Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

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@82:0981b9ada820, 2019-02-15 (annotated)

Committer:
joel_ssc
Date:
Fri Feb 15 16:00:17 2019 +0000
Revision:
82:0981b9ada820
Parent:
80:4e5d306d695b
Child:
84:eccd8e837134
intermediate stage of file leg system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 16:3363b9f14913 1 #include "StateMachine.hpp"
tnhnrl 16:3363b9f14913 2 #include "StaticDefs.hpp"
tnhnrl 20:8987a9ae2bc7 3
tnhnrl 16:3363b9f14913 4 StateMachine::StateMachine() {
tnhnrl 52:f207567d3ea4 5 _timeout = 20; // generic timeout for every state, seconds
joel_ssc 82:0981b9ada820 6 _yo_time = 1.0e7; // timeout for a dive or rise yo, not set for other ops
tnhnrl 20:8987a9ae2bc7 7
tnhnrl 28:16c83a2fdefa 8 _pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state
tnhnrl 20:8987a9ae2bc7 9
tnhnrl 28:16c83a2fdefa 10 _bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
tnhnrl 28:16c83a2fdefa 11 _battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
tnhnrl 20:8987a9ae2bc7 12
tnhnrl 32:f2f8ae34aadc 13 _depth_command = 2.0; // user keyboard depth (default)
tnhnrl 32:f2f8ae34aadc 14 _pitch_command = -20.0; // user keyboard pitch (default)
tnhnrl 58:94b7fd55185e 15 _heading_command = 0.0;
tnhnrl 17:7c16b5671d0e 16
tnhnrl 57:ec69651c8c21 17 //new commands
tnhnrl 58:94b7fd55185e 18 _BCE_dive_offset = 0.0; //starting at the limits
tnhnrl 58:94b7fd55185e 19 _BMM_dive_offset = 0.0;
tnhnrl 57:ec69651c8c21 20 //new commands
tnhnrl 57:ec69651c8c21 21
tnhnrl 28:16c83a2fdefa 22 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
tnhnrl 73:f6f378311c8d 23 //////////////////////////////
tnhnrl 28:16c83a2fdefa 24 _state = SIT_IDLE; // select starting state here
tnhnrl 28:16c83a2fdefa 25 _isTimeoutRunning = false; // default timer to not running
tnhnrl 28:16c83a2fdefa 26 _isSubStateTimerRunning = false; // default timer to not running
tnhnrl 73:f6f378311c8d 27 /////////////////////////////
tnhnrl 24:c7d9b5bf3829 28 _multi_dive_counter = 0;
joel_ssc 82:0981b9ada820 29 _multi_leg_counter = 0;
tnhnrl 21:38c8544db6f4 30 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 31 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 32 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 21:38c8544db6f4 33
tnhnrl 21:38c8544db6f4 34 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 35 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 36 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 21:38c8544db6f4 37
tnhnrl 21:38c8544db6f4 38 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 39 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 23:434f04ef1fad 40
tnhnrl 28:16c83a2fdefa 41 _state_array_counter = 1; //used to iterate through and record states
tnhnrl 28:16c83a2fdefa 42 _substate_array_counter = 0; //used to iterate through and record substates
tnhnrl 28:16c83a2fdefa 43
tnhnrl 28:16c83a2fdefa 44 _state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this
tnhnrl 24:c7d9b5bf3829 45
tnhnrl 30:2964617e7676 46 _substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING
tnhnrl 28:16c83a2fdefa 47 _previous_substate = -1; //to start sub-FSM
tnhnrl 28:16c83a2fdefa 48 _previous_state = -1; //for tracking FSM states
tnhnrl 28:16c83a2fdefa 49
tnhnrl 28:16c83a2fdefa 50 _max_recorded_depth_neutral = -99; //float to record max depth
tnhnrl 28:16c83a2fdefa 51 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 32:f2f8ae34aadc 52
tnhnrl 32:f2f8ae34aadc 53 _max_recorded_auto_neutral_depth = -99;
tnhnrl 32:f2f8ae34aadc 54
tnhnrl 73:f6f378311c8d 55 _debug_menu_on = false; //toggle between debug and simple menu screens
tnhnrl 57:ec69651c8c21 56
tnhnrl 73:f6f378311c8d 57 //new file stuff
tnhnrl 73:f6f378311c8d 58 _pitch_filter_freq = pitchLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 59 _pitch_deadband = pitchLoop().getDeadband();
tnhnrl 73:f6f378311c8d 60
tnhnrl 73:f6f378311c8d 61 _depth_filter_freq = depthLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 62 _depth_deadband = depthLoop().getDeadband();
tnhnrl 16:3363b9f14913 63 }
tnhnrl 20:8987a9ae2bc7 64
tnhnrl 17:7c16b5671d0e 65 //Finite State Machine (FSM)
joel_ssc 82:0981b9ada820 66 int StateMachine::runStateMachine() { // ends about line 956
tnhnrl 16:3363b9f14913 67 // finite state machine ... each state has at least one exit criteria
joel_ssc 82:0981b9ada820 68 static int lpd_oneshots=0;
joel_ssc 82:0981b9ada820 69 static int lpr_oneshots=0;
joel_ssc 82:0981b9ada820 70 static int finish_leg=0; // allow a rise to complete ( if it takes less than a yo_time, then exit to FB)
joel_ssc 82:0981b9ada820 71 static float leg_max_depth = 0;
joel_ssc 82:0981b9ada820 72 static float leg_min_depth =0;
joel_ssc 82:0981b9ada820 73 static float leg_heading = 90; //go east!
joel_ssc 82:0981b9ada820 74 char buf[256];
tnhnrl 17:7c16b5671d0e 75 switch (_state) {
tnhnrl 16:3363b9f14913 76 case SIT_IDLE :
joel_ssc 82:0981b9ada820 77 case FB_EXIT :
tnhnrl 73:f6f378311c8d 78 case KEYBOARD :
tnhnrl 16:3363b9f14913 79 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 28:16c83a2fdefa 80 if (!_isTimeoutRunning) {
tnhnrl 73:f6f378311c8d 81 //tare pressure sensor
tnhnrl 73:f6f378311c8d 82 depth().tare(); // tares to ambient (do on surface)
tnhnrl 57:ec69651c8c21 83
tnhnrl 57:ec69651c8c21 84 if (_debug_menu_on)
tnhnrl 69:919ac8d7e023 85 printDebugMenu();
tnhnrl 57:ec69651c8c21 86 else
tnhnrl 69:919ac8d7e023 87 printSimpleMenu();
tnhnrl 74:d281aaef9766 88 xbee().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 28:16c83a2fdefa 89 _isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 90
tnhnrl 16:3363b9f14913 91 // what is active?
tnhnrl 16:3363b9f14913 92 bce().pause();
tnhnrl 16:3363b9f14913 93 batt().pause();
tnhnrl 32:f2f8ae34aadc 94
tnhnrl 17:7c16b5671d0e 95 //reset sub FSM
tnhnrl 28:16c83a2fdefa 96 _isSubStateTimerRunning = false;
tnhnrl 16:3363b9f14913 97 }
tnhnrl 20:8987a9ae2bc7 98
tnhnrl 16:3363b9f14913 99 // how exit?
tnhnrl 20:8987a9ae2bc7 100 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 101 break;
tnhnrl 49:47ffa4feb6db 102
tnhnrl 49:47ffa4feb6db 103 case CHECK_TUNING : // state used to check the tuning of the pressure vessel
tnhnrl 49:47ffa4feb6db 104 // start local state timer and init any other one-shot actions
tnhnrl 49:47ffa4feb6db 105 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 106 xbee().printf("\r\n\nstate: CHECK_TUNING\r\n");
tnhnrl 73:f6f378311c8d 107 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 108 _fsm_timer.start(); // background timer starts running
tnhnrl 49:47ffa4feb6db 109 _isTimeoutRunning = true;
tnhnrl 49:47ffa4feb6db 110
tnhnrl 49:47ffa4feb6db 111 // what needs to be started?
tnhnrl 49:47ffa4feb6db 112 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 113 batt().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 114
tnhnrl 49:47ffa4feb6db 115 // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
tnhnrl 49:47ffa4feb6db 116 bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 117 batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 118
tnhnrl 49:47ffa4feb6db 119 // getSetPosition_mm is the commanded position in the LinearActuator class
tnhnrl 49:47ffa4feb6db 120
tnhnrl 74:d281aaef9766 121 xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 74:d281aaef9766 122 xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 123 }
tnhnrl 49:47ffa4feb6db 124
tnhnrl 49:47ffa4feb6db 125 // how exit?
tnhnrl 73:f6f378311c8d 126 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 127 xbee().printf("CHECK_TUNING: timed out!\r\n");
tnhnrl 49:47ffa4feb6db 128 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 129 _fsm_timer.reset();
tnhnrl 49:47ffa4feb6db 130 _isTimeoutRunning = false;
tnhnrl 49:47ffa4feb6db 131 }
tnhnrl 49:47ffa4feb6db 132
tnhnrl 67:c86a4b464682 133 //WHAT IS ACTIVE?
tnhnrl 67:c86a4b464682 134 // the inner loop position controls are maintaining the positions of the linear actuators
tnhnrl 67:c86a4b464682 135
tnhnrl 49:47ffa4feb6db 136 //print status to screen continuously
tnhnrl 74:d281aaef9766 137 xbee().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f ft,pitch: %0.1f deg,heading: %0.1f) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 49:47ffa4feb6db 138
tnhnrl 49:47ffa4feb6db 139 break;
tnhnrl 20:8987a9ae2bc7 140
tnhnrl 16:3363b9f14913 141 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 142 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 143 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 144 xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 73:f6f378311c8d 145 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 146 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 147 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 148
tnhnrl 16:3363b9f14913 149 // what needs to be started?
tnhnrl 16:3363b9f14913 150 bce().unpause();
tnhnrl 16:3363b9f14913 151 batt().unpause();
tnhnrl 20:8987a9ae2bc7 152
tnhnrl 20:8987a9ae2bc7 153 // what are the commands?
tnhnrl 16:3363b9f14913 154 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 73:f6f378311c8d 155 batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
tnhnrl 16:3363b9f14913 156 }
tnhnrl 20:8987a9ae2bc7 157
tnhnrl 16:3363b9f14913 158 // how exit?
joel_ssc 82:0981b9ada820 159 if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) {
tnhnrl 74:d281aaef9766 160 xbee().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 161 _state = FLOAT_BROADCAST;
joel_ssc 82:0981b9ada820 162 _fsm_timer.reset(); _yotimer.reset();
tnhnrl 28:16c83a2fdefa 163 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 164 }
tnhnrl 26:7e118fc02eea 165 else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 21:38c8544db6f4 166 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 167 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 168 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 169 }
tnhnrl 32:f2f8ae34aadc 170
tnhnrl 67:c86a4b464682 171 //WHAT IS ACTIVE?
tnhnrl 34:9b66c5188051 172 //print status to screen continuously
tnhnrl 74:d281aaef9766 173 xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
tnhnrl 32:f2f8ae34aadc 174
tnhnrl 16:3363b9f14913 175 break;
tnhnrl 20:8987a9ae2bc7 176
tnhnrl 16:3363b9f14913 177 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 178 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 179 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 180 xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
tnhnrl 73:f6f378311c8d 181 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 182 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 183 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 184
tnhnrl 16:3363b9f14913 185 // what needs to be started?
tnhnrl 16:3363b9f14913 186 bce().unpause();
tnhnrl 16:3363b9f14913 187 batt().unpause();
tnhnrl 74:d281aaef9766 188
tnhnrl 74:d281aaef9766 189 //start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much
tnhnrl 74:d281aaef9766 190 float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0;
tnhnrl 74:d281aaef9766 191 //float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0;
tnhnrl 74:d281aaef9766 192
tnhnrl 74:d281aaef9766 193 bce().setPosition_mm(bce_find_neutral_mm);
tnhnrl 74:d281aaef9766 194 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position
tnhnrl 17:7c16b5671d0e 195
tnhnrl 24:c7d9b5bf3829 196 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 24:c7d9b5bf3829 197 //set the first state of the FSM, and start the sub-FSM
tnhnrl 30:2964617e7676 198 _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
tnhnrl 28:16c83a2fdefa 199 _previous_substate = -1;
tnhnrl 28:16c83a2fdefa 200
tnhnrl 28:16c83a2fdefa 201 //save this state to the array
tnhnrl 30:2964617e7676 202 _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
tnhnrl 28:16c83a2fdefa 203 _substate_array_counter++;
tnhnrl 28:16c83a2fdefa 204
tnhnrl 32:f2f8ae34aadc 205 runNeutralStateMachine();
tnhnrl 16:3363b9f14913 206 }
tnhnrl 20:8987a9ae2bc7 207
tnhnrl 20:8987a9ae2bc7 208 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 73:f6f378311c8d 209 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 210 xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
tnhnrl 21:38c8544db6f4 211 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 73:f6f378311c8d 212 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 213 _isTimeoutRunning = false;
tnhnrl 24:c7d9b5bf3829 214
tnhnrl 24:c7d9b5bf3829 215 //record this to the NEUTRAL sub-FSM tracker
tnhnrl 28:16c83a2fdefa 216 _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
tnhnrl 28:16c83a2fdefa 217 _substate_array_counter++;
tnhnrl 16:3363b9f14913 218 }
tnhnrl 21:38c8544db6f4 219
tnhnrl 24:c7d9b5bf3829 220 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 24:c7d9b5bf3829 221 //check if substate returned exit state, if so stop running the sub-FSM
tnhnrl 26:7e118fc02eea 222 else if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 223 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 74:d281aaef9766 224 xbee().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
tnhnrl 21:38c8544db6f4 225 _state = RISE;
tnhnrl 30:2964617e7676 226 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 227 }
tnhnrl 32:f2f8ae34aadc 228
tnhnrl 17:7c16b5671d0e 229 break;
tnhnrl 17:7c16b5671d0e 230
tnhnrl 16:3363b9f14913 231 case DIVE :
tnhnrl 16:3363b9f14913 232 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 233
tnhnrl 28:16c83a2fdefa 234 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 235 xbee().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 73:f6f378311c8d 236 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 237 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 238 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 239
tnhnrl 16:3363b9f14913 240 // what needs to be started?
tnhnrl 16:3363b9f14913 241 bce().unpause();
tnhnrl 16:3363b9f14913 242 batt().unpause();
tnhnrl 20:8987a9ae2bc7 243
tnhnrl 16:3363b9f14913 244 // what are the commands?
tnhnrl 32:f2f8ae34aadc 245 depthLoop().setCommand(_depth_command);
tnhnrl 32:f2f8ae34aadc 246 pitchLoop().setCommand(_pitch_command);
tnhnrl 32:f2f8ae34aadc 247
tnhnrl 74:d281aaef9766 248 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 249
tnhnrl 74:d281aaef9766 250 xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 74:d281aaef9766 251 xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 74:d281aaef9766 252 xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 28:16c83a2fdefa 253
tnhnrl 28:16c83a2fdefa 254 //reset max dive depth
tnhnrl 28:16c83a2fdefa 255 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 16:3363b9f14913 256 }
tnhnrl 20:8987a9ae2bc7 257
tnhnrl 16:3363b9f14913 258 // how exit?
tnhnrl 73:f6f378311c8d 259 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 260 xbee().printf("DIVE: timed out\r\n\n");
tnhnrl 21:38c8544db6f4 261 _state = RISE; //new behavior 11/17/2017
tnhnrl 73:f6f378311c8d 262 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 263 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 264 }
tnhnrl 32:f2f8ae34aadc 265 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 74:d281aaef9766 266 xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 267 _state = RISE;
tnhnrl 73:f6f378311c8d 268 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 269 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 270 }
tnhnrl 20:8987a9ae2bc7 271
tnhnrl 67:c86a4b464682 272 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 273 xbee().printf("DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 32:f2f8ae34aadc 274 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 16:3363b9f14913 275 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 28:16c83a2fdefa 276
tnhnrl 74:d281aaef9766 277 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 278 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 74:d281aaef9766 279
tnhnrl 28:16c83a2fdefa 280 if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
tnhnrl 28:16c83a2fdefa 281 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 282 }
tnhnrl 32:f2f8ae34aadc 283
tnhnrl 16:3363b9f14913 284 break;
tnhnrl 16:3363b9f14913 285
tnhnrl 16:3363b9f14913 286 case RISE :
tnhnrl 16:3363b9f14913 287 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 288
tnhnrl 28:16c83a2fdefa 289 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 290 xbee().printf("\r\n\nstate: RISE\r\n");
tnhnrl 73:f6f378311c8d 291 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 292 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 293 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 294
tnhnrl 16:3363b9f14913 295 // what needs to be started?
tnhnrl 16:3363b9f14913 296 bce().unpause();
tnhnrl 16:3363b9f14913 297 batt().unpause();
tnhnrl 16:3363b9f14913 298
tnhnrl 16:3363b9f14913 299 // what are the commands?
tnhnrl 28:16c83a2fdefa 300 depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
tnhnrl 32:f2f8ae34aadc 301 pitchLoop().setCommand(-_pitch_command);
tnhnrl 74:d281aaef9766 302
tnhnrl 74:d281aaef9766 303 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 304
tnhnrl 74:d281aaef9766 305 xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 74:d281aaef9766 306 xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 74:d281aaef9766 307 xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 16:3363b9f14913 308 }
tnhnrl 20:8987a9ae2bc7 309
tnhnrl 16:3363b9f14913 310 // how exit?
