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
changelog.txt@74:d281aaef9766, 2018-08-14 (annotated)
- Committer:
- tnhnrl
- Date:
- Tue Aug 14 21:06:48 2018 +0000
- Revision:
- 74:d281aaef9766
- Parent:
- 39:58375ca6b6ff
- Child:
- 79:3688c3a0d7f4
1) Fixed deadband on float broadcast ; 2) Fixed find neutral commands
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tnhnrl | 24:c7d9b5bf3829 | 1 | Starting from Trent's Linear Actuator code from 2017-10-19, these modifications |
tnhnrl | 24:c7d9b5bf3829 | 2 | by Dan add an outer loop controller for depth and pitch to command the inner |
tnhnrl | 24:c7d9b5bf3829 | 3 | linear actuator loops. |
tnhnrl | 24:c7d9b5bf3829 | 4 | Modified 2017-10-20 revA by Dan |
tnhnrl | 24:c7d9b5bf3829 | 5 | - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update) |
tnhnrl | 24:c7d9b5bf3829 | 6 | Modified 2017-10-22 revA by Dan |
tnhnrl | 24:c7d9b5bf3829 | 7 | - outer loop now works with a call to outerloop.update() in main loop(), not with an attached ticker |
tnhnrl | 24:c7d9b5bf3829 | 8 | Modified 2017-10-22 revB by Dan |
tnhnrl | 24:c7d9b5bf3829 | 9 | - enabled both depth and pitch outer loop controllers |
tnhnrl | 24:c7d9b5bf3829 | 10 | - added ability to keyboard reset |
tnhnrl | 24:c7d9b5bf3829 | 11 | Modified 2017-10-22 revC by Dan |
tnhnrl | 24:c7d9b5bf3829 | 12 | - major update to the IMU library processing to make a state machine that doesn't hang |
tnhnrl | 24:c7d9b5bf3829 | 13 | - added lat/lon/alt and GNSS fix information to the IMU library |
tnhnrl | 24:c7d9b5bf3829 | 14 | - brought out the pin names into the constructors of IMU, omega, SpiADC |
tnhnrl | 24:c7d9b5bf3829 | 15 | Modified 2017-10-22 revD by Dan |
tnhnrl | 24:c7d9b5bf3829 | 16 | - everything seems to be working, shy of re-checking on the hardware |
tnhnrl | 24:c7d9b5bf3829 | 17 | - Depth sensor call done inside the OuterLoop, but should somehow be set as a callback instead |
tnhnrl | 24:c7d9b5bf3829 | 18 | - IMU sensor call done inside the OuterLoop, but should somehow be set as a callback instead |
tnhnrl | 24:c7d9b5bf3829 | 19 | Modified 2017-10-23 revA by Dan/Matt |
tnhnrl | 24:c7d9b5bf3829 | 20 | - linear actuator hardware works great, limit switches, sensing, etc. |
tnhnrl | 24:c7d9b5bf3829 | 21 | - outer loops run, but move the BCE in the wrong direction. |
tnhnrl | 24:c7d9b5bf3829 | 22 | - new IMU code doesn't read from the sensor correctly, but doesn't hang up either. |
tnhnrl | 24:c7d9b5bf3829 | 23 | - depth sensor worked fine, just needs zero bias adjustment. |
tnhnrl | 24:c7d9b5bf3829 | 24 | Modified 2017-10-24 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 25 | - added offset to outerloop |
tnhnrl | 24:c7d9b5bf3829 | 26 | Modified 2017-10-26 by Dan |
tnhnrl | 24:c7d9b5bf3829 | 27 | - brought over a state machine and new keyboard controls ... currently just dumped into main. |
tnhnrl | 24:c7d9b5bf3829 | 28 | Modified 2017-10-26 by Matt |
tnhnrl | 24:c7d9b5bf3829 | 29 | - new IMU code imported and working well with the hardware. |
tnhnrl | 24:c7d9b5bf3829 | 30 | Modified 2017-10-26 revB by Dan |
tnhnrl | 24:c7d9b5bf3829 | 31 | - This version has been in the pool. |
tnhnrl | 24:c7d9b5bf3829 | 32 | - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions. |
