (PID_key == 'S') { // user wants to save the modified values |
tnhnrl | 16:3363b9f14913 | 970 | // set global values |
tnhnrl | 16:3363b9f14913 | 971 | pitchLoop().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 972 | pitchLoop().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 973 | pitchLoop().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 974 | |
tnhnrl | 16:3363b9f14913 | 975 | //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); |
tnhnrl | 16:3363b9f14913 | 976 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 977 | } |
tnhnrl | 16:3363b9f14913 | 978 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 979 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 980 | } |
tnhnrl | 16:3363b9f14913 | 981 | else { |
tnhnrl | 16:3363b9f14913 | 982 | pc().printf("This key does nothing here.\r"); |
tnhnrl | 16:3363b9f14913 | 983 | } |
tnhnrl | 16:3363b9f14913 | 984 | } |
tnhnrl | 16:3363b9f14913 | 985 | } |
tnhnrl | 16:3363b9f14913 | 986 | |
tnhnrl | 16:3363b9f14913 | 987 | float StateMachine::getDepthCommand() { |
tnhnrl | 16:3363b9f14913 | 988 | return depthCommand; |
tnhnrl | 16:3363b9f14913 | 989 | } |
tnhnrl | 16:3363b9f14913 | 990 | |
tnhnrl | 16:3363b9f14913 | 991 | float StateMachine::getPitchCommand() { |
tnhnrl | 16:3363b9f14913 | 992 | return pitchCommand; |
tnhnrl | 17:7c16b5671d0e | 993 | } |
tnhnrl | 17:7c16b5671d0e | 994 | |
tnhnrl | 17:7c16b5671d0e | 995 | void StateMachine::setState(int input_state) { |
tnhnrl | 17:7c16b5671d0e | 996 | //pc().printf("input_state: %d\n\r", input_state); //debug |
tnhnrl | 17:7c16b5671d0e | 997 | //_state = input_state; //changing wrong variable |
tnhnrl | 17:7c16b5671d0e | 998 | _next_state = input_state; |
tnhnrl | 17:7c16b5671d0e | 999 | } |
tnhnrl | 17:7c16b5671d0e | 1000 | |
tnhnrl | 17:7c16b5671d0e | 1001 | int StateMachine::getState() { |
tnhnrl | 17:7c16b5671d0e | 1002 | return _state; //return the current state of the system |
tnhnrl | 17:7c16b5671d0e | 1003 | } |
tnhnrl | 17:7c16b5671d0e | 1004 | |
tnhnrl | 17:7c16b5671d0e | 1005 | void StateMachine::setTimeout(float input_timeout) { |
tnhnrl | 17:7c16b5671d0e | 1006 | _timeout = input_timeout; |
tnhnrl | 17:7c16b5671d0e | 1007 | } |
tnhnrl | 17:7c16b5671d0e | 1008 | |
tnhnrl | 17:7c16b5671d0e | 1009 | void StateMachine::setDepthCommand(float input_depth_command) { |
tnhnrl | 17:7c16b5671d0e | 1010 | depthCommand = input_depth_command; |
tnhnrl | 17:7c16b5671d0e | 1011 | } |
tnhnrl | 17:7c16b5671d0e | 1012 | |
tnhnrl | 17:7c16b5671d0e | 1013 | void StateMachine::setPitchCommand(float input_pitch_command) { |
tnhnrl | 17:7c16b5671d0e | 1014 | pitchCommand = input_pitch_command; |
tnhnrl | 17:7c16b5671d0e | 1015 | } |
tnhnrl | 17:7c16b5671d0e | 1016 | |
tnhnrl | 17:7c16b5671d0e | 1017 | void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) { |
tnhnrl | 17:7c16b5671d0e | 1018 | _neutral_buoyancy_batt_pos_mm = batt_pos_mm; |
tnhnrl | 17:7c16b5671d0e | 1019 | _neutral_buoyancy_bce_pos_mm = bce_pos_mm; |
tnhnrl | 17:7c16b5671d0e | 1020 | |
tnhnrl | 17:7c16b5671d0e | 1021 | pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_buoyancy_batt_pos_mm,_neutral_buoyancy_bce_pos_mm); |
tnhnrl | 17:7c16b5671d0e | 1022 | } |
tnhnrl | 17:7c16b5671d0e | 1023 | |
tnhnrl | 17:7c16b5671d0e | 1024 | int StateMachine::timeoutRunning() { |
tnhnrl | 17:7c16b5671d0e | 1025 | return isTimeoutRunning; |
tnhnrl | 17:7c16b5671d0e | 1026 | } |
tnhnrl | 17:7c16b5671d0e | 1027 | |
tnhnrl | 17:7c16b5671d0e | 1028 | //process one state at a time |
tnhnrl | 17:7c16b5671d0e | 1029 | void StateMachine::getDiveSequence() { |
tnhnrl | 17:7c16b5671d0e | 1030 | //iterate through this sequence using the FSM |
tnhnrl | 17:7c16b5671d0e | 1031 | currentStateStruct.state = sequenceController().sequenceStructLoaded[_state_counter].state; |
tnhnrl | 17:7c16b5671d0e | 1032 | currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_state_counter].timeout; |
tnhnrl | 17:7c16b5671d0e | 1033 | currentStateStruct.depth = sequenceController().sequenceStructLoaded[_state_counter].depth; |
tnhnrl | 17:7c16b5671d0e | 1034 | currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_state_counter].pitch; |
tnhnrl | 17:7c16b5671d0e | 1035 | |
tnhnrl | 17:7c16b5671d0e | 1036 | _timeout = currentStateStruct.timeout; //set timeout before exiting this function |
tnhnrl | 16:3363b9f14913 | 1037 | } |