tnhnrl 73:f6f378311c8d 311 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 312 xbee().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 313 _state = EMERGENCY_CLIMB;
tnhnrl 73:f6f378311c8d 314 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 315 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 316 }
tnhnrl 32:f2f8ae34aadc 317
tnhnrl 32:f2f8ae34aadc 318 //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
tnhnrl 32:f2f8ae34aadc 319 //did not work correctly in bench test (stuck in rise state)
tnhnrl 32:f2f8ae34aadc 320 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 74:d281aaef9766 321 xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 28:16c83a2fdefa 322 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 323 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 324 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 325 }
tnhnrl 20:8987a9ae2bc7 326
tnhnrl 67:c86a4b464682 327 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 328 xbee().printf("RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 329 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 32:f2f8ae34aadc 330 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 74:d281aaef9766 331
tnhnrl 74:d281aaef9766 332 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 333 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 334
tnhnrl 58:94b7fd55185e 335 break;
tnhnrl 58:94b7fd55185e 336
tnhnrl 58:94b7fd55185e 337 // NEW DIVE AND RISE SEQUENCES
tnhnrl 58:94b7fd55185e 338 case POSITION_DIVE :
tnhnrl 58:94b7fd55185e 339 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 340 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 341 xbee().printf("\r\n\nstate: POSITION DIVE\r\n");
tnhnrl 73:f6f378311c8d 342 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 343 _fsm_timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 344 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 345
tnhnrl 58:94b7fd55185e 346 // what needs to be started?
tnhnrl 58:94b7fd55185e 347 bce().unpause();
tnhnrl 58:94b7fd55185e 348 batt().unpause();
tnhnrl 58:94b7fd55185e 349 rudder().unpause();
tnhnrl 58:94b7fd55185e 350
tnhnrl 58:94b7fd55185e 351 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 352 // These actions happen ONCE in the POSITION_DIVE sequence
tnhnrl 74:d281aaef9766 353 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
tnhnrl 74:d281aaef9766 354 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
tnhnrl 58:94b7fd55185e 355
tnhnrl 74:d281aaef9766 356 //DEPTH COMMAND
tnhnrl 74:d281aaef9766 357 depthLoop().setCommand(_depth_command);
tnhnrl 74:d281aaef9766 358
tnhnrl 58:94b7fd55185e 359 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 360
tnhnrl 74:d281aaef9766 361 xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 362 xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 363 xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 364
tnhnrl 58:94b7fd55185e 365 //reset max dive depth
tnhnrl 58:94b7fd55185e 366 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 58:94b7fd55185e 367 }
tnhnrl 58:94b7fd55185e 368
tnhnrl 58:94b7fd55185e 369 // how exit?
tnhnrl 58:94b7fd55185e 370 // timer runs out goes to POSITION_RISE
tnhnrl 73:f6f378311c8d 371 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 372 xbee().printf("POS DIVE timed out\r\n\n");
tnhnrl 58:94b7fd55185e 373 _state = POSITION_RISE; //new behavior 11/17/2017
tnhnrl 73:f6f378311c8d 374 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 375 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 376 }
tnhnrl 58:94b7fd55185e 377
tnhnrl 58:94b7fd55185e 378 // when you reach the dive threshold, surface
tnhnrl 58:94b7fd55185e 379 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 74:d281aaef9766 380 xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 381 _state = POSITION_RISE;
tnhnrl 73:f6f378311c8d 382 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 383 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 384 }
tnhnrl 58:94b7fd55185e 385
tnhnrl 58:94b7fd55185e 386 // what is active?
tnhnrl 74:d281aaef9766 387 xbee().printf("POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 58:94b7fd55185e 388
tnhnrl 58:94b7fd55185e 389 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
tnhnrl 58:94b7fd55185e 390 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
tnhnrl 58:94b7fd55185e 391 }
tnhnrl 58:94b7fd55185e 392
tnhnrl 58:94b7fd55185e 393 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 394 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 395
tnhnrl 58:94b7fd55185e 396 break;
joel_ssc 82:0981b9ada820 397
joel_ssc 82:0981b9ada820 398 case LEG_POSITION_DIVE :
joel_ssc 82:0981b9ada820 399 // start local state timer and init any other one-shot actions
joel_ssc 82:0981b9ada820 400 if (!_isTimeoutRunning) {
joel_ssc 82:0981b9ada820 401 xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n");
joel_ssc 82:0981b9ada820 402 sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r");
joel_ssc 82:0981b9ada820 403 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 404 _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
joel_ssc 82:0981b9ada820 405 _fsm_timer.start(); // background timer starts running
joel_ssc 82:0981b9ada820 406 _isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 407 _yotimer.reset();
joel_ssc 82:0981b9ada820 408 _yotimer.start(); //sets the yo_timer running on the dive
joel_ssc 82:0981b9ada820 409
joel_ssc 82:0981b9ada820 410 // what needs to be started?
joel_ssc 82:0981b9ada820 411 bce().unpause();
joel_ssc 82:0981b9ada820 412 batt().unpause();
joel_ssc 82:0981b9ada820 413 rudder().unpause();
joel_ssc 82:0981b9ada820 414
joel_ssc 82:0981b9ada820 415 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 416 // These actions happen ONCE in the POSITION_DIVE sequence
joel_ssc 82:0981b9ada820 417 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
joel_ssc 82:0981b9ada820 418 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
joel_ssc 82:0981b9ada820 419 //retrieve commands from structs (loaded from legfile.txt file)
joel_ssc 82:0981b9ada820 420 stateMachine().getLegParams();
joel_ssc 82:0981b9ada820 421
joel_ssc 82:0981b9ada820 422 leg_max_depth = currentLegStateStruct.max_depth;
joel_ssc 82:0981b9ada820 423 leg_heading = currentLegStateStruct.heading;
joel_ssc 82:0981b9ada820 424
joel_ssc 82:0981b9ada820 425
joel_ssc 82:0981b9ada820 426 //DEPTH COMMAND
joel_ssc 82:0981b9ada820 427 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 428 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 429
joel_ssc 82:0981b9ada820 430 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 431 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 432
joel_ssc 82:0981b9ada820 433 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 434 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 435 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 436
joel_ssc 82:0981b9ada820 437 //reset max dive depth
joel_ssc 82:0981b9ada820 438 _max_recorded_depth_dive = -99; //float to record max depth
joel_ssc 82:0981b9ada820 439 lpd_oneshots = 1;
joel_ssc 82:0981b9ada820 440 }
joel_ssc 82:0981b9ada820 441
joel_ssc 82:0981b9ada820 442 if (!lpd_oneshots) {
joel_ssc 82:0981b9ada820 443 xbee().printf("\r\n\nstate: LEG POSITION DIVE oneshots\r\n");
joel_ssc 82:0981b9ada820 444 // _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
joel_ssc 82:0981b9ada820 445 // sm_timer.start(); // background timer starts running
joel_ssc 82:0981b9ada820 446 _yotimer.reset(); //sets the yo_timer running on the NEW dive
joel_ssc 82:0981b9ada820 447 _yotimer.start();
joel_ssc 82:0981b9ada820 448 //_isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 449
joel_ssc 82:0981b9ada820 450 // what needs to be started?
joel_ssc 82:0981b9ada820 451 bce().unpause();
joel_ssc 82:0981b9ada820 452 batt().unpause();
joel_ssc 82:0981b9ada820 453 rudder().unpause();
joel_ssc 82:0981b9ada820 454
joel_ssc 82:0981b9ada820 455 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 456 // These actions happen ONCE in the POSITION_DIVE sequence
joel_ssc 82:0981b9ada820 457 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
joel_ssc 82:0981b9ada820 458 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
joel_ssc 82:0981b9ada820 459 //retrieve commands from structs (loaded from missionleg.cfg file)
joel_ssc 82:0981b9ada820 460 leg_max_depth = currentLegStateStruct.max_depth;
joel_ssc 82:0981b9ada820 461 leg_heading = currentLegStateStruct.heading;
joel_ssc 82:0981b9ada820 462
joel_ssc 82:0981b9ada820 463
joel_ssc 82:0981b9ada820 464 //DEPTH COMMAND
joel_ssc 82:0981b9ada820 465 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 466 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 467
joel_ssc 82:0981b9ada820 468 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 469 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 470
joel_ssc 82:0981b9ada820 471 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 472 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 473 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 474
joel_ssc 82:0981b9ada820 475 lpd_oneshots = 1;
joel_ssc 82:0981b9ada820 476 //reset max dive depth
joel_ssc 82:0981b9ada820 477 //_max_recorded_depth_dive = -99; //float to record max depth
joel_ssc 82:0981b9ada820 478 } // lpd_oneshots if timer is already running
joel_ssc 82:0981b9ada820 479
joel_ssc 82:0981b9ada820 480 // how exit?
joel_ssc 82:0981b9ada820 481 // timer runs out goes to LEG_POSITION_RISE but finish_leg flag is turned on.
joel_ssc 82:0981b9ada820 482 if (_fsm_timer.read() > _timeout) {
joel_ssc 82:0981b9ada820 483 xbee().printf("LEG POSITION DIVE timed out for overall leg time\r\n\n");
joel_ssc 82:0981b9ada820 484 _state = LEG_POSITION_RISE; // now start a timer on yo_timer for rise
joel_ssc 82:0981b9ada820 485 finish_leg =1;
joel_ssc 82:0981b9ada820 486 lpr_oneshots=0;
joel_ssc 82:0981b9ada820 487 // _fsm_timer.reset();
joel_ssc 82:0981b9ada820 488 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 489 }
joel_ssc 82:0981b9ada820 490
joel_ssc 82:0981b9ada820 491 // when you reach the dive threshold, surface
joel_ssc 82:0981b9ada820 492 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
joel_ssc 82:0981b9ada820 493 xbee().printf("LEG POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 494 _state = LEG_POSITION_RISE;
joel_ssc 82:0981b9ada820 495 lpr_oneshots = 0;
joel_ssc 82:0981b9ada820 496 // _fsm_timer.reset(); // reset time if still inside legg long timeout?
joel_ssc 82:0981b9ada820 497 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 498 } else if(_yotimer.read() > _yo_time ) {
joel_ssc 82:0981b9ada820 499 xbee().printf("LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 500 sprintf(buf, "LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE\n\n\r");
joel_ssc 82:0981b9ada820 501 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 502 _state = LEG_POSITION_RISE;
joel_ssc 82:0981b9ada820 503 //_yotimer.reset();
joel_ssc 82:0981b9ada820 504 //_yotimer.start(); // restart the yo timer for next yo in rise mode -- test if depth is small fraction of max_depth and exit to EC if small enough??
joel_ssc 82:0981b9ada820 505 lpr_oneshots=0;
joel_ssc 82:0981b9ada820 506 if (depthLoop().getPosition() < 0.7* depthLoop().getCommand()) { //too slow - exit
joel_ssc 82:0981b9ada820 507 _state = EMERGENCY_CLIMB;
joel_ssc 82:0981b9ada820 508 finish_leg = 1;
joel_ssc 82:0981b9ada820 509 xbee().printf("LEG POS DIVE:descent too slow (<0.7*maxdepth) - go to EMERGENCY_CLIMB actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 510 sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb\n\n\r");
joel_ssc 82:0981b9ada820 511 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 512 _fsm_timer.reset();
joel_ssc 82:0981b9ada820 513 _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 514 }
joel_ssc 82:0981b9ada820 515 }
joel_ssc 82:0981b9ada820 516
joel_ssc 82:0981b9ada820 517 // what is active?
joel_ssc 82:0981b9ada820 518 xbee().printf("LEG POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 519 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
joel_ssc 82:0981b9ada820 520 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
joel_ssc 82:0981b9ada820 521
joel_ssc 82:0981b9ada820 522 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
joel_ssc 82:0981b9ada820 523 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
joel_ssc 82:0981b9ada820 524 }
joel_ssc 82:0981b9ada820 525
joel_ssc 82:0981b9ada820 526 // ACTIVE RUDDER CONTROL
joel_ssc 82:0981b9ada820 527 rudder().setPosition_deg(headingLoop().getOutput());
joel_ssc 82:0981b9ada820 528
joel_ssc 82:0981b9ada820 529 break; // end LEG POSITION DIVE
tnhnrl 58:94b7fd55185e 530
tnhnrl 58:94b7fd55185e 531 case POSITION_RISE :
tnhnrl 58:94b7fd55185e 532 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 533
tnhnrl 58:94b7fd55185e 534 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 535 xbee().printf("\r\n\nstate: POSITION RISE\r\n");
tnhnrl 73:f6f378311c8d 536 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 537 _fsm_timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 538 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 539
tnhnrl 58:94b7fd55185e 540 // what needs to be started?
tnhnrl 58:94b7fd55185e 541 bce().unpause();
tnhnrl 58:94b7fd55185e 542 batt().unpause();
tnhnrl 58:94b7fd55185e 543
tnhnrl 74:d281aaef9766 544 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 74:d281aaef9766 545 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 546 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 547
tnhnrl 58:94b7fd55185e 548 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 549
tnhnrl 74:d281aaef9766 550 xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 551 xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 552 xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 553 }
tnhnrl 58:94b7fd55185e 554
tnhnrl 58:94b7fd55185e 555 // how exit?
tnhnrl 73:f6f378311c8d 556 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 557 xbee().printf("POS RISE: timed out\r\n");
tnhnrl 58:94b7fd55185e 558 _state = EMERGENCY_CLIMB;
tnhnrl 73:f6f378311c8d 559 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 560 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 561 }
tnhnrl 58:94b7fd55185e 562 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 74:d281aaef9766 563 xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 564 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 565 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 566 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 567 }
tnhnrl 58:94b7fd55185e 568
tnhnrl 58:94b7fd55185e 569 // what is active?
joel_ssc 82:0981b9ada820 570 xbee().printf("POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 571 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
joel_ssc 82:0981b9ada820 572 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 58:94b7fd55185e 573
tnhnrl 58:94b7fd55185e 574 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 575 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 576
joel_ssc 82:0981b9ada820 577 break; //end of POS RISE
joel_ssc 82:0981b9ada820 578
joel_ssc 82:0981b9ada820 579 case LEG_POSITION_RISE :
joel_ssc 82:0981b9ada820 580 // start local state timer and init any other one-shot actions
joel_ssc 82:0981b9ada820 581 leg_min_depth = currentLegStateStruct.min_depth;
joel_ssc 82:0981b9ada820 582 leg_heading = currentLegStateStruct.heading;
joel_ssc 82:0981b9ada820 583
joel_ssc 82:0981b9ada820 584 if (!_isTimeoutRunning) { // this should never occur. the only entry into this case is from LEG_POSITION_DIVE exit
joel_ssc 82:0981b9ada820 585 xbee().printf("\r\n\nstate: LEG POSITION RISE\r\n");
joel_ssc 82:0981b9ada820 586 sprintf(buf, "state: LEG POSITION RISE entered with timeout NOT running should not happen\n\n\r");
joel_ssc 82:0981b9ada820 587 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 588 //_fsm_timer.reset(); // timer goes back to zero --no
joel_ssc 82:0981b9ada820 589 _fsm_timer.start(); // background timer starts running
joel_ssc 82:0981b9ada820 590 _isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 591 _yotimer.reset(); //reset yo_timer;
joel_ssc 82:0981b9ada820 592 _yotimer.start(); //and start it
joel_ssc 82:0981b9ada820 593
joel_ssc 82:0981b9ada820 594 // what needs to be started?
joel_ssc 82:0981b9ada820 595 bce().unpause();
joel_ssc 82:0981b9ada820 596 batt().unpause();
joel_ssc 82:0981b9ada820 597 stateMachine().getLegParams();
joel_ssc 82:0981b9ada820 598
joel_ssc 82:0981b9ada820 599 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 600 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 601 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 602 //retrieve commands from structs (loaded from missionleg.cfg file)
joel_ssc 82:0981b9ada820 603
joel_ssc 82:0981b9ada820 604 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 605
joel_ssc 82:0981b9ada820 606 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 607 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 608 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 609 lpr_oneshots = 1;
joel_ssc 82:0981b9ada820 610 }
joel_ssc 82:0981b9ada820 611 if (!lpr_oneshots) {
joel_ssc 82:0981b9ada820 612 xbee().printf("\r\n\nstate: LEG POSITION RISE entered via LEG_POSiTION_DIVE finish\r\n");
joel_ssc 82:0981b9ada820 613 sprintf(buf, "state: LEG POSITION RISE entered via LEG_POSTION_DIVE\n\n\r");
joel_ssc 82:0981b9ada820 614 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 615 //_fsm_timer.reset(); // timer goes back to zero --no
joel_ssc 82:0981b9ada820 616 _yotimer.reset(); //reset yo_timer;
joel_ssc 82:0981b9ada820 617 _yotimer.start(); //and start it
joel_ssc 82:0981b9ada820 618 //_fsm_timer.start(); timer is already running // background timer starts running
joel_ssc 82:0981b9ada820 619 // _isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 620
joel_ssc 82:0981b9ada820 621 // what needs to be started?