tnhnrl | 24:c7d9b5bf3829 | 33 | But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why. |
tnhnrl | 24:c7d9b5bf3829 | 34 | - Repeatedly got stuck in RISE with a +60s timeout. Battery hit end bell and stalled out. |
tnhnrl | 24:c7d9b5bf3829 | 35 | - keyboard and state machine are in main, probably shouldn't be, but easier to debug. |
tnhnrl | 24:c7d9b5bf3829 | 36 | - Really happy with the logic and flow of the state machine. Timeouts work. |
tnhnrl | 24:c7d9b5bf3829 | 37 | - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE. |
tnhnrl | 24:c7d9b5bf3829 | 38 | - Need to add keyboard commands to modify the zeroOffset positions. |
tnhnrl | 24:c7d9b5bf3829 | 39 | Modified 2017-10-30 by Dan, Trent, Matt, Troy |
tnhnrl | 24:c7d9b5bf3829 | 40 | - changed .stop() to .pause() and many .start() to .unpause() ... fixed the negative ADC and lets |
tnhnrl | 24:c7d9b5bf3829 | 41 | the PVF's keep running even though the motor isn't moving. |
tnhnrl | 24:c7d9b5bf3829 | 42 | - changed exit conditions to use filtered depth from the outer loop. less noisy. |
tnhnrl | 24:c7d9b5bf3829 | 43 | Modified 2017-10-31 by Dan, Matt |
tnhnrl | 24:c7d9b5bf3829 | 44 | - added oversampling and a tare function to the depth sensor. |
tnhnrl | 24:c7d9b5bf3829 | 45 | - updated main and keyboard to include tare in setup() and a keyboard tare option. |
tnhnrl | 24:c7d9b5bf3829 | 46 | - looks like the piston isn't zeroing correctly, unclear why, should be unrelated to depth sensor. |
tnhnrl | 24:c7d9b5bf3829 | 47 | Modified 2017-10-31 (again) by Dan, Matt, and Troy |
tnhnrl | 24:c7d9b5bf3829 | 48 | - POOL TESTED! |
tnhnrl | 24:c7d9b5bf3829 | 49 | - Tuned the PID gains with magic. Works to hold mostly level during BCE runs. Dive is awesome. |
tnhnrl | 24:c7d9b5bf3829 | 50 | - Neutral won't do what we want ... without large depth P, it won't get to depth. |
tnhnrl | 24:c7d9b5bf3829 | 51 | - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg. Timeout should probably be RISE. |
tnhnrl | 24:c7d9b5bf3829 | 52 | - Files depth/pitch updated with tuned defaults. |
tnhnrl | 24:c7d9b5bf3829 | 53 | Modified 2017-11-06 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 54 | - Added acronyms to print statements (when running this with XBee you don't know what mode the |
tnhnrl | 24:c7d9b5bf3829 | 55 | hardware is in because of signal dropping out) |
tnhnrl | 24:c7d9b5bf3829 | 56 | - Fixed print error with setpoints by printing out the setpoint variable, not the outerloop getCommand |
tnhnrl | 24:c7d9b5bf3829 | 57 | (command is sent every time hardware dives, finds neutral, etc.) |
tnhnrl | 24:c7d9b5bf3829 | 58 | - Set the pitchCommand input to 0 on the "find neutral" command, it was sending a non-zero pitch command |
tnhnrl | 24:c7d9b5bf3829 | 59 | - Created a class for the StateMachine |
tnhnrl | 24:c7d9b5bf3829 | 60 | Modified 2017-11-14 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 61 | - Changed tare to void function (functions does not return anything when called) |
tnhnrl | 24:c7d9b5bf3829 | 62 | - Added a "subclass" in the cases for the Neutral Finding Sequence (Sinking, Slowly Rise, Check Pitch (and save positions)) |
tnhnrl | 24:c7d9b5bf3829 | 63 | Modified 2017-11-20 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 64 | - Modified StateMachine class to separate keyboard inputs from FSM |