joel_ssc 82:0981b9ada820 622 bce().unpause();
joel_ssc 82:0981b9ada820 623 batt().unpause();
joel_ssc 82:0981b9ada820 624
joel_ssc 82:0981b9ada820 625 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 626 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 627 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 628 //retrieve commands from structs (loaded from missionleg.cfg file)
joel_ssc 82:0981b9ada820 629
joel_ssc 82:0981b9ada820 630 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 631
joel_ssc 82:0981b9ada820 632 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 633 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 634 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 635 lpr_oneshots = 1;
joel_ssc 82:0981b9ada820 636 }
joel_ssc 82:0981b9ada820 637
joel_ssc 82:0981b9ada820 638 // how exit?
joel_ssc 82:0981b9ada820 639 if (_fsm_timer.read() > _timeout) {
joel_ssc 82:0981b9ada820 640 xbee().printf("LEG POS RISE: timed out on overall timeout\r\n");
joel_ssc 82:0981b9ada820 641 _state = EMERGENCY_CLIMB;
joel_ssc 82:0981b9ada820 642 finish_leg = 1;
joel_ssc 82:0981b9ada820 643 _fsm_timer.reset();
joel_ssc 82:0981b9ada820 644 _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 645 }
joel_ssc 82:0981b9ada820 646 else if (depthLoop().getPosition() < leg_min_depth - 0.5) {
joel_ssc 82:0981b9ada820 647 xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 648 _state = LEG_POSITION_DIVE;
joel_ssc 82:0981b9ada820 649 //_fsm_timer.reset();
joel_ssc 82:0981b9ada820 650 //_isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 651 lpd_oneshots=0;
joel_ssc 82:0981b9ada820 652 }
joel_ssc 82:0981b9ada820 653 else if(_yotimer.read() > _yo_time ) {
joel_ssc 82:0981b9ada820 654 xbee().printf("LEG POS RISE: yo_time timed out - go to Emergency_CLIMB. Actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 655 _state = EMERGENCY_CLIMB;
joel_ssc 82:0981b9ada820 656 finish_leg = 1;
joel_ssc 82:0981b9ada820 657 _fsm_timer.reset();
joel_ssc 82:0981b9ada820 658 _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 659 }
joel_ssc 82:0981b9ada820 660
joel_ssc 82:0981b9ada820 661 // what is active?
joel_ssc 82:0981b9ada820 662 xbee().printf("LEG POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 663 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
joel_ssc 82:0981b9ada820 664 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
joel_ssc 82:0981b9ada820 665
joel_ssc 82:0981b9ada820 666 // ACTIVE RUDDER CONTROL
joel_ssc 82:0981b9ada820 667 rudder().setPosition_deg(headingLoop().getOutput());
joel_ssc 82:0981b9ada820 668
joel_ssc 82:0981b9ada820 669 break; // end LEG POS RISE
tnhnrl 58:94b7fd55185e 670 // NEW DIVE AND RISE SEQUENCES
tnhnrl 16:3363b9f14913 671
tnhnrl 16:3363b9f14913 672 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 673 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 674 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 675 xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 73:f6f378311c8d 676 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 677 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 678 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 679
tnhnrl 16:3363b9f14913 680 // what needs to be started?
tnhnrl 16:3363b9f14913 681 bce().unpause();
tnhnrl 16:3363b9f14913 682 batt().unpause();
tnhnrl 16:3363b9f14913 683
tnhnrl 20:8987a9ae2bc7 684 // what are the commands?
tnhnrl 28:16c83a2fdefa 685 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 16:3363b9f14913 686 pitchLoop().setCommand(0.0);
tnhnrl 16:3363b9f14913 687 }
tnhnrl 20:8987a9ae2bc7 688
tnhnrl 16:3363b9f14913 689 // how exit?
tnhnrl 73:f6f378311c8d 690 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 691 xbee().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 692 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 693 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 694 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 695 }
tnhnrl 28:16c83a2fdefa 696 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
tnhnrl 74:d281aaef9766 697 xbee().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
tnhnrl 21:38c8544db6f4 698 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 699 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 700 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 701 }
tnhnrl 20:8987a9ae2bc7 702
tnhnrl 16:3363b9f14913 703 // what is active?
tnhnrl 74:d281aaef9766 704 xbee().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(), _fsm_timer.read());
tnhnrl 16:3363b9f14913 705 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 706
tnhnrl 16:3363b9f14913 707 break;
tnhnrl 16:3363b9f14913 708
tnhnrl 16:3363b9f14913 709 case FLOAT_BROADCAST :
tnhnrl 16:3363b9f14913 710 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 711 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 712 xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
tnhnrl 73:f6f378311c8d 713 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 714 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 715 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 716
tnhnrl 16:3363b9f14913 717 // what needs to be started?
tnhnrl 16:3363b9f14913 718 bce().unpause();
tnhnrl 16:3363b9f14913 719 batt().unpause();
tnhnrl 20:8987a9ae2bc7 720
tnhnrl 16:3363b9f14913 721 // what are the commands?
tnhnrl 55:f4ec445c42fe 722 bce().setPosition_mm(_bceFloatPosition); // 320.0
tnhnrl 55:f4ec445c42fe 723 batt().setPosition_mm(_battFloatPosition); // 73.0
tnhnrl 74:d281aaef9766 724
tnhnrl 74:d281aaef9766 725 //set rudder to center
tnhnrl 74:d281aaef9766 726 rudder().setPosition_deg(0.0); //set rudder to center, zero degrees
tnhnrl 16:3363b9f14913 727 }
tnhnrl 20:8987a9ae2bc7 728
tnhnrl 16:3363b9f14913 729 // how exit?
joel_ssc 82:0981b9ada820 730
joel_ssc 82:0981b9ada820 731 if (_fsm_timer > _timeout ) {
tnhnrl 74:d281aaef9766 732 xbee().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 733 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 734 _fsm_timer.reset();
tnhnrl 32:f2f8ae34aadc 735
tnhnrl 32:f2f8ae34aadc 736 //stop recording data
tnhnrl 35:2f66ea4863d5 737 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 738
tnhnrl 28:16c83a2fdefa 739 _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 740 if(finish_leg == 1) { _state = FB_EXIT; } // allows exit if finish_leg set by leg_POS_dive, or LEG_POS_RISE timeout or too slow yo
tnhnrl 16:3363b9f14913 741 }
tnhnrl 74:d281aaef9766 742
tnhnrl 74:d281aaef9766 743 //fix on float_broadcast to account for BCE stopping early in current hardware
tnhnrl 74:d281aaef9766 744 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) and
tnhnrl 20:8987a9ae2bc7 745 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 74:d281aaef9766 746 xbee().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 21:38c8544db6f4 747 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 748 _fsm_timer.reset();
tnhnrl 32:f2f8ae34aadc 749
tnhnrl 32:f2f8ae34aadc 750 //stop recording data
tnhnrl 35:2f66ea4863d5 751 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 752
tnhnrl 28:16c83a2fdefa 753 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 754 }
tnhnrl 20:8987a9ae2bc7 755
tnhnrl 20:8987a9ae2bc7 756 // what is active?
joel_ssc 82:0981b9ada820 757 xbee().printf("FB: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 758 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
joel_ssc 82:0981b9ada820 759 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 32:f2f8ae34aadc 760
joel_ssc 82:0981b9ada820 761 if (finish_leg == 1) { _state = FB_EXIT;}
tnhnrl 16:3363b9f14913 762 break;
tnhnrl 17:7c16b5671d0e 763
tnhnrl 17:7c16b5671d0e 764 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 765 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 766 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 767 xbee().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 73:f6f378311c8d 768 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 769 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 770 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 771
tnhnrl 17:7c16b5671d0e 772 // what needs to be started?
tnhnrl 17:7c16b5671d0e 773 bce().unpause();
tnhnrl 17:7c16b5671d0e 774 batt().unpause();
tnhnrl 17:7c16b5671d0e 775
tnhnrl 21:38c8544db6f4 776 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 32:f2f8ae34aadc 777 float sequence_depth_command = currentStateStruct.depth;
tnhnrl 32:f2f8ae34aadc 778 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 779
tnhnrl 17:7c16b5671d0e 780 // what are the commands?
tnhnrl 32:f2f8ae34aadc 781 depthLoop().setCommand(sequence_depth_command);
tnhnrl 32:f2f8ae34aadc 782 pitchLoop().setCommand(sequence_pitch_command);
tnhnrl 74:d281aaef9766 783
tnhnrl 74:d281aaef9766 784
tnhnrl 74:d281aaef9766 785 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 786 xbee().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 787
tnhnrl 32:f2f8ae34aadc 788 //no max depth recording right now
tnhnrl 17:7c16b5671d0e 789 }
tnhnrl 20:8987a9ae2bc7 790
tnhnrl 17:7c16b5671d0e 791 // how exit?
tnhnrl 73:f6f378311c8d 792 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 793 xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
tnhnrl 21:38c8544db6f4 794 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 73:f6f378311c8d 795 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 796 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 797 }
tnhnrl 17:7c16b5671d0e 798 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 74:d281aaef9766 799 xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 800 _state = MULTI_RISE;
tnhnrl 73:f6f378311c8d 801 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 802 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 803 }
tnhnrl 20:8987a9ae2bc7 804
tnhnrl 67:c86a4b464682 805 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 806 xbee().printf("MD: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 807 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 808 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 809
tnhnrl 74:d281aaef9766 810 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 811 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 812
tnhnrl 17:7c16b5671d0e 813 break;
tnhnrl 17:7c16b5671d0e 814
tnhnrl 17:7c16b5671d0e 815 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 816 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 817 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 818 xbee().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 73:f6f378311c8d 819 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 820 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 821 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 822
tnhnrl 17:7c16b5671d0e 823 // what needs to be started?
tnhnrl 17:7c16b5671d0e 824 bce().unpause();
tnhnrl 17:7c16b5671d0e 825 batt().unpause();
tnhnrl 17:7c16b5671d0e 826
tnhnrl 17:7c16b5671d0e 827 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 828 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 829 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 830
tnhnrl 17:7c16b5671d0e 831 //retrieve just pitch command from struct
tnhnrl 32:f2f8ae34aadc 832 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 833
tnhnrl 17:7c16b5671d0e 834 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 835 depthLoop().setCommand(0.5);
tnhnrl 32:f2f8ae34aadc 836 pitchLoop().setCommand(-sequence_pitch_command);
tnhnrl 74:d281aaef9766 837
tnhnrl 74:d281aaef9766 838 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 839 xbee().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 840 }
tnhnrl 20:8987a9ae2bc7 841
tnhnrl 17:7c16b5671d0e 842 // how exit?
tnhnrl 73:f6f378311c8d 843 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 844 xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
tnhnrl 21:38c8544db6f4 845 _state = EMERGENCY_CLIMB;
tnhnrl 73:f6f378311c8d 846 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 847 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 848
tnhnrl 17:7c16b5671d0e 849 //reset multi-dive sequence to start
tnhnrl 24:c7d9b5bf3829 850 _multi_dive_counter = 0;
tnhnrl 63:6cb0405fc6e6 851
tnhnrl 68:8f549749b8ce 852 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 853 // sequenceController().loadSequence();
tnhnrl 17:7c16b5671d0e 854 }
tnhnrl 20:8987a9ae2bc7 855 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 74:d281aaef9766 856 xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 857
tnhnrl 17:7c16b5671d0e 858 //going to next state
tnhnrl 28:16c83a2fdefa 859 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 860
tnhnrl 17:7c16b5671d0e 861 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 24:c7d9b5bf3829 862 _multi_dive_counter++;
tnhnrl 17:7c16b5671d0e 863
tnhnrl 17:7c16b5671d0e 864 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 865 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 866
tnhnrl 17:7c16b5671d0e 867 //check if this is the end of the dive sequence
tnhnrl 30:2964617e7676 868 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
tnhnrl 30:2964617e7676 869 if (currentStateStruct.state == FLOAT_BROADCAST) {
tnhnrl 68:8f549749b8ce 870 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 871 // sequenceController().loadSequence();
tnhnrl 63:6cb0405fc6e6 872
tnhnrl 28:16c83a2fdefa 873 _state = FLOAT_BROADCAST;
tnhnrl 17:7c16b5671d0e 874 }
tnhnrl 17:7c16b5671d0e 875
tnhnrl 17:7c16b5671d0e 876 else
tnhnrl 63:6cb0405fc6e6 877 _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
tnhnrl 17:7c16b5671d0e 878
tnhnrl 24:c7d9b5bf3829 879 //have to stop this with the _multi_dive_counter variable!
tnhnrl 17:7c16b5671d0e 880 }
tnhnrl 20:8987a9ae2bc7 881
tnhnrl 67:c86a4b464682 882 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 883 xbee().printf("MR: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 884 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 885 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 886
tnhnrl 74:d281aaef9766 887 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 888 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 889
tnhnrl 17:7c16b5671d0e 890 break;
tnhnrl 32:f2f8ae34aadc 891
tnhnrl 71:939d179478c4 892 case TX_MBED_LOG:
tnhnrl 63:6cb0405fc6e6 893 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 894 xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n");
tnhnrl 73:f6f378311c8d 895 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 896 _fsm_timer.start(); // background timer starts running
tnhnrl 32:f2f8ae34aadc 897 _isTimeoutRunning = true;
tnhnrl 32:f2f8ae34aadc 898
tnhnrl 68:8f549749b8ce 899 //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
tnhnrl 68:8f549749b8ce 900
tnhnrl 74:d281aaef9766 901 xbee().printf("TX_MBED_LOG set to zero\n\r");
tnhnrl 45:16b8162188ca 902
tnhnrl 69:919ac8d7e023 903 //function to read the file and get number of lines (packets to transmit)
tnhnrl 69:919ac8d7e023 904 _timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
tnhnrl 68:8f549749b8ce 905
tnhnrl 68:8f549749b8ce 906 mbedLogger().setTransmitPacketNumber(0); //reset to zero
tnhnrl 45:16b8162188ca 907 }
tnhnrl 45:16b8162188ca 908
tnhnrl 69:919ac8d7e023 909 //TIMED OUT
tnhnrl 73:f6f378311c8d 910 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 911 xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n");
tnhnrl 63:6cb0405fc6e6 912
tnhnrl 63:6cb0405fc6e6 913 //STATE
tnhnrl 45:16b8162188ca 914 _state = SIT_IDLE;
tnhnrl 63:6cb0405fc6e6 915
tnhnrl 73:f6f378311c8d 916 _fsm_timer.reset();
tnhnrl 63:6cb0405fc6e6 917 _isTimeoutRunning = false;
tnhnrl 63:6cb0405fc6e6 918
tnhnrl 73:f6f378311c8d 919 //mbedLogger().closeLogFile();
tnhnrl 74:d281aaef9766 920 xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
tnhnrl 63:6cb0405fc6e6 921 }
tnhnrl 63:6cb0405fc6e6 922
tnhnrl 73:f6f378311c8d 923 //received end transmission packet (if this is true)
tnhnrl 73:f6f378311c8d 924 if (mbedLogger().endTransmitPacket()) {
tnhnrl 73:f6f378311c8d 925 //STATE
tnhnrl 73:f6f378311c8d 926 led3() = !led3();
tnhnrl 73:f6f378311c8d 927
tnhnrl 73:f6f378311c8d 928 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 929
tnhnrl 73:f6f378311c8d 930 //reset timer
tnhnrl 73:f6f378311c8d 931 _fsm_timer.reset();
tnhnrl 73:f6f378311c8d 932
tnhnrl 73:f6f378311c8d 933 //mbedLogger().closeLogFile();
tnhnrl 73:f6f378311c8d 934
tnhnrl 74:d281aaef9766 935 xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
tnhnrl 73:f6f378311c8d 936 }
tnhnrl 73:f6f378311c8d 937
tnhnrl 68:8f549749b8ce 938 //What is active?
tnhnrl 73:f6f378311c8d 939 //mbedLogger().fsmTransmitData();
tnhnrl 69:919ac8d7e023 940 mbedLogger().checkForPythonTransmitRequest();
tnhnrl 73:f6f378311c8d 941 led1() = !led1();
tnhnrl 68:8f549749b8ce 942
tnhnrl 45:16b8162188ca 943 break;
tnhnrl 45:16b8162188ca 944
tnhnrl 74:d281aaef9766 945 case RX_SEQUENCE :
tnhnrl 74:d281aaef9766 946 xbee().printf("state: RX_SEQUENCE\r\n");
tnhnrl 45:16b8162188ca 947
tnhnrl 45:16b8162188ca 948 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 949 xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n");
tnhnrl 73:f6f378311c8d 950 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 951 _fsm_timer.start(); // background timer starts running
tnhnrl 45:16b8162188ca 952 _isTimeoutRunning = true;
tnhnrl 45:16b8162188ca 953 }
tnhnrl 45:16b8162188ca 954
tnhnrl 73:f6f378311c8d 955 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 956 xbee().printf("RX_SEQUENCE: timed out!\r\n");
tnhnrl 34:9b66c5188051 957 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 958 _fsm_timer.reset();
tnhnrl 32:f2f8ae34aadc 959 _isTimeoutRunning = false;
tnhnrl 32:f2f8ae34aadc 960 }
tnhnrl 32:f2f8ae34aadc 961
tnhnrl 45:16b8162188ca 962 // what is active?