tnhnrl | 24:c7d9b5bf3829 | 65 | - Added Neutral Finding sub-statemachine |
tnhnrl | 24:c7d9b5bf3829 | 66 | - Verified both state machines are working with hardware on desktop |
tnhnrl | 24:c7d9b5bf3829 | 67 | - Added class to save neutral battery and buoyancy engine positions to neutral.cfg file |
tnhnrl | 24:c7d9b5bf3829 | 68 | Modified 2017-11-21 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 69 | - Need to check remove ConfigFileIO and place saving functions into config_functions.cpp (rename ConfigFunctions.cpp) |
tnhnrl | 24:c7d9b5bf3829 | 70 | - Added multi-dive (and multi-rise) states to FSM (may incorporate single dive states into states) |
tnhnrl | 24:c7d9b5bf3829 | 71 | - Need to double-check behavior of sub-FSM but bench-top testing showed correct behavior for transition from sinking, to slowly rise, to check pitch |
tnhnrl | 24:c7d9b5bf3829 | 72 | - Need to add a check for the multi-dive sequence file (sequence.cfg) being loaded on the MBED |
tnhnrl | 24:c7d9b5bf3829 | 73 | Modified 2017-11-21 by Dan |
tnhnrl | 24:c7d9b5bf3829 | 74 | - removed blocker and set up a loop rate timer that runs the state machine and keyboard at 10 Hz. |
tnhnrl | 24:c7d9b5bf3829 | 75 | - work inside StateMachine and particularly in the findNeutralSubState. |
tnhnrl | 24:c7d9b5bf3829 | 76 | Modified 2017-11-22 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 77 | - Placed config_functions into ConfigFileIO and added the ability to write the neutral positions to the depth & pitch files |
tnhnrl | 24:c7d9b5bf3829 | 78 | - Streamlined sub-FSM and Find_Neutral state |
tnhnrl | 24:c7d9b5bf3829 | 79 | - PID depth and pitch gains have been made into class variables so that they can be resaved to the depth/pitch files |
tnhnrl | 24:c7d9b5bf3829 | 80 | - Added the ability to save depth & pitch gains and neutral offsets (configfile writes entire file at once) |
tnhnrl | 24:c7d9b5bf3829 | 81 | - Minor formatting fixes |
tnhnrl | 24:c7d9b5bf3829 | 82 | - Fixed issue with keyboard function, the keyboard function was continuously active instead of checking pc readable in sit idle |
tnhnrl | 24:c7d9b5bf3829 | 83 | - Bench tested neutral finding sequence and multi-dive sequence, so far so good |
tnhnrl | 24:c7d9b5bf3829 | 84 | - Question: Why do we want the keyboard and FSM to run together, specifically allowing the FSM call the keyboard? |
tnhnrl | 24:c7d9b5bf3829 | 85 | Modified 2017-11-22 by Dan |
tnhnrl | 24:c7d9b5bf3829 | 86 | - added ability for substate NEUTRAL_CHECK_PITCH to move the battery toward level, then saves offsets. |
tnhnrl | 24:c7d9b5bf3829 | 87 | - added new entry state NEUTRAL_FIRST_PITCH that also moves the battery toward level, but doesn't save. |
tnhnrl | 24:c7d9b5bf3829 | 88 | Modified 2017-11-27 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 89 | - Fixed exit condition (restart at NEUTRAL_FIRST_PITCH) |
tnhnrl | 24:c7d9b5bf3829 | 90 | - Pool tested, needed to run timer for longer than 5 minutes (neutral finding sequence timed out) |
tnhnrl | 24:c7d9b5bf3829 | 91 | - IMU fell off tape |
tnhnrl | 24:c7d9b5bf3829 | 92 | Modified 2017-11-28 Rev A by Dan/Troy |