tnhnrl 74:d281aaef9766 963 xbee().printf("Receive sequence active?\r\n");
tnhnrl 32:f2f8ae34aadc 964
tnhnrl 32:f2f8ae34aadc 965 break;
tnhnrl 16:3363b9f14913 966
tnhnrl 16:3363b9f14913 967 default :
tnhnrl 74:d281aaef9766 968 xbee().printf("DEBUG: SIT_IDLE\r\n");
tnhnrl 21:38c8544db6f4 969 _state = SIT_IDLE;
tnhnrl 28:16c83a2fdefa 970 }
tnhnrl 28:16c83a2fdefa 971
tnhnrl 28:16c83a2fdefa 972 //save the state to print to user
tnhnrl 28:16c83a2fdefa 973 if (_previous_state != _state) {
tnhnrl 28:16c83a2fdefa 974 _state_array[_state_array_counter] = _state; //save to state array
tnhnrl 28:16c83a2fdefa 975 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 976
tnhnrl 28:16c83a2fdefa 977 _previous_state = _state;
tnhnrl 28:16c83a2fdefa 978 }
tnhnrl 34:9b66c5188051 979
tnhnrl 34:9b66c5188051 980 return _state;
tnhnrl 73:f6f378311c8d 981 } /* end of runStateMachine */
tnhnrl 20:8987a9ae2bc7 982
tnhnrl 16:3363b9f14913 983 // output the keyboard menu for user's reference
tnhnrl 69:919ac8d7e023 984 void StateMachine::printSimpleMenu() {
tnhnrl 74:d281aaef9766 985 xbee().printf("\r\r\n\nSIMPLE KEYBOARD MENU (08/13/2018):\r\r\n"); //make sure depth sensor tares itself on startup
tnhnrl 74:d281aaef9766 986 xbee().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit());
tnhnrl 58:94b7fd55185e 987
tnhnrl 74:d281aaef9766 988 xbee().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 74:d281aaef9766 989 xbee().printf(" J to float level\r\n");
tnhnrl 74:d281aaef9766 990 xbee().printf(" B to float at broadcast pitch\r\n");
tnhnrl 74:d281aaef9766 991 xbee().printf(" E to initiate emergency climb\r\n");
tnhnrl 74:d281aaef9766 992 xbee().printf(" P to print the current log file.\r\n");
tnhnrl 74:d281aaef9766 993 xbee().printf(" G to transmit MBED log file\r\n");
tnhnrl 74:d281aaef9766 994 xbee().printf(" I to receive multi-dive sequence file\r\n");
tnhnrl 74:d281aaef9766 995 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 66:0f20870117b7 996
tnhnrl 74:d281aaef9766 997 xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset);
tnhnrl 74:d281aaef9766 998 xbee().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = dive)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
tnhnrl 74:d281aaef9766 999 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
tnhnrl 74:d281aaef9766 1000 xbee().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1001 xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 58:94b7fd55185e 1002
tnhnrl 74:d281aaef9766 1003 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 74:d281aaef9766 1004 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 74:d281aaef9766 1005 xbee().printf(" ? to reset mbed\r\n");
tnhnrl 74:d281aaef9766 1006 xbee().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
tnhnrl 57:ec69651c8c21 1007 }
tnhnrl 57:ec69651c8c21 1008
tnhnrl 69:919ac8d7e023 1009 void StateMachine::printDebugMenu() {
tnhnrl 74:d281aaef9766 1010 xbee().printf("\r\r\n\nDEBUG KEYBOARD MENU (08/08/2018):\r\r\n");
tnhnrl 74:d281aaef9766 1011 xbee().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
tnhnrl 74:d281aaef9766 1012 xbee().printf(" N to find neutral\r\n");
tnhnrl 74:d281aaef9766 1013 xbee().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 74:d281aaef9766 1014 xbee().printf(" D to initiate dive cycle\r\n");
tnhnrl 74:d281aaef9766 1015 xbee().printf(" R to initiate rise\r\n");
tnhnrl 74:d281aaef9766 1016 xbee().printf(" J to float level\r\n");
tnhnrl 74:d281aaef9766 1017 xbee().printf(" B to float at broadcast pitch\r\n");
tnhnrl 74:d281aaef9766 1018 xbee().printf(" E to initiate emergency climb\r\n");
tnhnrl 74:d281aaef9766 1019 xbee().printf(" '}' to HOME the BCE (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1020 xbee().printf(" '|' to HOME the BMM (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1021 xbee().printf(" Z to show FSM and sub-FSM states.\r\n");
tnhnrl 74:d281aaef9766 1022 xbee().printf(" P to print the current log file.\r\n");
tnhnrl 74:d281aaef9766 1023 xbee().printf(" X to print the list of log files.\r\n");
tnhnrl 74:d281aaef9766 1024 xbee().printf(" I to receive data.\r\n");
tnhnrl 74:d281aaef9766 1025 xbee().printf(" G to transmit MBED log file (60 second timeout)\r\n");
tnhnrl 74:d281aaef9766 1026 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 74:d281aaef9766 1027 xbee().printf("; or : to TYPE in the BCE neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
tnhnrl 74:d281aaef9766 1028 xbee().printf("[ or { to TYPE in the BMM neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
tnhnrl 74:d281aaef9766 1029 xbee().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch());
tnhnrl 74:d281aaef9766 1030 xbee().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1031 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
tnhnrl 74:d281aaef9766 1032 xbee().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 58:94b7fd55185e 1033
tnhnrl 74:d281aaef9766 1034 xbee().printf(" 1 BCE PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1035 xbee().printf(" 2 BATT PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1036 xbee().printf(" 3 Depth PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1037 xbee().printf(" 4 Pitch PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1038 xbee().printf(" 5 Rudder (servo) sub-menu\r\n");
tnhnrl 74:d281aaef9766 1039 xbee().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1040 xbee().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE *** (bce 200, bmm 40, rudder 1640)\r\n");
tnhnrl 74:d281aaef9766 1041 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 53:c0586fe62b01 1042
tnhnrl 74:d281aaef9766 1043 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 74:d281aaef9766 1044 xbee().printf(" ? to reset mbed\r\n");
tnhnrl 74:d281aaef9766 1045 xbee().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
tnhnrl 16:3363b9f14913 1046 }
tnhnrl 20:8987a9ae2bc7 1047
tnhnrl 74:d281aaef9766 1048 //FIND_NEUTRAL sub-Finite State Machine (sub-FSM)
tnhnrl 67:c86a4b464682 1049 // Note: the sub-FSM only moves the pistons once at the start of each timer loop
tnhnrl 67:c86a4b464682 1050 // (timer completes, moves piston, timer completes, moves piston, etc)
tnhnrl 28:16c83a2fdefa 1051 int StateMachine::runNeutralStateMachine() {
tnhnrl 24:c7d9b5bf3829 1052 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 1053 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 1054 //start the 10 second timer
tnhnrl 28:16c83a2fdefa 1055 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1056 _neutral_timer = _fsm_timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 1057
tnhnrl 74:d281aaef9766 1058 xbee().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (BCE getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
tnhnrl 20:8987a9ae2bc7 1059
tnhnrl 74:d281aaef9766 1060 // what are the commands? (BCE linear actuator active, no BMM or pitch movement)
tnhnrl 74:d281aaef9766 1061 bce().setPosition_mm(bce().getSetPosition_mm() - 2.5);
tnhnrl 23:434f04ef1fad 1062
tnhnrl 74:d281aaef9766 1063 xbee().printf("NEUTRAL_SINKING: Retracting piston 2.5 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
tnhnrl 17:7c16b5671d0e 1064
tnhnrl 28:16c83a2fdefa 1065 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 1066 }
tnhnrl 20:8987a9ae2bc7 1067
tnhnrl 20:8987a9ae2bc7 1068 // how exit?
tnhnrl 20:8987a9ae2bc7 1069 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 1070 if (bce().getPosition_mm() <= 0) {
tnhnrl 74:d281aaef9766 1071 xbee().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
tnhnrl 25:249e4d56b27c 1072 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 1073 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 74:d281aaef9766 1074 }
tnhnrl 74:d281aaef9766 1075 //Troy: Pressure vessel went beyond set depth limit, goes to next state
tnhnrl 20:8987a9ae2bc7 1076 //once deeper than the commanded setpoint...
tnhnrl 32:f2f8ae34aadc 1077 else if (depthLoop().getPosition() > _depth_command) {
tnhnrl 24:c7d9b5bf3829 1078 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 28:16c83a2fdefa 1079 _isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 1080 }
tnhnrl 20:8987a9ae2bc7 1081
tnhnrl 20:8987a9ae2bc7 1082 // what is active?
tnhnrl 20:8987a9ae2bc7 1083 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1084 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1085 xbee().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read());
tnhnrl 17:7c16b5671d0e 1086
tnhnrl 28:16c83a2fdefa 1087 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 1088 }
tnhnrl 39:58375ca6b6ff 1089
tnhnrl 39:58375ca6b6ff 1090 // what is active? (only the buoyancy engine moved every 5 seconds at start)
tnhnrl 74:d281aaef9766 1091 xbee().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f ft)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
tnhnrl 67:c86a4b464682 1092
tnhnrl 74:d281aaef9766 1093 //the BCE moves every 5 seconds. No BMM or rudder movement.
tnhnrl 74:d281aaef9766 1094
tnhnrl 17:7c16b5671d0e 1095 break;
tnhnrl 17:7c16b5671d0e 1096
tnhnrl 17:7c16b5671d0e 1097 case NEUTRAL_SLOWLY_RISE:
tnhnrl 28:16c83a2fdefa 1098 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1099 _neutral_timer = _fsm_timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 1100
tnhnrl 74:d281aaef9766 1101 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 1102
tnhnrl 20:8987a9ae2bc7 1103 // what are the commands?
tnhnrl 32:f2f8ae34aadc 1104 //move piston at start of sequence (default: extend 2.0 mm)
tnhnrl 74:d281aaef9766 1105 //Pressure vessel should slowly rise
tnhnrl 74:d281aaef9766 1106 bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command, only motor position
tnhnrl 23:434f04ef1fad 1107
tnhnrl 74:d281aaef9766 1108 //Troy: I commented out this command, we're finding pitch in the next state.
tnhnrl 23:434f04ef1fad 1109 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 74:d281aaef9766 1110 //pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 1111
tnhnrl 74:d281aaef9766 1112 xbee().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 2.0 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
tnhnrl 24:c7d9b5bf3829 1113
tnhnrl 28:16c83a2fdefa 1114 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 1115 }
tnhnrl 17:7c16b5671d0e 1116
tnhnrl 20:8987a9ae2bc7 1117 // how exit?
tnhnrl 24:c7d9b5bf3829 1118 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 1119 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 24:c7d9b5bf3829 1120 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 1121 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 1122 }
tnhnrl 74:d281aaef9766 1123 //Troy: Depth rate will go negative as the pressure vessel starts rising
tnhnrl 17:7c16b5671d0e 1124 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 1125 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 74:d281aaef9766 1126 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", _fsm_timer.read());
tnhnrl 24:c7d9b5bf3829 1127 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 28:16c83a2fdefa 1128 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 1129 }
tnhnrl 17:7c16b5671d0e 1130
tnhnrl 20:8987a9ae2bc7 1131 // what is active?
tnhnrl 20:8987a9ae2bc7 1132 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1133 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1134 xbee().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read());
tnhnrl 20:8987a9ae2bc7 1135
tnhnrl 28:16c83a2fdefa 1136 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 1137 }
tnhnrl 23:434f04ef1fad 1138
tnhnrl 32:f2f8ae34aadc 1139 // what is active? (only the buoyancy engine moved every 5 seconds)
tnhnrl 74:d281aaef9766 1140 xbee().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
tnhnrl 67:c86a4b464682 1141
tnhnrl 17:7c16b5671d0e 1142 break;
tnhnrl 17:7c16b5671d0e 1143
danstrider 22:a10ee088403b 1144 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 1145 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 1146
tnhnrl 28:16c83a2fdefa 1147 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1148 _neutral_timer = _fsm_timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 74:d281aaef9766 1149 xbee().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read());
danstrider 22:a10ee088403b 1150
tnhnrl 32:f2f8ae34aadc 1151 // what are the commands? (default: retract or extend 0.5 mm)
tnhnrl 74:d281aaef9766 1152 if (pitchLoop().getPosition() > 2) { // nose is high (extend batteries)
tnhnrl 39:58375ca6b6ff 1153 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 74:d281aaef9766 1154 xbee().printf("\r\nNeutral Check Pitch: moving battery FWD in 0.5 mm increments\r\n\n");
danstrider 22:a10ee088403b 1155 }
tnhnrl 74:d281aaef9766 1156 else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries)
tnhnrl 39:58375ca6b6ff 1157 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 74:d281aaef9766 1158 xbee().printf("\r\nNeutral Check Pitch: moving battery AFT in 0.5 mm increments\r\n\n");
danstrider 22:a10ee088403b 1159 }
tnhnrl 24:c7d9b5bf3829 1160
tnhnrl 28:16c83a2fdefa 1161 _isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 1162 }
tnhnrl 20:8987a9ae2bc7 1163
tnhnrl 28:16c83a2fdefa 1164 // how exit?
tnhnrl 20:8987a9ae2bc7 1165 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 1166 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 1167 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 74:d281aaef9766 1168 xbee().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
danstrider 22:a10ee088403b 1169 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 1170
tnhnrl 28:16c83a2fdefa 1171 if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
tnhnrl 28:16c83a2fdefa 1172 _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 1173 }
tnhnrl 28:16c83a2fdefa 1174
tnhnrl 23:434f04ef1fad 1175 // found level and at depth too, so save it all now
tnhnrl 32:f2f8ae34aadc 1176 if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 1177 //save positions locally
danstrider 22:a10ee088403b 1178 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 1179 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 1180
danstrider 22:a10ee088403b 1181 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 1182 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 1183 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 1184
danstrider 22:a10ee088403b 1185 // save into the depth.txt and pitch.txt files
tnhnrl 73:f6f378311c8d 1186
tnhnrl 73:f6f378311c8d 1187 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
tnhnrl 73:f6f378311c8d 1188 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); //P,I,D, bce zeroOffset
tnhnrl 73:f6f378311c8d 1189
tnhnrl 74:d281aaef9766 1190 xbee().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 1191
tnhnrl 24:c7d9b5bf3829 1192 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 1193 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 1194 }
tnhnrl 24:c7d9b5bf3829 1195
tnhnrl 24:c7d9b5bf3829 1196 else {
tnhnrl 74:d281aaef9766 1197 xbee().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
tnhnrl 24:c7d9b5bf3829 1198 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1199 }
tnhnrl 17:7c16b5671d0e 1200 }
danstrider 22:a10ee088403b 1201
danstrider 22:a10ee088403b 1202 // what is active?
danstrider 22:a10ee088403b 1203 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1204 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1205 xbee().printf("\r\n\nlevel timer COMPLETE!");
tnhnrl 74:d281aaef9766 1206 xbee().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), _fsm_timer.read());
tnhnrl 28:16c83a2fdefa 1207 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 1208 }
tnhnrl 74:d281aaef9766 1209
tnhnrl 17:7c16b5671d0e 1210 break;
danstrider 22:a10ee088403b 1211
danstrider 22:a10ee088403b 1212 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 1213 case NEUTRAL_EXIT :
tnhnrl 74:d281aaef9766 1214 xbee().printf("substate: NEUTRAL_EXIT\r\n");
tnhnrl 20:8987a9ae2bc7 1215 break;
tnhnrl 21:38c8544db6f4 1216
danstrider 22:a10ee088403b 1217 default :
tnhnrl 74:d281aaef9766 1218 xbee().printf("how did we get to substate: default?\r\n"); //debug
tnhnrl 23:434f04ef1fad 1219 //a default within the sub-state machine
tnhnrl 24:c7d9b5bf3829 1220 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1221 break;
tnhnrl 17:7c16b5671d0e 1222 }
tnhnrl 20:8987a9ae2bc7 1223
tnhnrl 30:2964617e7676 1224 // reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
tnhnrl 24:c7d9b5bf3829 1225 if (_substate == NEUTRAL_EXIT) {
tnhnrl 74:d281aaef9766 1226 xbee().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
tnhnrl 24:c7d9b5bf3829 1227
tnhnrl 30:2964617e7676 1228 //reset internal sub-state back to first entry conditions (first state is immediately sinking)
tnhnrl 30:2964617e7676 1229 _substate = NEUTRAL_SINKING;
tnhnrl 28:16c83a2fdefa 1230 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 21:38c8544db6f4 1231
tnhnrl 24:c7d9b5bf3829 1232 //record sub-states to view after sequence
tnhnrl 30:2964617e7676 1233 _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
tnhnrl 28:16c83a2fdefa 1234 _substate_array_counter++;
tnhnrl 23:434f04ef1fad 1235
tnhnrl 24:c7d9b5bf3829 1236 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 1237 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 1238
tnhnrl 24:c7d9b5bf3829 1239 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 1240 return NEUTRAL_EXIT; // message to calling function we just exited
tnhnrl 21:38c8544db6f4 1241 }
tnhnrl 23:434f04ef1fad 1242 else {
tnhnrl 24:c7d9b5bf3829 1243 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 1244 if (_previous_substate != _substate) {
tnhnrl 28:16c83a2fdefa 1245 _substate_array[_substate_array_counter] = _substate; //save current state to state array
tnhnrl 28:16c83a2fdefa 1246 _substate_array_counter++;
tnhnrl 24:c7d9b5bf3829 1247
tnhnrl 24:c7d9b5bf3829 1248 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 1249 _previous_substate = _substate;
tnhnrl 24:c7d9b5bf3829 1250 }
tnhnrl 24:c7d9b5bf3829 1251
tnhnrl 24:c7d9b5bf3829 1252 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 1253 }
tnhnrl 17:7c16b5671d0e 1254 }
tnhnrl 20:8987a9ae2bc7 1255
tnhnrl 57:ec69651c8c21 1256 /* keyboard runs independently of the state machine, handling one key at a time
tnhnrl 57:ec69651c8c21 1257 keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 57:ec69651c8c21 1258 and only allows input when the state is "idle" */
tnhnrl 57:ec69651c8c21 1259
tnhnrl 17:7c16b5671d0e 1260 void StateMachine::keyboard() {
tnhnrl 57:ec69651c8c21 1261 char user_input;
tnhnrl 20:8987a9ae2bc7 1262
tnhnrl 16:3363b9f14913 1263 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 1264 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 1265
tnhnrl 37:357e98a929cc 1266 //TEST
tnhnrl 37:357e98a929cc 1267 int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 1268
tnhnrl 74:d281aaef9766 1269 if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) {
tnhnrl 16:3363b9f14913 1270 // get the key
tnhnrl 74:d281aaef9766 1271 user_input = xbee().getc();
tnhnrl 17:7c16b5671d0e 1272
tnhnrl 28:16c83a2fdefa 1273 //record that the keyboard was used
tnhnrl 28:16c83a2fdefa 1274 _state_array[_state_array_counter] = KEYBOARD;
tnhnrl 28:16c83a2fdefa 1275 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 1276
tnhnrl 21:38c8544db6f4 1277 // keyboard has to reset timer each time it's used
tnhnrl 28:16c83a2fdefa 1278 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 1279
tnhnrl 16:3363b9f14913 1280 // check command against desired control buttons
tnhnrl 72:250b2665755c 1281
tnhnrl 72:250b2665755c 1282 /***************************** COMMON COMMANDS *****************************/
tnhnrl 72:250b2665755c 1283 if (user_input == 'W') {
tnhnrl 74:d281aaef9766 1284 xbee().printf(">> Please enter the heading (deg).\r\n");
tnhnrl 72:250b2665755c 1285 _heading_command = getFloatUserInput();
tnhnrl 72:250b2665755c 1286 }
tnhnrl 73:f6f378311c8d 1287
tnhnrl 73:f6f378311c8d 1288 //////////////////// TEST
tnhnrl 73:f6f378311c8d 1289 // else if (user_input == 'l') {
tnhnrl 74:d281aaef9766 1290 // xbee().printf("CUT OFF RUDDER SERVO????\n\r");
tnhnrl 73:f6f378311c8d 1291 // rudder().pwm_pulse_off();
tnhnrl 73:f6f378311c8d 1292 // }
tnhnrl 73:f6f378311c8d 1293 //////////////////// TEST
tnhnrl 73:f6f378311c8d 1294
tnhnrl 74:d281aaef9766 1295 else if (user_input == 'K') {
tnhnrl 74:d281aaef9766 1296 xbee().printf("(K) BLAST DATA AND EXIT! \n\r");
tnhnrl 74:d281aaef9766 1297 mbedLogger().blastData();
tnhnrl 74:d281aaef9766 1298 }
tnhnrl 74:d281aaef9766 1299
tnhnrl 73:f6f378311c8d 1300 else if (user_input == 'U') {
tnhnrl 74:d281aaef9766 1301 xbee().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
tnhnrl 73:f6f378311c8d 1302
tnhnrl 73:f6f378311c8d 1303 mbedLogger().transmitMultiplePackets();
tnhnrl 73:f6f378311c8d 1304 }
tnhnrl 73:f6f378311c8d 1305
tnhnrl 73:f6f378311c8d 1306 else if (user_input == 'H') {
tnhnrl 74:d281aaef9766 1307 xbee().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
tnhnrl 73:f6f378311c8d 1308 wait(1);
tnhnrl 73:f6f378311c8d 1309 mbedLogger().blastData();
tnhnrl 73:f6f378311c8d 1310
tnhnrl 73:f6f378311c8d 1311 mbedLogger().transmitMultiplePackets();
tnhnrl 73:f6f378311c8d 1312 }
tnhnrl 73:f6f378311c8d 1313
tnhnrl 73:f6f378311c8d 1314 else if (user_input == 'G') {
tnhnrl 74:d281aaef9766 1315 xbee().printf("(G) BLAST DATA TEST and use FSM! \n\r");
tnhnrl 73:f6f378311c8d 1316 wait(1);
tnhnrl 73:f6f378311c8d 1317 mbedLogger().blastData();
tnhnrl 73:f6f378311c8d 1318
tnhnrl 73:f6f378311c8d 1319 _keyboard_state = TX_MBED_LOG;
tnhnrl 73:f6f378311c8d 1320 }
tnhnrl 73:f6f378311c8d 1321
tnhnrl 74:d281aaef9766 1322 else if (user_input == 'I') {
tnhnrl 74:d281aaef9766 1323 xbee().printf("(I) Receive Multi-Dive Sequence! \n\r");
tnhnrl 74:d281aaef9766 1324 mbedLogger().receiveSequenceFile(); //receive sequence.txt files
tnhnrl 74:d281aaef9766 1325 }
tnhnrl 74:d281aaef9766 1326
tnhnrl 72:250b2665755c 1327 else if (user_input == '8') {
tnhnrl 72:250b2665755c 1328 keyboard_menu_STREAM_STATUS();
tnhnrl 72:250b2665755c 1329 }
tnhnrl 74:d281aaef9766 1330
tnhnrl 72:250b2665755c 1331 else if (user_input == '?') {
tnhnrl 74:d281aaef9766 1332 xbee().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 72:250b2665755c 1333 wait(0.5);
tnhnrl 72:250b2665755c 1334 mbed_reset();
tnhnrl 72:250b2665755c 1335 }
tnhnrl 72:250b2665755c 1336
tnhnrl 72:250b2665755c 1337 else if (user_input == 'T') {
tnhnrl 74:d281aaef9766 1338 xbee().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 72:250b2665755c 1339 _timeout = fabs(getFloatUserInput());
tnhnrl 72:250b2665755c 1340 }
tnhnrl 72:250b2665755c 1341
tnhnrl 80:4e5d306d695b 1342 else if (user_input == '~') {
tnhnrl 80:4e5d306d695b 1343 xbee().printf("MBED LOG FILE MENU!\r\n");
tnhnrl 80:4e5d306d695b 1344 stateMachine().logFileMenu();
tnhnrl 80:4e5d306d695b 1345
tnhnrl 80:4e5d306d695b 1346 //xbee().printf("ERASING MBED LOG FILE\r\n"); //legacy method
tnhnrl 80:4e5d306d695b 1347 //mbedLogger().eraseFile();
tnhnrl 80:4e5d306d695b 1348 }
tnhnrl 80:4e5d306d695b 1349
tnhnrl 73:f6f378311c8d 1350 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 73:f6f378311c8d 1351
tnhnrl 74:d281aaef9766 1352 xbee().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 73:f6f378311c8d 1353
tnhnrl 74:d281aaef9766 1354 xbee().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 74:d281aaef9766 1355 xbee().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 74:d281aaef9766 1356 xbee().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 74:d281aaef9766 1357 xbee().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 74:d281aaef9766 1358 xbee().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 74:d281aaef9766 1359 xbee().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),sensors().getInternalPressurePSI());
tnhnrl 74:d281aaef9766 1360 //xbee().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 74:d281aaef9766 1361 xbee().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),sensors().getVoltageInput());
tnhnrl 74:d281aaef9766 1362 xbee().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), sensors().getCurrentInput());
tnhnrl 74:d281aaef9766 1363 xbee().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 74:d281aaef9766 1364 xbee().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 74:d281aaef9766 1365 xbee().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5());
tnhnrl 73:f6f378311c8d 1366 // End of ADC Test
tnhnrl 73:f6f378311c8d 1367
tnhnrl 74:d281aaef9766 1368 xbee().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1369 xbee().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 74:d281aaef9766 1370 xbee().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 74:d281aaef9766 1371 xbee().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 74:d281aaef9766 1372 xbee().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 74:d281aaef9766 1373 xbee().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 74:d281aaef9766 1374 xbee().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 74:d281aaef9766 1375 xbee().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 73:f6f378311c8d 1376
tnhnrl 74:d281aaef9766 1377 xbee().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 74:d281aaef9766 1378 xbee().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 74:d281aaef9766 1379 xbee().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 74:d281aaef9766 1380 xbee().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
tnhnrl 73:f6f378311c8d 1381
tnhnrl 74:d281aaef9766 1382 xbee().printf("\r\n");
tnhnrl 76:c802e1da4179 1383 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
tnhnrl 76:c802e1da4179 1384 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 74:d281aaef9766 1385 xbee().printf("rudder min_pwm:%6.1f, center_pwm:%6.1f, max_pwm:%6.1f (min_deg:%6.1f max_deg:%6.1f)\r\n",rudder().getMinPWM(),rudder().getCenterPWM(),rudder().getMaxPWM(),rudder().getMinDeg(),rudder().getMaxDeg());
tnhnrl 74:d281aaef9766 1386 xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
tnhnrl 74:d281aaef9766 1387 xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 74:d281aaef9766 1388 xbee().printf("heading P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
tnhnrl 73:f6f378311c8d 1389 }
tnhnrl 73:f6f378311c8d 1390
tnhnrl 72:250b2665755c 1391 /***************************** COMMON COMMANDS *****************************/
tnhnrl 57:ec69651c8c21 1392
tnhnrl 57:ec69651c8c21 1393 /***************************** DEBUG MENU *****************************/
tnhnrl 72:250b2665755c 1394 if (_debug_menu_on) {
tnhnrl 57:ec69651c8c21 1395 if (user_input == 'D') {
tnhnrl 57:ec69651c8c21 1396 _keyboard_state = DIVE;
tnhnrl 57:ec69651c8c21 1397 }
tnhnrl 74:d281aaef9766 1398
tnhnrl 74:d281aaef9766 1399 else if (user_input == '}') {
tnhnrl 74:d281aaef9766 1400 xbee().printf("HOMING the BCE (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1401 wait(5);
tnhnrl 74:d281aaef9766 1402 bce().homePiston();
tnhnrl 74:d281aaef9766 1403 }
tnhnrl 74:d281aaef9766 1404
tnhnrl 74:d281aaef9766 1405 else if (user_input == '|') {
tnhnrl 74:d281aaef9766 1406 xbee().printf("HOMING the BMM (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1407 wait(5);
tnhnrl 74:d281aaef9766 1408 batt().homePiston();
tnhnrl 74:d281aaef9766 1409 }
tnhnrl 74:d281aaef9766 1410
tnhnrl 57:ec69651c8c21 1411 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1412 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1413 }
tnhnrl 57:ec69651c8c21 1414 else if (user_input == 'M') {
tnhnrl 57:ec69651c8c21 1415 //currently does not run if there is no file.
tnhnrl 57:ec69651c8c21 1416
tnhnrl 57:ec69651c8c21 1417 //need to add method to Sequence Controller that returns -1
tnhnrl 57:ec69651c8c21 1418 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 57:ec69651c8c21 1419
tnhnrl 68:8f549749b8ce 1420 //load sequence from file
tnhnrl 68:8f549749b8ce 1421 _multi_dive_counter = 0;
tnhnrl 68:8f549749b8ce 1422 sequenceController().loadSequence();
tnhnrl 68:8f549749b8ce 1423 wait(1); //test if this resets the sequence
tnhnrl 68:8f549749b8ce 1424
tnhnrl 57:ec69651c8c21 1425 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 57:ec69651c8c21 1426 _keyboard_state = currentStateStruct.state;
tnhnrl 57:ec69651c8c21 1427
tnhnrl 74:d281aaef9766 1428 xbee().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 57:ec69651c8c21 1429 }
tnhnrl 57:ec69651c8c21 1430 else if (user_input == 'R') {
tnhnrl 57:ec69651c8c21 1431 _keyboard_state = RISE;
tnhnrl 57:ec69651c8c21 1432 }
tnhnrl 57:ec69651c8c21 1433 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1434 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1435 }
tnhnrl 57:ec69651c8c21 1436 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1437 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1438 }
tnhnrl 57:ec69651c8c21 1439 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1440 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1441 }
tnhnrl 17:7c16b5671d0e 1442
tnhnrl 65:2ac186553959 1443 else if (user_input == 'Y') {
tnhnrl 57:ec69651c8c21 1444 _keyboard_state = CHECK_TUNING;
tnhnrl 57:ec69651c8c21 1445 }
tnhnrl 17:7c16b5671d0e 1446
tnhnrl 57:ec69651c8c21 1447 // some debug tools below
tnhnrl 57:ec69651c8c21 1448 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1449 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1450 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1451 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 57:ec69651c8c21 1452 }
tnhnrl 57:ec69651c8c21 1453 else if (user_input == 'X') {
tnhnrl 57:ec69651c8c21 1454 mbedLogger().printMbedDirectory(); //print all log files to the screen
tnhnrl 57:ec69651c8c21 1455 }
tnhnrl 57:ec69651c8c21 1456 else if (user_input == 'Z') {
tnhnrl 74:d281aaef9766 1457 xbee().printf("FSG FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1458 string string_state;
tnhnrl 57:ec69651c8c21 1459
tnhnrl 57:ec69651c8c21 1460 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1461 if (_state_array[i] == SIT_IDLE)
tnhnrl 57:ec69651c8c21 1462 string_state = "SIT_IDLE <END>";
tnhnrl 57:ec69651c8c21 1463 else if (_state_array[i] == FIND_NEUTRAL)
tnhnrl 57:ec69651c8c21 1464 string_state = "FIND_NEUTRAL";
tnhnrl 57:ec69651c8c21 1465 else if (_state_array[i] == DIVE)
tnhnrl 57:ec69651c8c21 1466 string_state = "DIVE";
tnhnrl 57:ec69651c8c21 1467 else if (_state_array[i] == RISE)
tnhnrl 57:ec69651c8c21 1468 string_state = "RISE";
tnhnrl 57:ec69651c8c21 1469 else if (_state_array[i] == FLOAT_LEVEL)
tnhnrl 57:ec69651c8c21 1470 string_state = "FLOAT_LEVEL";
tnhnrl 57:ec69651c8c21 1471 else if (_state_array[i] == FLOAT_BROADCAST)
tnhnrl 57:ec69651c8c21 1472 string_state = "FLOAT_BROADCAST";
tnhnrl 57:ec69651c8c21 1473 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1474 string_state = "EMERGENCY_CLIMB";
tnhnrl 57:ec69651c8c21 1475 else if (_state_array[i] == MULTI_DIVE)
tnhnrl 57:ec69651c8c21 1476 string_state = "MULTI_DIVE";
tnhnrl 57:ec69651c8c21 1477 else if (_state_array[i] == MULTI_RISE)
tnhnrl 57:ec69651c8c21 1478 string_state = "MULTI_RISE";
tnhnrl 57:ec69651c8c21 1479 else if (_state_array[i] == KEYBOARD)