tnhnrl | 24:c7d9b5bf3829 | 93 | - Modified NEUTRAL_FIRST_PITCH to save the battery offset into the Pitch Outer Loop before beginning neutral finding sequence before sinking |
tnhnrl | 24:c7d9b5bf3829 | 94 | - Pitch Outer Loop now runs NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE states (instead of batt fixed position control) |
tnhnrl | 24:c7d9b5bf3829 | 95 | - NEUTRAL_SINKING has been changed to a 5-second timer (vice 10 seconds) |
tnhnrl | 24:c7d9b5bf3829 | 96 | - NEUTRAL_SLOWLY_RISE has been changed to move the piston 2 mm each interval (vice 1 mm) |
tnhnrl | 24:c7d9b5bf3829 | 97 | Modified 2017-11-28 Rev B by Dan/Troy |
tnhnrl | 24:c7d9b5bf3829 | 98 | - Changed pitch rate margin from absolute value < 0.5 deg/sec to 5.0 deg/s |
tnhnrl | 24:c7d9b5bf3829 | 99 | - Changed sink timer to move piston 5 mm at a time instead of 10 mm |
tnhnrl | 24:c7d9b5bf3829 | 100 | - Find level motion will now run every 10 seconds instead of 5 seconds |
tnhnrl | 24:c7d9b5bf3829 | 101 | - Created an integer array to do a quick check of what states Find Neutral sub-FSM ran through (press "c" to see states) |
tnhnrl | 24:c7d9b5bf3829 | 102 | - FLOAT_BROADCAST now uses limits of battery and BCE from LinearActuator.getPosition |
tnhnrl | 24:c7d9b5bf3829 | 103 | Modified 2017-11-28 Rev C by Dan/Troy |
tnhnrl | 24:c7d9b5bf3829 | 104 | - State FIND_NEUTRAL sends pitch offset from file as first commanded |
tnhnrl | 24:c7d9b5bf3829 | 105 | - NEUTRAL_FIRST_PITCH and NEUTRAL_CHECK_PITCH are now moving the battery mass with getSetPosition_mm command instead of the getPosition command |
tnhnrl | 24:c7d9b5bf3829 | 106 | to allow the sub-FSM time to adequately move the battery mass |
tnhnrl | 24:c7d9b5bf3829 | 107 | - Added "else if (substate == NEUTRAL_CHECK_PITCH)" to the NEUTRAL_FIRST_PITCH/NEUTRAL_CHECK_PITCH(NFP/NCP) state to confirm that NEUTRAL_CHECK_PITCH is working |
tnhnrl | 24:c7d9b5bf3829 | 108 | - Added "else" to the NFP/NCP state as an error catching mechanism |
tnhnrl | 24:c7d9b5bf3829 | 109 | - Modified NFP/NCP state to use pitchLoop().getPosition() instead of imu().getPitch() to use the filtered readings |
tnhnrl | 24:c7d9b5bf3829 | 110 | - Added several "isSubStateTimerRunning = false;" statements to the sub-FSM exits to make sure the one-shot actions work in the next state! Definitely a fix. |
tnhnrl | 24:c7d9b5bf3829 | 111 | - Reworked the exiting sub-FSM to be a little clearer. |
tnhnrl | 24:c7d9b5bf3829 | 112 | - Moved the sub-state logger into all the sub-state transitions ... this should be done in FIND_NEUTRAL on sub-state changes instead (less copy/paste). |
tnhnrl | 39:58375ca6b6ff | 113 | Modified 2017-11-29 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 114 | - changelog.txt carries previous changes |
tnhnrl | 39:58375ca6b6ff | 115 | - Incorporated email changes and did quick bench test |
tnhnrl | 39:58375ca6b6ff | 116 | 1) In FIND_NEUTRAL, add bce().setPosition_mm(bceFloatPosition) to the one-shot actions after the unpause(). |
tnhnrl | 39:58375ca6b6ff | 117 | 2) NEUTRAL_FIRST_PITCH, changed batt position by half from 1.0 to 0.5. |
tnhnrl | 39:58375ca6b6ff | 118 | 3) NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE are using getSetPosition now |
tnhnrl | 39:58375ca6b6ff | 119 | 4) previousPosition_mm deleted (and print statements changed) |