tnhnrl 57:ec69651c8c21 1480 string_state = "KEYBOARD";
tnhnrl 74:d281aaef9766 1481 xbee().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
tnhnrl 57:ec69651c8c21 1482 }
tnhnrl 57:ec69651c8c21 1483
tnhnrl 74:d281aaef9766 1484 xbee().printf("\r\nNeutral sub-FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1485 string string_substate;
tnhnrl 57:ec69651c8c21 1486
tnhnrl 57:ec69651c8c21 1487 for (int i = 0; i < _substate_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1488 if (_substate_array[i] == NEUTRAL_SINKING)
tnhnrl 57:ec69651c8c21 1489 string_substate = "NEUTRAL_SINKING";
tnhnrl 57:ec69651c8c21 1490 else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 57:ec69651c8c21 1491 string_substate = "NEUTRAL_SLOWLY_RISE";
tnhnrl 57:ec69651c8c21 1492 else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 57:ec69651c8c21 1493 string_substate = "NEUTRAL_CHECK_PITCH";
tnhnrl 57:ec69651c8c21 1494 else if (_substate_array[i] == NEUTRAL_EXIT)
tnhnrl 57:ec69651c8c21 1495 string_substate = "NEUTRAL_EXIT <-- ";
tnhnrl 57:ec69651c8c21 1496 else if (_substate_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1497 string_substate = " -- > EMERGENCY_CLIMB <-- ";
tnhnrl 74:d281aaef9766 1498 xbee().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
tnhnrl 57:ec69651c8c21 1499 }
tnhnrl 74:d281aaef9766 1500 xbee().printf("\r\n"); //make space between printouts
tnhnrl 72:250b2665755c 1501 }
tnhnrl 72:250b2665755c 1502 //BATTERY/PITCH
tnhnrl 57:ec69651c8c21 1503 else if (user_input == '[' or user_input == '{') {
tnhnrl 74:d281aaef9766 1504 xbee().printf("Please TYPE in the new BATT neutral position.\n\r");
tnhnrl 72:250b2665755c 1505 _neutral_batt_pos_mm = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1506 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
tnhnrl 74:d281aaef9766 1507 xbee().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1508 // save neutral pitch value to config file
tnhnrl 73:f6f378311c8d 1509 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
tnhnrl 57:ec69651c8c21 1510 }
tnhnrl 28:16c83a2fdefa 1511
tnhnrl 72:250b2665755c 1512 //BCE/DEPTH
tnhnrl 72:250b2665755c 1513 else if (user_input == ';' or user_input == ':') {
tnhnrl 74:d281aaef9766 1514 xbee().printf("Please TYPE in the new BCE neutral position.\n\r");
tnhnrl 72:250b2665755c 1515 _neutral_bce_pos_mm = getFloatUserInput();
tnhnrl 72:250b2665755c 1516 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
tnhnrl 74:d281aaef9766 1517 xbee().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 72:250b2665755c 1518 // save neutral depth value to config file
tnhnrl 73:f6f378311c8d 1519 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband);
tnhnrl 57:ec69651c8c21 1520 }
tnhnrl 57:ec69651c8c21 1521
tnhnrl 72:250b2665755c 1522 // change settings
tnhnrl 72:250b2665755c 1523 //heading is in the common controls
tnhnrl 72:250b2665755c 1524 else if (user_input == 'Q') {
tnhnrl 74:d281aaef9766 1525 xbee().printf(">> Please enter the desired PITCH (deg).\r\n");
tnhnrl 72:250b2665755c 1526 _pitch_command = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1527 }
tnhnrl 72:250b2665755c 1528 else if (user_input == 'A') {
tnhnrl 74:d281aaef9766 1529 xbee().printf(">> Please enter the desired DEPTH (ft).\r\n");
tnhnrl 72:250b2665755c 1530 _depth_command = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1531 }
tnhnrl 72:250b2665755c 1532
tnhnrl 57:ec69651c8c21 1533 else if (user_input == '5') {
tnhnrl 58:94b7fd55185e 1534 keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 57:ec69651c8c21 1535 }
tnhnrl 57:ec69651c8c21 1536
tnhnrl 57:ec69651c8c21 1537 else if (user_input == '6') {
tnhnrl 58:94b7fd55185e 1538 keyboard_menu_HEADING_PID_settings();
tnhnrl 58:94b7fd55185e 1539 }
tnhnrl 57:ec69651c8c21 1540
tnhnrl 58:94b7fd55185e 1541 // go to tuning sub-menu
tnhnrl 57:ec69651c8c21 1542 else if (user_input == '7') {
tnhnrl 58:94b7fd55185e 1543 keyboard_menu_MANUAL_TUNING();
tnhnrl 57:ec69651c8c21 1544 }
tnhnrl 57:ec69651c8c21 1545
tnhnrl 73:f6f378311c8d 1546 // else if (user_input == 'U') {
tnhnrl 73:f6f378311c8d 1547 // keyboard_menu_POSITION_READINGS();
tnhnrl 73:f6f378311c8d 1548 // }
tnhnrl 57:ec69651c8c21 1549
tnhnrl 57:ec69651c8c21 1550 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 57:ec69651c8c21 1551 else if (user_input == '1') {
tnhnrl 57:ec69651c8c21 1552 keyboard_menu_BCE_PID_settings();
tnhnrl 57:ec69651c8c21 1553 }
tnhnrl 57:ec69651c8c21 1554 else if (user_input == '2') {
tnhnrl 57:ec69651c8c21 1555 keyboard_menu_BATT_PID_settings();
tnhnrl 57:ec69651c8c21 1556 }
tnhnrl 57:ec69651c8c21 1557 else if (user_input == '3') {
tnhnrl 57:ec69651c8c21 1558 keyboard_menu_DEPTH_PID_settings();
tnhnrl 57:ec69651c8c21 1559 }
tnhnrl 57:ec69651c8c21 1560 else if (user_input == '4') {
tnhnrl 57:ec69651c8c21 1561 keyboard_menu_PITCH_PID_settings();
tnhnrl 28:16c83a2fdefa 1562 }
tnhnrl 73:f6f378311c8d 1563
tnhnrl 57:ec69651c8c21 1564 else if (user_input == '*') {
tnhnrl 74:d281aaef9766 1565 xbee().printf("SWITCHING TO SIMPLE MENU!\r\n");
tnhnrl 74:d281aaef9766 1566 wait(1);
tnhnrl 57:ec69651c8c21 1567 _debug_menu_on = false;
tnhnrl 57:ec69651c8c21 1568 }
tnhnrl 57:ec69651c8c21 1569 } //end of debug menu
tnhnrl 57:ec69651c8c21 1570 /***************************** DEBUG MENU *****************************/
tnhnrl 57:ec69651c8c21 1571
tnhnrl 57:ec69651c8c21 1572 /***************************** SIMPLE MENU *****************************/
tnhnrl 72:250b2665755c 1573 else {
tnhnrl 58:94b7fd55185e 1574 if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1575 _keyboard_state = POSITION_DIVE;
tnhnrl 57:ec69651c8c21 1576 }
tnhnrl 57:ec69651c8c21 1577 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1578 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1579 }
tnhnrl 57:ec69651c8c21 1580 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1581 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1582 }
tnhnrl 57:ec69651c8c21 1583 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1584 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1585 }
tnhnrl 57:ec69651c8c21 1586 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1587 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1588 }
tnhnrl 57:ec69651c8c21 1589
tnhnrl 57:ec69651c8c21 1590 // some debug tools below
tnhnrl 57:ec69651c8c21 1591 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1592 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1593 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1594 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 72:250b2665755c 1595 }
tnhnrl 57:ec69651c8c21 1596
tnhnrl 57:ec69651c8c21 1597 //POSITION DIVE COMMANDS
tnhnrl 72:250b2665755c 1598 else if (user_input == 'Q') {
tnhnrl 74:d281aaef9766 1599 xbee().printf(">> Please enter the desired BMM offset (mm).\r\n");
tnhnrl 72:250b2665755c 1600 _BMM_dive_offset = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1601 }
tnhnrl 72:250b2665755c 1602 else if (user_input == 'A') {
tnhnrl 74:d281aaef9766 1603 xbee().printf(">> Please enter the desired BCE offset (mm).\r\n");
tnhnrl 72:250b2665755c 1604 _BCE_dive_offset = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1605 }
tnhnrl 73:f6f378311c8d 1606
tnhnrl 73:f6f378311c8d 1607 else if (user_input == 'S') {
tnhnrl 74:d281aaef9766 1608 xbee().printf(">> Please enter the desired DEPTH (ft).\r\n");
tnhnrl 73:f6f378311c8d 1609 _depth_command = getFloatUserInput();
tnhnrl 73:f6f378311c8d 1610 }
tnhnrl 57:ec69651c8c21 1611 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1612
tnhnrl 57:ec69651c8c21 1613 else if (user_input == '*') {
tnhnrl 74:d281aaef9766 1614 xbee().printf("SWITCHING TO DEBUG MENU!\r\n");
tnhnrl 57:ec69651c8c21 1615 _debug_menu_on = true;
tnhnrl 74:d281aaef9766 1616 wait(1);
tnhnrl 57:ec69651c8c21 1617 }
tnhnrl 16:3363b9f14913 1618 }
tnhnrl 57:ec69651c8c21 1619 /***************************** SIMPLE MENU *****************************/
tnhnrl 17:7c16b5671d0e 1620
tnhnrl 17:7c16b5671d0e 1621 //when you read the keyboard successfully, change the state
tnhnrl 28:16c83a2fdefa 1622 _state = _keyboard_state; //set state at the end of this function
tnhnrl 74:d281aaef9766 1623 //xbee().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
tnhnrl 16:3363b9f14913 1624 }
tnhnrl 16:3363b9f14913 1625 }
tnhnrl 52:f207567d3ea4 1626
tnhnrl 52:f207567d3ea4 1627 void StateMachine::keyboard_menu_STREAM_STATUS() {
tnhnrl 52:f207567d3ea4 1628 char STATUS_key;
tnhnrl 52:f207567d3ea4 1629
tnhnrl 52:f207567d3ea4 1630 // show the menu
tnhnrl 74:d281aaef9766 1631 xbee().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
tnhnrl 52:f207567d3ea4 1632
tnhnrl 52:f207567d3ea4 1633 while (1) {
tnhnrl 74:d281aaef9766 1634 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1635 STATUS_key = xbee().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1636 }
tnhnrl 52:f207567d3ea4 1637
tnhnrl 52:f207567d3ea4 1638 else {
tnhnrl 52:f207567d3ea4 1639
tnhnrl 52:f207567d3ea4 1640 wait(1);
tnhnrl 54:d4990fb68404 1641
tnhnrl 58:94b7fd55185e 1642
tnhnrl 74:d281aaef9766 1643 // xbee().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
tnhnrl 74:d281aaef9766 1644 xbee().printf("BCE POS: %0.1f (cmd %0.1f) BATT POS: %0.1f (cmd %0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rdr_pwm: %0.1f [FILT/RAW 0(%d,%d),1(%d,%d),2(%d,%d),3(%d,%d),4(%d,%d),5(%d,%d),6(%d,%d),7(%d,%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(),adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
tnhnrl 52:f207567d3ea4 1645
tnhnrl 52:f207567d3ea4 1646 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1647 }
tnhnrl 52:f207567d3ea4 1648
tnhnrl 52:f207567d3ea4 1649 // process the keys
tnhnrl 58:94b7fd55185e 1650 if (STATUS_key == 'X') {
tnhnrl 74:d281aaef9766 1651 xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
tnhnrl 52:f207567d3ea4 1652 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1653 }
tnhnrl 52:f207567d3ea4 1654
tnhnrl 52:f207567d3ea4 1655 else {
tnhnrl 74:d281aaef9766 1656 xbee().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
tnhnrl 52:f207567d3ea4 1657 }
tnhnrl 52:f207567d3ea4 1658 }
tnhnrl 52:f207567d3ea4 1659 }
tnhnrl 52:f207567d3ea4 1660
tnhnrl 52:f207567d3ea4 1661 void StateMachine::keyboard_menu_RUDDER_SERVO_settings() {
tnhnrl 52:f207567d3ea4 1662 //load current parameters from the rudder
tnhnrl 52:f207567d3ea4 1663 float rudder_min_pwm = rudder().getMinPWM();
tnhnrl 52:f207567d3ea4 1664 float rudder_max_pwm = rudder().getMaxPWM();
tnhnrl 52:f207567d3ea4 1665 float rudder_ctr_pwm = rudder().getCenterPWM();
tnhnrl 52:f207567d3ea4 1666 float rudder_min_deg = rudder().getMinDeg();
tnhnrl 52:f207567d3ea4 1667 float rudder_max_deg = rudder().getMaxDeg();
tnhnrl 52:f207567d3ea4 1668
tnhnrl 52:f207567d3ea4 1669 char RUDDER_PID_key;
tnhnrl 52:f207567d3ea4 1670
tnhnrl 52:f207567d3ea4 1671 // print the menu
tnhnrl 74:d281aaef9766 1672 xbee().printf("\r\nRUDDER (servo driver) settings (MENU)");
tnhnrl 74:d281aaef9766 1673 xbee().printf("\r\nAdjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L");
tnhnrl 74:d281aaef9766 1674 xbee().printf("\r\nHit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
tnhnrl 74:d281aaef9766 1675 xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1676
tnhnrl 52:f207567d3ea4 1677 // handle the key presses
tnhnrl 52:f207567d3ea4 1678 while(1) {
tnhnrl 52:f207567d3ea4 1679 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 1680 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1681 RUDDER_PID_key = xbee().getc();
tnhnrl 52:f207567d3ea4 1682 }
tnhnrl 52:f207567d3ea4 1683 else {
tnhnrl 52:f207567d3ea4 1684 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1685 }
tnhnrl 52:f207567d3ea4 1686
tnhnrl 52:f207567d3ea4 1687 // handle the user's key input
tnhnrl 52:f207567d3ea4 1688 if (RUDDER_PID_key == 'S') { // user wants to save the modified values
tnhnrl 52:f207567d3ea4 1689 // set global values
tnhnrl 52:f207567d3ea4 1690 rudder().setMinPWM(rudder_min_pwm);
tnhnrl 52:f207567d3ea4 1691 rudder().setMaxPWM(rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1692 rudder().setCenterPWM(rudder_ctr_pwm);
tnhnrl 52:f207567d3ea4 1693 rudder().setMinDeg(rudder_min_deg);
tnhnrl 52:f207567d3ea4 1694 rudder().setMaxDeg(rudder_max_deg);
tnhnrl 52:f207567d3ea4 1695
tnhnrl 52:f207567d3ea4 1696 // save rudder servo driver values for inner loop
tnhnrl 52:f207567d3ea4 1697 configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
tnhnrl 74:d281aaef9766 1698 xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 74:d281aaef9766 1699 xbee().printf("Adjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L\r\n");
tnhnrl 52:f207567d3ea4 1700 }
tnhnrl 52:f207567d3ea4 1701 else if (RUDDER_PID_key == 'X') {
tnhnrl 52:f207567d3ea4 1702 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1703 }
tnhnrl 52:f207567d3ea4 1704 // MIN PWM
tnhnrl 52:f207567d3ea4 1705 else if (RUDDER_PID_key == 'N') {
tnhnrl 74:d281aaef9766 1706 xbee().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1707 rudder_min_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1708 }
tnhnrl 52:f207567d3ea4 1709 // MAX PWM
tnhnrl 52:f207567d3ea4 1710 else if (RUDDER_PID_key == 'M') {
tnhnrl 74:d281aaef9766 1711 xbee().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1712 rudder_max_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1713 }
tnhnrl 52:f207567d3ea4 1714 // CENTER PWM
tnhnrl 52:f207567d3ea4 1715 else if (RUDDER_PID_key == 'C') {
tnhnrl 74:d281aaef9766 1716 xbee().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1717 rudder_ctr_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1718 }
tnhnrl 52:f207567d3ea4 1719 // MIN DEG
tnhnrl 52:f207567d3ea4 1720 else if (RUDDER_PID_key == 'K') {
tnhnrl 74:d281aaef9766 1721 xbee().printf(">> Type in rudder_min_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1722 rudder_min_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1723 }
tnhnrl 52:f207567d3ea4 1724 // MAX DEG
tnhnrl 52:f207567d3ea4 1725 else if (RUDDER_PID_key == 'L') {
tnhnrl 74:d281aaef9766 1726 xbee().printf(">> Type in rudder_max_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1727 rudder_max_deg = getFloatUserInput();
tnhnrl 74:d281aaef9766 1728 }
tnhnrl 52:f207567d3ea4 1729 else {
tnhnrl 74:d281aaef9766 1730 xbee().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
tnhnrl 52:f207567d3ea4 1731 }
tnhnrl 52:f207567d3ea4 1732 }
tnhnrl 52:f207567d3ea4 1733 }
tnhnrl 54:d4990fb68404 1734
tnhnrl 54:d4990fb68404 1735 void StateMachine::keyboard_menu_COUNTS_STATUS() {
tnhnrl 73:f6f378311c8d 1736 // DELETE REMOVE
tnhnrl 54:d4990fb68404 1737 }
tnhnrl 56:48a8a5a65b82 1738
tnhnrl 49:47ffa4feb6db 1739 void StateMachine::keyboard_menu_MANUAL_TUNING() {
tnhnrl 49:47ffa4feb6db 1740 char TUNING_key;
tnhnrl 49:47ffa4feb6db 1741
tnhnrl 56:48a8a5a65b82 1742 //made these into internal parameters
tnhnrl 74:d281aaef9766 1743 float _tuning_bce_pos_mm = 200.0; //safe starting position
tnhnrl 74:d281aaef9766 1744 float _tuning_batt_pos_mm = 40.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1745 float _tuning_rudder_pos_deg = 0.0; //safe starting position
tnhnrl 74:d281aaef9766 1746 float _tuning_rudder_pwm = 1640.0;
tnhnrl 56:48a8a5a65b82 1747
tnhnrl 56:48a8a5a65b82 1748 //immediately start at those positions
tnhnrl 56:48a8a5a65b82 1749 bce().setPosition_mm(_tuning_bce_pos_mm);
tnhnrl 56:48a8a5a65b82 1750 batt().setPosition_mm(_tuning_batt_pos_mm);
tnhnrl 56:48a8a5a65b82 1751 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 49:47ffa4feb6db 1752
tnhnrl 74:d281aaef9766 1753 // show the menu
tnhnrl 74:d281aaef9766 1754 xbee().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
tnhnrl 74:d281aaef9766 1755 xbee().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
tnhnrl 74:d281aaef9766 1756 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 74:d281aaef9766 1757
tnhnrl 49:47ffa4feb6db 1758 // what needs to be started?
tnhnrl 49:47ffa4feb6db 1759 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 1760 batt().unpause(); //this is now active
tnhnrl 56:48a8a5a65b82 1761 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1762
tnhnrl 69:919ac8d7e023 1763 while (1) {
tnhnrl 69:919ac8d7e023 1764 wait(0.1);
tnhnrl 69:919ac8d7e023 1765
tnhnrl 74:d281aaef9766 1766 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1767 TUNING_key = xbee().getc(); //get each keystroke
tnhnrl 49:47ffa4feb6db 1768 }
tnhnrl 49:47ffa4feb6db 1769
tnhnrl 58:94b7fd55185e 1770 else {
tnhnrl 74:d281aaef9766 1771 //xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1772 continue; // didn't get a user input, so keep waiting for it
tnhnrl 49:47ffa4feb6db 1773 }
tnhnrl 49:47ffa4feb6db 1774
tnhnrl 49:47ffa4feb6db 1775 // process the keys
tnhnrl 49:47ffa4feb6db 1776 if (TUNING_key == 'X') {
tnhnrl 49:47ffa4feb6db 1777 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 49:47ffa4feb6db 1778 bce().pause();
tnhnrl 49:47ffa4feb6db 1779 batt().pause();
tnhnrl 56:48a8a5a65b82 1780 rudder().pause();
tnhnrl 56:48a8a5a65b82 1781
tnhnrl 56:48a8a5a65b82 1782 //right now the rudder is always active................................................hmm
tnhnrl 56:48a8a5a65b82 1783 //deactivate the pin? new/delete?
tnhnrl 49:47ffa4feb6db 1784
tnhnrl 49:47ffa4feb6db 1785 break; //exit the while loop
tnhnrl 49:47ffa4feb6db 1786 }
tnhnrl 56:48a8a5a65b82 1787
tnhnrl 56:48a8a5a65b82 1788 //Buoyancy Engine
tnhnrl 74:d281aaef9766 1789 else if (TUNING_key == 'A' or TUNING_key == 'a') {
tnhnrl 56:48a8a5a65b82 1790 _tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1791 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1792 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1793 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 52:f207567d3ea4 1794 }
tnhnrl 52:f207567d3ea4 1795
tnhnrl 74:d281aaef9766 1796 else if (TUNING_key == 'S' or TUNING_key == 's') {
tnhnrl 56:48a8a5a65b82 1797 _tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1798 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1799 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1800 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1801 }
tnhnrl 49:47ffa4feb6db 1802
tnhnrl 56:48a8a5a65b82 1803 //BATTERY
tnhnrl 74:d281aaef9766 1804 else if (TUNING_key == 'Q' or TUNING_key == 'q') {
tnhnrl 56:48a8a5a65b82 1805 _tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1806 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1807 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1808 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1809 }
tnhnrl 49:47ffa4feb6db 1810
tnhnrl 74:d281aaef9766 1811 else if (TUNING_key == 'W' or TUNING_key == 'w') {
tnhnrl 56:48a8a5a65b82 1812 _tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1813 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1814 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1815 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1816 }
tnhnrl 56:48a8a5a65b82 1817
tnhnrl 56:48a8a5a65b82 1818 else if (TUNING_key == 'c' or TUNING_key == 'C') {
tnhnrl 74:d281aaef9766 1819 xbee().printf("\r\nMT: (CURRENT POSITIONS) BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1820 }
tnhnrl 56:48a8a5a65b82 1821
tnhnrl 56:48a8a5a65b82 1822 //RUDER
tnhnrl 74:d281aaef9766 1823 else if (TUNING_key == 'R' or TUNING_key == 'r') {
tnhnrl 56:48a8a5a65b82 1824 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
tnhnrl 56:48a8a5a65b82 1825 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 74:d281aaef9766 1826 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 74:d281aaef9766 1827 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1828 }
tnhnrl 56:48a8a5a65b82 1829
tnhnrl 74:d281aaef9766 1830 else if (TUNING_key == 'E' or TUNING_key == 'e') {
tnhnrl 56:48a8a5a65b82 1831 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
tnhnrl 56:48a8a5a65b82 1832 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 74:d281aaef9766 1833 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 74:d281aaef9766 1834 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1835 }
tnhnrl 56:48a8a5a65b82 1836
tnhnrl 74:d281aaef9766 1837 else if (TUNING_key == '-' or TUNING_key == '_') {
tnhnrl 74:d281aaef9766 1838 _tuning_rudder_pwm -= 10.0;
tnhnrl 74:d281aaef9766 1839 rudder().setPWM(_tuning_rudder_pwm);
tnhnrl 74:d281aaef9766 1840 xbee().printf("MT: (-) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
tnhnrl 74:d281aaef9766 1841 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1842 }
tnhnrl 74:d281aaef9766 1843
tnhnrl 74:d281aaef9766 1844 else if (TUNING_key == '=' or TUNING_key == '+') {
tnhnrl 74:d281aaef9766 1845 _tuning_rudder_pwm += 10.0;
tnhnrl 74:d281aaef9766 1846 rudder().setPWM(_tuning_rudder_pwm);
tnhnrl 74:d281aaef9766 1847 xbee().printf("MT: (+) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
tnhnrl 74:d281aaef9766 1848 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1849 }
tnhnrl 49:47ffa4feb6db 1850
tnhnrl 49:47ffa4feb6db 1851 else {
tnhnrl 74:d281aaef9766 1852 xbee().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
tnhnrl 56:48a8a5a65b82 1853 }
tnhnrl 49:47ffa4feb6db 1854 }
tnhnrl 49:47ffa4feb6db 1855 }
tnhnrl 52:f207567d3ea4 1856
tnhnrl 52:f207567d3ea4 1857 void StateMachine::keyboard_menu_CHANNEL_READINGS() {
tnhnrl 52:f207567d3ea4 1858 char TUNING_key;
tnhnrl 52:f207567d3ea4 1859
tnhnrl 52:f207567d3ea4 1860 // show the menu
tnhnrl 74:d281aaef9766 1861 xbee().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
tnhnrl 55:f4ec445c42fe 1862
tnhnrl 55:f4ec445c42fe 1863 while (1) {
tnhnrl 74:d281aaef9766 1864 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1865 TUNING_key = xbee().getc(); //get each keystroke
tnhnrl 55:f4ec445c42fe 1866 }
tnhnrl 55:f4ec445c42fe 1867
tnhnrl 55:f4ec445c42fe 1868 // process the keys
tnhnrl 55:f4ec445c42fe 1869 if (TUNING_key == 'X') {
tnhnrl 55:f4ec445c42fe 1870 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 55:f4ec445c42fe 1871 bce().pause();
tnhnrl 55:f4ec445c42fe 1872 batt().pause();
tnhnrl 55:f4ec445c42fe 1873
tnhnrl 55:f4ec445c42fe 1874 break; //exit the while loop
tnhnrl 55:f4ec445c42fe 1875 }
tnhnrl 55:f4ec445c42fe 1876
tnhnrl 55:f4ec445c42fe 1877 else {
tnhnrl 55:f4ec445c42fe 1878 wait(0.5);
tnhnrl 74:d281aaef9766 1879 xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
tnhnrl 55:f4ec445c42fe 1880 continue; // didn't get a user input, so keep waiting for it
tnhnrl 55:f4ec445c42fe 1881 }
tnhnrl 55:f4ec445c42fe 1882 }
tnhnrl 55:f4ec445c42fe 1883 }
tnhnrl 49:47ffa4feb6db 1884
tnhnrl 16:3363b9f14913 1885 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 73:f6f378311c8d 1886 char BCE_PID_key;
tnhnrl 63:6cb0405fc6e6 1887
tnhnrl 76:c802e1da4179 1888 // load current values from files
tnhnrl 76:c802e1da4179 1889 float bce_KP = bce().getControllerP();
tnhnrl 76:c802e1da4179 1890 float bce_KI = bce().getControllerI();
tnhnrl 76:c802e1da4179 1891 float bce_KD = bce().getControllerD();
tnhnrl 76:c802e1da4179 1892
tnhnrl 76:c802e1da4179 1893 float bce_deadband = bce().getDeadband();
tnhnrl 76:c802e1da4179 1894 float bce_frequency = bce().getFilterFrequency();
tnhnrl 76:c802e1da4179 1895 int bce_zero_offset = bce().getZeroCounts();
tnhnrl 76:c802e1da4179 1896 //BCE frequency and deadband are hardcoded!
tnhnrl 16:3363b9f14913 1897
tnhnrl 16:3363b9f14913 1898 // show the menu
tnhnrl 76:c802e1da4179 1899 xbee().printf("\n\rBuoyancy Engine PID gain settings (MENU). ADJUST WITH CARE!");
tnhnrl 76:c802e1da4179 1900 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B, zero offset = Z\n\r");
tnhnrl 74:d281aaef9766 1901 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 76:c802e1da4179 1902 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
tnhnrl 63:6cb0405fc6e6 1903
tnhnrl 63:6cb0405fc6e6 1904 // handle the key presses
tnhnrl 63:6cb0405fc6e6 1905 while(1) {
tnhnrl 63:6cb0405fc6e6 1906 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 1907 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1908 BCE_PID_key = xbee().getc();
tnhnrl 63:6cb0405fc6e6 1909 }
tnhnrl 63:6cb0405fc6e6 1910 else {
tnhnrl 63:6cb0405fc6e6 1911 continue; // didn't get a user input, so keep waiting for it
tnhnrl 63:6cb0405fc6e6 1912 }
tnhnrl 63:6cb0405fc6e6 1913
tnhnrl 63:6cb0405fc6e6 1914 // handle the user's key input
tnhnrl 73:f6f378311c8d 1915 if (BCE_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 1916 // set values
tnhnrl 63:6cb0405fc6e6 1917 bce().setControllerP(bce_KP);
tnhnrl 63:6cb0405fc6e6 1918 bce().setControllerI(bce_KI);
tnhnrl 76:c802e1da4179 1919 bce().setControllerD(bce_KD);
tnhnrl 76:c802e1da4179 1920
tnhnrl 76:c802e1da4179 1921 bce().setDeadband(bce_deadband);
tnhnrl 76:c802e1da4179 1922 bce().setFilterFrequency(bce_frequency);
tnhnrl 76:c802e1da4179 1923 bce().setZeroCounts(bce_zero_offset); //integer value
tnhnrl 63:6cb0405fc6e6 1924
tnhnrl 73:f6f378311c8d 1925 // save to "BCE.TXT" file
tnhnrl 76:c802e1da4179 1926 //saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband)
tnhnrl 76:c802e1da4179 1927 configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD, bce_zero_offset, bce_frequency, bce_deadband);
tnhnrl 76:c802e1da4179 1928 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
tnhnrl 63:6cb0405fc6e6 1929 }
tnhnrl 73:f6f378311c8d 1930 else if (BCE_PID_key == 'X') {
tnhnrl 63:6cb0405fc6e6 1931 break; //exit the while loop
tnhnrl 63:6cb0405fc6e6 1932 }
tnhnrl 73:f6f378311c8d 1933 else if (BCE_PID_key == 'P') {
tnhnrl 74:d281aaef9766 1934 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1935 bce_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1936 }
tnhnrl 73:f6f378311c8d 1937 else if (BCE_PID_key == 'I') {
tnhnrl 74:d281aaef9766 1938 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1939 bce_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1940 }
tnhnrl 73:f6f378311c8d 1941 else if (BCE_PID_key == 'D') {
tnhnrl 74:d281aaef9766 1942 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1943 bce_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1944 }
tnhnrl 73:f6f378311c8d 1945 else if (BCE_PID_key == 'F') {
tnhnrl 74:d281aaef9766 1946 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 76:c802e1da4179 1947 bce_frequency = getFloatUserInput();
tnhnrl 73:f6f378311c8d 1948 }
tnhnrl 73:f6f378311c8d 1949 else if (BCE_PID_key == 'B') {
tnhnrl 74:d281aaef9766 1950 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 76:c802e1da4179 1951 bce_deadband = getFloatUserInput();
tnhnrl 76:c802e1da4179 1952 }
tnhnrl 76:c802e1da4179 1953 else if (BCE_PID_key == 'Z') {
tnhnrl 76:c802e1da4179 1954 xbee().printf(">> Type in zero count offset with keyboard.\n\r");
tnhnrl 76:c802e1da4179 1955 bce_zero_offset = (int)getFloatUserInput();
tnhnrl 73:f6f378311c8d 1956 }
tnhnrl 63:6cb0405fc6e6 1957 else {
tnhnrl 74:d281aaef9766 1958 xbee().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
tnhnrl 63:6cb0405fc6e6 1959 }
tnhnrl 63:6cb0405fc6e6 1960 }
tnhnrl 63:6cb0405fc6e6 1961 }
tnhnrl 63:6cb0405fc6e6 1962
tnhnrl 63:6cb0405fc6e6 1963 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 73:f6f378311c8d 1964 char BMM_PID_key;
tnhnrl 76:c802e1da4179 1965
tnhnrl 76:c802e1da4179 1966 // load current values from files
tnhnrl 76:c802e1da4179 1967 float batt_KP = batt().getControllerP();
tnhnrl 76:c802e1da4179 1968 float batt_KI = batt().getControllerI();
tnhnrl 76:c802e1da4179 1969 float batt_KD = batt().getControllerD();
tnhnrl 63:6cb0405fc6e6 1970
tnhnrl 76:c802e1da4179 1971 float batt_deadband = batt().getDeadband();
tnhnrl 76:c802e1da4179 1972 float batt_frequency = batt().getFilterFrequency();
tnhnrl 76:c802e1da4179 1973 int batt_zero_offset = batt().getZeroCounts();
tnhnrl 76:c802e1da4179 1974 //BATT frequency and deadband are hardcoded!