tnhnrl | 39:58375ca6b6ff | 120 | 5) NEUTRAL_SLOWLY_RISE check is using bce().getSetPosition_mm() |
tnhnrl | 39:58375ca6b6ff | 121 | 6) Timers replaced with _neutral_timer variable |
tnhnrl | 39:58375ca6b6ff | 122 | 7) Default timeout is 8 minutes = 480 seconds |
tnhnrl | 39:58375ca6b6ff | 123 | - Redid the sub-state recording method to only update on state changes |
tnhnrl | 39:58375ca6b6ff | 124 | Modified 2017-11-29 revB by Troy |
tnhnrl | 39:58375ca6b6ff | 125 | - minor print fixes |
tnhnrl | 39:58375ca6b6ff | 126 | Modified 2017-11-29 revC by Troy |
tnhnrl | 39:58375ca6b6ff | 127 | - removed depthTolerance variable that was not being used. |
tnhnrl | 39:58375ca6b6ff | 128 | Modified 2017-11-30 revA by Troy/Dan |
tnhnrl | 39:58375ca6b6ff | 129 | - Modified state RISE to setCommand to -1.0 feet (force out of water) and go to next state (float level) when above 0.5 feet |
tnhnrl | 39:58375ca6b6ff | 130 | - Modified sub-state NEUTRAL_SINKING to only move 2.5 mm per cycle instead of 5 mm |
tnhnrl | 39:58375ca6b6ff | 131 | - Commented out home function (accidentally hit home and got stuck while at LASR) |
tnhnrl | 39:58375ca6b6ff | 132 | - Added max depth neutral and dive variables |
tnhnrl | 39:58375ca6b6ff | 133 | - Print max recorded depths and current neutral buoyancy positions |
tnhnrl | 39:58375ca6b6ff | 134 | Modified 2017-11-30 revB by Troy/Dan |
tnhnrl | 39:58375ca6b6ff | 135 | - Dive and Multi-Dive cycles now exit to FLOAT_BROADCAST state |
tnhnrl | 39:58375ca6b6ff | 136 | - FLOAT_LEVEL pitchTolerance variable increased from 1.0 degree to 5.0 degrees (PV was difficult to level in LASR pool) |
tnhnrl | 39:58375ca6b6ff | 137 | - Added the ability to record the states of the FSM and print to user using keyboard "Z" |
tnhnrl | 39:58375ca6b6ff | 138 | Modified 2017-12-01 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 139 | - Minor update to 2017-11-30 revB |
tnhnrl | 39:58375ca6b6ff | 140 | - Now printing current neutral battery and BCE setpoints and max depth in neutral and dive cycle with "C" (and current sensor data) |
tnhnrl | 39:58375ca6b6ff | 141 | - Pool-tested with successful dives. |
tnhnrl | 39:58375ca6b6ff | 142 | 1) Dive working correctly. (And max dive tracker shows that it is reaching the correct commanded depth.) |
tnhnrl | 39:58375ca6b6ff | 143 | 2) Float broadcast working correctly. (And we are now going directly from dive and rise to float broadcast.) |
tnhnrl | 39:58375ca6b6ff | 144 | 3) Neutral sequence has PV diving with -10 to -20 degrees of pitch, battery command seems to be slow or inactive. |
tnhnrl | 39:58375ca6b6ff | 145 | 3) Float broadcast working correctly. |
tnhnrl | 39:58375ca6b6ff | 146 | 4) FSM tracker and sub-FSM tracker working. |
tnhnrl | 39:58375ca6b6ff | 147 | 5) Antenna working until tail just under water (last depth recorded varies between 1.0 and 1.5 feet) |
tnhnrl | 39:58375ca6b6ff | 148 | Modified 2017-12-06 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 149 | - Added "_isTimeoutRunning = false;" to the FIND_NEUTRAL successful exit case ("else if (runNeutralStateMachine() == NEUTRAL_EXIT)" |
tnhnrl | 39:58375ca6b6ff | 150 | 1) This will reset the timeout when the PV has successfully found and saved the neutral BCE and battery positions |
tnhnrl | 39:58375ca6b6ff | 151 | - Successful dive and multi-dive sequences exit to FLOAT_BROADCAST state (fix was implemented in code that did not respond, reimplemented here) |
tnhnrl | 39:58375ca6b6ff | 152 | 1) Also made the change to the SequenceController (which loads a file that has multiple sequences) |
tnhnrl | 39:58375ca6b6ff | 153 | - FIND_NEUTRAL starts in NEUTRAL_SINKING with fix on sub-FSM to start with NEUTRAL_SINKING (verified via mbed on bench) |
tnhnrl | 39:58375ca6b6ff | 154 | Modified 2017-12-07 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 155 | - Using new neutral finding sequence, dive slowly, rise slowly, then check pitch (pitch is not active at all until final state) |
tnhnrl | 39:58375ca6b6ff | 156 | - Added additional print information (showing neutral parameters with "C") |
tnhnrl | 39:58375ca6b6ff | 157 | Modified 2017-12-07 revB by Troy |
tnhnrl | 39:58375ca6b6ff | 158 | - Momentum offsets reintroduced: |
tnhnrl | 39:58375ca6b6ff | 159 | 1) CASE DIVE uses "else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches" |
tnhnrl | 39:58375ca6b6ff | 160 | 2) CASE RISE uses "else if (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) { // including offset for low momentum approaches" |
tnhnrl | 39:58375ca6b6ff | 161 | - Momentum on rise command does not exit properly, removed |
tnhnrl | 39:58375ca6b6ff | 162 | Modified 2017-12-11 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 163 | - Added a logger function the main while loop |
tnhnrl | 39:58375ca6b6ff | 164 | - Added vectors (essentially resizable arrays) to hold the data in the State Machine because of memory limitations |
tnhnrl | 39:58375ca6b6ff | 165 | Modified 2017-12-12 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 166 | - Logger directly implemented in StateMachine (records every 5 seconds) |
tnhnrl | 39:58375ca6b6ff | 167 | Modified 2017-12-12 revB by Troy |
tnhnrl | 39:58375ca6b6ff | 168 | - Logger fixes implemented in StateMachine, was not logging each state, fixed the reset |
tnhnrl | 39:58375ca6b6ff | 169 | - Made logger into a function call |
tnhnrl | 39:58375ca6b6ff | 170 | Modified 2017-12-13 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 171 | - Added function to print log file to screen (tested on bench with multiple dives and timers) |
tnhnrl | 39:58375ca6b6ff | 172 | Modified 2017-12-18 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 173 | - Redo of the code to stop opening and closing files each time |
tnhnrl | 39:58375ca6b6ff | 174 | - This should allow you to write to the open file, then close it once you exit the sequence back to SIT_IDLE |
tnhnrl | 39:58375ca6b6ff | 175 | - Start record in dive, end when you exit float broadcast... |
tnhnrl | 74:d281aaef9766 | 176 | Modified 2018-07-23 |
tnhnrl | 74:d281aaef9766 | 177 | - Tested out multiple data transmission methods, most consistent was requesting data one packet at a time |
tnhnrl | 74:d281aaef9766 | 178 | - Added more descriptive data to terminal output |
tnhnrl | 74:d281aaef9766 | 179 | Modified 2018-08-02 |
tnhnrl | 74:d281aaef9766 | 180 | - Timing issue where servo jumps from 1710 to 1940, not clear why this deadband exist, need to do the math on this |
tnhnrl | 24:c7d9b5bf3829 | 181 | */ |