tnhnrl 63:6cb0405fc6e6 1975
tnhnrl 63:6cb0405fc6e6 1976 // print the menu
tnhnrl 74:d281aaef9766 1977 xbee().printf("\n\rBattery Motor PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 1978 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 1979 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 76:c802e1da4179 1980 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 76:c802e1da4179 1981
tnhnrl 16:3363b9f14913 1982 // handle the key presses
tnhnrl 16:3363b9f14913 1983 while(1) {
tnhnrl 16:3363b9f14913 1984 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 1985 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1986 BMM_PID_key = xbee().getc();
tnhnrl 16:3363b9f14913 1987 }
tnhnrl 16:3363b9f14913 1988 else {
tnhnrl 16:3363b9f14913 1989 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 1990 }
tnhnrl 16:3363b9f14913 1991
tnhnrl 16:3363b9f14913 1992 // handle the user's key input
tnhnrl 73:f6f378311c8d 1993 if (BMM_PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 1994 // set values
tnhnrl 63:6cb0405fc6e6 1995 batt().setControllerP(batt_KP);
tnhnrl 63:6cb0405fc6e6 1996 batt().setControllerI(batt_KI);
tnhnrl 76:c802e1da4179 1997 batt().setControllerD(batt_KD);
tnhnrl 76:c802e1da4179 1998
tnhnrl 76:c802e1da4179 1999 batt().setDeadband(batt_deadband);
tnhnrl 76:c802e1da4179 2000 batt().setFilterFrequency(batt_frequency);
tnhnrl 76:c802e1da4179 2001 batt().setZeroCounts(batt_zero_offset); //integer value
tnhnrl 16:3363b9f14913 2002
tnhnrl 38:83d06c294807 2003 // save to "BATT.TXT" file
tnhnrl 76:c802e1da4179 2004 //saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband)
tnhnrl 76:c802e1da4179 2005 configFileIO().saveBattData(batt_KP, batt_KI, batt_KD, batt_zero_offset, batt_frequency, batt_deadband);
tnhnrl 76:c802e1da4179 2006 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 16:3363b9f14913 2007 }
tnhnrl 73:f6f378311c8d 2008 else if (BMM_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2009 break; //exit the while loop
tnhnrl 16:3363b9f14913 2010 }
tnhnrl 73:f6f378311c8d 2011 else if (BMM_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2012 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2013 batt_KP = getFloatUserInput();
tnhnrl 16:3363b9f14913 2014 }
tnhnrl 73:f6f378311c8d 2015 else if (BMM_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2016 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2017 batt_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2018 }
tnhnrl 73:f6f378311c8d 2019 else if (BMM_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2020 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2021 batt_KD = getFloatUserInput();
tnhnrl 16:3363b9f14913 2022 }
tnhnrl 73:f6f378311c8d 2023 else if (BMM_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2024 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2025 batt_frequency = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2026 }
tnhnrl 73:f6f378311c8d 2027 else if (BMM_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2028 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2029 batt_deadband = getFloatUserInput();
tnhnrl 76:c802e1da4179 2030 }
tnhnrl 76:c802e1da4179 2031 else if (BMM_PID_key == 'Z') {
tnhnrl 76:c802e1da4179 2032 xbee().printf(">> Type in zero count offset with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2033 batt_zero_offset = (int)getFloatUserInput();
tnhnrl 73:f6f378311c8d 2034 }
tnhnrl 16:3363b9f14913 2035 else {
tnhnrl 74:d281aaef9766 2036 xbee().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
tnhnrl 16:3363b9f14913 2037 }
tnhnrl 16:3363b9f14913 2038 }
tnhnrl 16:3363b9f14913 2039 }
tnhnrl 20:8987a9ae2bc7 2040
tnhnrl 16:3363b9f14913 2041 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 73:f6f378311c8d 2042 char DEPTH_PID_key;
tnhnrl 63:6cb0405fc6e6 2043
tnhnrl 63:6cb0405fc6e6 2044 float depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2045 float depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2046 float depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 76:c802e1da4179 2047
tnhnrl 73:f6f378311c8d 2048 float depth_freq = depthLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2049 float depth_deadband = depthLoop().getDeadband();
tnhnrl 16:3363b9f14913 2050
tnhnrl 63:6cb0405fc6e6 2051 // print the menu
tnhnrl 74:d281aaef9766 2052 xbee().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2053 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2054 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 74:d281aaef9766 2055 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
tnhnrl 16:3363b9f14913 2056
tnhnrl 16:3363b9f14913 2057 // handle the key presses
tnhnrl 16:3363b9f14913 2058 while(1) {
tnhnrl 16:3363b9f14913 2059 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2060 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2061 DEPTH_PID_key = xbee().getc();
tnhnrl 16:3363b9f14913 2062 }
tnhnrl 16:3363b9f14913 2063 else {
tnhnrl 16:3363b9f14913 2064 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2065 }
tnhnrl 16:3363b9f14913 2066
tnhnrl 16:3363b9f14913 2067 // handle the user's key input
tnhnrl 73:f6f378311c8d 2068 if (DEPTH_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2069 // set values
tnhnrl 63:6cb0405fc6e6 2070 depthLoop().setControllerP(depth_KP);
tnhnrl 63:6cb0405fc6e6 2071 depthLoop().setControllerI(depth_KI);
tnhnrl 73:f6f378311c8d 2072 depthLoop().setControllerD(depth_KD);
tnhnrl 76:c802e1da4179 2073
tnhnrl 73:f6f378311c8d 2074 depthLoop().setFilterFrequency(depth_freq);
tnhnrl 73:f6f378311c8d 2075 depthLoop().setDeadband(depth_deadband);
tnhnrl 63:6cb0405fc6e6 2076
tnhnrl 63:6cb0405fc6e6 2077 // save to "DEPTH.TXT" file
tnhnrl 73:f6f378311c8d 2078 configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm, depth_freq, depth_deadband); //P,I,D, bce zeroOffset
tnhnrl 73:f6f378311c8d 2079
tnhnrl 74:d281aaef9766 2080 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
tnhnrl 16:3363b9f14913 2081
tnhnrl 63:6cb0405fc6e6 2082 //set class variables that will be used in find neutral sequence
tnhnrl 63:6cb0405fc6e6 2083 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2084 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2085 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 2086 }
tnhnrl 73:f6f378311c8d 2087 else if (DEPTH_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2088 break; //exit the while loop
tnhnrl 16:3363b9f14913 2089 }
tnhnrl 73:f6f378311c8d 2090 else if (DEPTH_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2091 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2092 depth_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2093 }
tnhnrl 73:f6f378311c8d 2094 else if (DEPTH_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2095 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2096 depth_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2097 }
tnhnrl 73:f6f378311c8d 2098 else if (DEPTH_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2099 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2100 depth_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2101 }
tnhnrl 73:f6f378311c8d 2102 else if (DEPTH_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2103 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2104 depth_freq = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2105 }
tnhnrl 73:f6f378311c8d 2106 else if (DEPTH_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2107 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2108 depth_deadband = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2109 }
tnhnrl 16:3363b9f14913 2110 else {
tnhnrl 74:d281aaef9766 2111 xbee().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
tnhnrl 16:3363b9f14913 2112 }
tnhnrl 16:3363b9f14913 2113 }
tnhnrl 16:3363b9f14913 2114 }
tnhnrl 16:3363b9f14913 2115
tnhnrl 16:3363b9f14913 2116 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 73:f6f378311c8d 2117 char PITCH_PID_key;
tnhnrl 63:6cb0405fc6e6 2118
tnhnrl 63:6cb0405fc6e6 2119 float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2120 float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2121 float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 76:c802e1da4179 2122
tnhnrl 73:f6f378311c8d 2123 float pitch_freq = pitchLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2124 float pitch_deadband = pitchLoop().getDeadband();
tnhnrl 16:3363b9f14913 2125
tnhnrl 16:3363b9f14913 2126 // print the menu
tnhnrl 74:d281aaef9766 2127 xbee().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2128 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2129 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 74:d281aaef9766 2130 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 63:6cb0405fc6e6 2131
tnhnrl 16:3363b9f14913 2132 // handle the key presses
tnhnrl 16:3363b9f14913 2133 while(1) {
tnhnrl 16:3363b9f14913 2134 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2135 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2136 PITCH_PID_key = xbee().getc();
tnhnrl 16:3363b9f14913 2137 }
tnhnrl 16:3363b9f14913 2138 else {
tnhnrl 16:3363b9f14913 2139 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2140 }
tnhnrl 63:6cb0405fc6e6 2141
tnhnrl 16:3363b9f14913 2142 // handle the user's key input
tnhnrl 73:f6f378311c8d 2143 if (PITCH_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2144 // set values
tnhnrl 63:6cb0405fc6e6 2145 pitchLoop().setControllerP(pitch_KP);
tnhnrl 63:6cb0405fc6e6 2146 pitchLoop().setControllerI(pitch_KI);
tnhnrl 73:f6f378311c8d 2147 pitchLoop().setControllerD(pitch_KD);
tnhnrl 76:c802e1da4179 2148
tnhnrl 73:f6f378311c8d 2149 pitchLoop().setFilterFrequency(pitch_freq);
tnhnrl 73:f6f378311c8d 2150 pitchLoop().setDeadband(pitch_deadband);
tnhnrl 63:6cb0405fc6e6 2151
tnhnrl 73:f6f378311c8d 2152 // save to "PITCH.TXT" file (doesn't modify neutral position)
tnhnrl 73:f6f378311c8d 2153 configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm, pitch_freq, pitch_deadband);
tnhnrl 73:f6f378311c8d 2154
tnhnrl 74:d281aaef9766 2155 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 73:f6f378311c8d 2156
tnhnrl 63:6cb0405fc6e6 2157 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2158 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2159 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 2160 }
tnhnrl 73:f6f378311c8d 2161 else if (PITCH_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2162 break; //exit the while loop
tnhnrl 16:3363b9f14913 2163 }
tnhnrl 73:f6f378311c8d 2164 else if (PITCH_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2165 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2166 pitch_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2167 }
tnhnrl 73:f6f378311c8d 2168 else if (PITCH_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2169 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2170 pitch_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2171 }
tnhnrl 73:f6f378311c8d 2172 else if (PITCH_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2173 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2174 pitch_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2175 }
tnhnrl 73:f6f378311c8d 2176 else if (PITCH_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2177 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2178 pitch_freq = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2179 }
tnhnrl 73:f6f378311c8d 2180 else if (PITCH_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2181 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2182 pitch_deadband = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2183 }
tnhnrl 16:3363b9f14913 2184 else {
tnhnrl 74:d281aaef9766 2185 xbee().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
tnhnrl 73:f6f378311c8d 2186 }
tnhnrl 73:f6f378311c8d 2187 }
tnhnrl 73:f6f378311c8d 2188 }
tnhnrl 73:f6f378311c8d 2189
tnhnrl 73:f6f378311c8d 2190 void StateMachine::keyboard_menu_HEADING_PID_settings() {
tnhnrl 73:f6f378311c8d 2191 char HEADING_PID_key;
tnhnrl 73:f6f378311c8d 2192
tnhnrl 73:f6f378311c8d 2193 float heading_KP = headingLoop().getControllerP();
tnhnrl 73:f6f378311c8d 2194 float heading_KI = headingLoop().getControllerI();
tnhnrl 76:c802e1da4179 2195 float heading_KD = headingLoop().getControllerD();
tnhnrl 76:c802e1da4179 2196
tnhnrl 73:f6f378311c8d 2197 float heading_offset_deg = headingLoop().getOutputOffset();
tnhnrl 73:f6f378311c8d 2198 float heading_freq = headingLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2199 float heading_deadband = headingLoop().getDeadband();
tnhnrl 73:f6f378311c8d 2200
tnhnrl 73:f6f378311c8d 2201 // print the menu
tnhnrl 74:d281aaef9766 2202 xbee().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2203 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2204 xbee().printf("\n\r Adjust zero offset with O (oh).");
tnhnrl 74:d281aaef9766 2205 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 74:d281aaef9766 2206 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
tnhnrl 73:f6f378311c8d 2207
tnhnrl 73:f6f378311c8d 2208 // handle the key presses
tnhnrl 73:f6f378311c8d 2209 while(1) {
tnhnrl 73:f6f378311c8d 2210 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2211 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2212 HEADING_PID_key = xbee().getc();
tnhnrl 73:f6f378311c8d 2213 }
tnhnrl 73:f6f378311c8d 2214 else {
tnhnrl 73:f6f378311c8d 2215 continue; // didn't get a user input, so keep waiting for it
tnhnrl 73:f6f378311c8d 2216 }
tnhnrl 73:f6f378311c8d 2217
tnhnrl 73:f6f378311c8d 2218 // handle the user's key input
tnhnrl 73:f6f378311c8d 2219 if (HEADING_PID_key == 'S') { // user wants to save the modified values
tnhnrl 73:f6f378311c8d 2220 // set global values
tnhnrl 73:f6f378311c8d 2221 headingLoop().setControllerP(heading_KP);
tnhnrl 73:f6f378311c8d 2222 headingLoop().setControllerI(heading_KI);
tnhnrl 73:f6f378311c8d 2223 headingLoop().setControllerD(heading_KD);
tnhnrl 73:f6f378311c8d 2224 headingLoop().setOutputOffset(heading_offset_deg);
tnhnrl 74:d281aaef9766 2225 headingLoop().setFilterFrequency(heading_freq);
tnhnrl 74:d281aaef9766 2226 headingLoop().setDeadband(heading_deadband);
tnhnrl 74:d281aaef9766 2227
tnhnrl 73:f6f378311c8d 2228 // save pitch PID values for outer loop (must save neutral position also)
tnhnrl 74:d281aaef9766 2229 configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, heading_freq, heading_deadband); //_neutral_heading_pos_deg);
tnhnrl 74:d281aaef9766 2230 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
tnhnrl 73:f6f378311c8d 2231 }
tnhnrl 73:f6f378311c8d 2232 else if (HEADING_PID_key == 'X') {
tnhnrl 73:f6f378311c8d 2233 break; //exit the while loop
tnhnrl 73:f6f378311c8d 2234 }
tnhnrl 73:f6f378311c8d 2235
tnhnrl 73:f6f378311c8d 2236 else if (HEADING_PID_key == 'P') {
tnhnrl 73:f6f378311c8d 2237 heading_KP = getFloatUserInput();;
tnhnrl 73:f6f378311c8d 2238 }
tnhnrl 73:f6f378311c8d 2239 else if (HEADING_PID_key == 'I') {
tnhnrl 73:f6f378311c8d 2240 heading_KI = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2241 }
tnhnrl 73:f6f378311c8d 2242 else if (HEADING_PID_key == 'D') {
tnhnrl 73:f6f378311c8d 2243 heading_KD = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2244 }
tnhnrl 73:f6f378311c8d 2245 else if (HEADING_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2246 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2247 heading_freq = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2248 }
tnhnrl 73:f6f378311c8d 2249 else if (HEADING_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2250 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2251 heading_deadband = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2252 }
tnhnrl 73:f6f378311c8d 2253 else if (HEADING_PID_key == 'O') {
tnhnrl 73:f6f378311c8d 2254 heading_offset_deg = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2255 }
tnhnrl 73:f6f378311c8d 2256 else {
tnhnrl 74:d281aaef9766 2257 xbee().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
tnhnrl 16:3363b9f14913 2258 }
tnhnrl 16:3363b9f14913 2259 }
tnhnrl 16:3363b9f14913 2260 }
tnhnrl 20:8987a9ae2bc7 2261
tnhnrl 16:3363b9f14913 2262 float StateMachine::getDepthCommand() {
tnhnrl 32:f2f8ae34aadc 2263 return _depth_command;
tnhnrl 16:3363b9f14913 2264 }
tnhnrl 20:8987a9ae2bc7 2265
tnhnrl 16:3363b9f14913 2266 float StateMachine::getPitchCommand() {
tnhnrl 32:f2f8ae34aadc 2267 return _pitch_command;
tnhnrl 32:f2f8ae34aadc 2268 }
tnhnrl 32:f2f8ae34aadc 2269
tnhnrl 32:f2f8ae34aadc 2270 float StateMachine::getDepthReading() {
tnhnrl 32:f2f8ae34aadc 2271 return _depth_reading;
tnhnrl 32:f2f8ae34aadc 2272 }
tnhnrl 32:f2f8ae34aadc 2273
tnhnrl 32:f2f8ae34aadc 2274 float StateMachine::getPitchReading() {
tnhnrl 32:f2f8ae34aadc 2275 return _pitch_reading;
tnhnrl 32:f2f8ae34aadc 2276 }
tnhnrl 32:f2f8ae34aadc 2277
tnhnrl 32:f2f8ae34aadc 2278 float StateMachine::getTimerReading() {
tnhnrl 32:f2f8ae34aadc 2279 return _timer_reading;
tnhnrl 17:7c16b5671d0e 2280 }
tnhnrl 28:16c83a2fdefa 2281
tnhnrl 17:7c16b5671d0e 2282 void StateMachine::setState(int input_state) {
tnhnrl 21:38c8544db6f4 2283 _state = input_state;
tnhnrl 73:f6f378311c8d 2284
tnhnrl 73:f6f378311c8d 2285 _isTimeoutRunning = false; //to start each state you have to reset this
tnhnrl 17:7c16b5671d0e 2286 }
tnhnrl 20:8987a9ae2bc7 2287
tnhnrl 17:7c16b5671d0e 2288 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 2289 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 2290 }
tnhnrl 20:8987a9ae2bc7 2291
tnhnrl 17:7c16b5671d0e 2292 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 2293 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 2294 }
tnhnrl 20:8987a9ae2bc7 2295
tnhnrl 17:7c16b5671d0e 2296 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 32:f2f8ae34aadc 2297 _depth_command = input_depth_command;
tnhnrl 17:7c16b5671d0e 2298 }
tnhnrl 20:8987a9ae2bc7 2299
tnhnrl 17:7c16b5671d0e 2300 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 32:f2f8ae34aadc 2301 _pitch_command = input_pitch_command;
tnhnrl 17:7c16b5671d0e 2302 }
tnhnrl 20:8987a9ae2bc7 2303
tnhnrl 17:7c16b5671d0e 2304 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 2305 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 2306 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 2307
tnhnrl 74:d281aaef9766 2308 xbee().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 2309 }
tnhnrl 20:8987a9ae2bc7 2310
tnhnrl 17:7c16b5671d0e 2311 //process one state at a time
tnhnrl 17:7c16b5671d0e 2312 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 2313 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 2314 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 2315 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 2316 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 2317 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
tnhnrl 17:7c16b5671d0e 2318
tnhnrl 17:7c16b5671d0e 2319 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 32:f2f8ae34aadc 2320 }
joel_ssc 82:0981b9ada820 2321 //process one state at a time
joel_ssc 82:0981b9ada820 2322 void StateMachine::getLegParams() {
joel_ssc 82:0981b9ada820 2323 //iterate through this sequence using the FSM
joel_ssc 82:0981b9ada820 2324 currentLegStateStruct.state = legController().legStructLoaded[_multi_leg_counter].state;
joel_ssc 82:0981b9ada820 2325 currentLegStateStruct.timeout = legController().legStructLoaded[_multi_leg_counter].timeout;
joel_ssc 82:0981b9ada820 2326 currentLegStateStruct.yo_time = legController().legStructLoaded[_multi_leg_counter].yo_time; //timer for each up/down segment
joel_ssc 82:0981b9ada820 2327 currentLegStateStruct.min_depth = legController().legStructLoaded[_multi_leg_counter].min_depth;
joel_ssc 82:0981b9ada820 2328 currentLegStateStruct.max_depth = legController().legStructLoaded[_multi_leg_counter].max_depth;
joel_ssc 82:0981b9ada820 2329 currentLegStateStruct.heading = legController().legStructLoaded[_multi_leg_counter].heading;
joel_ssc 82:0981b9ada820 2330
joel_ssc 82:0981b9ada820 2331 _timeout = currentLegStateStruct.timeout; //set timeout before exiting this function
joel_ssc 82:0981b9ada820 2332 _yo_time = currentLegStateStruct.yo_time;
joel_ssc 82:0981b9ada820 2333 _state = currentLegStateStruct.state;
joel_ssc 82:0981b9ada820 2334 }
tnhnrl 32:f2f8ae34aadc 2335
tnhnrl 32:f2f8ae34aadc 2336 void StateMachine::printCurrentSdLog() {
tnhnrl 74:d281aaef9766 2337 xbee().printf("SD card log work in progress\r\n");
tnhnrl 32:f2f8ae34aadc 2338 //might be worth saving the last few logs to the MBED...
tnhnrl 32:f2f8ae34aadc 2339 }
tnhnrl 32:f2f8ae34aadc 2340
tnhnrl 52:f207567d3ea4 2341 // 06/06/2018
tnhnrl 52:f207567d3ea4 2342 float StateMachine::getFloatUserInput() {
tnhnrl 52:f207567d3ea4 2343 float float_conversion = 0.0;
tnhnrl 52:f207567d3ea4 2344
tnhnrl 52:f207567d3ea4 2345 while(1) {
tnhnrl 52:f207567d3ea4 2346 bool valid_input = false; //flag for valid or invalid input
tnhnrl 52:f207567d3ea4 2347
tnhnrl 74:d281aaef9766 2348 xbee().printf("\n\rPlease enter your number below and press ENTER:\r\n");
tnhnrl 52:f207567d3ea4 2349 char user_string [80]; //variable to store input as a character array
tnhnrl 52:f207567d3ea4 2350
tnhnrl 74:d281aaef9766 2351 xbee().scanf("%s", user_string); //read formatted data from stdin
tnhnrl 74:d281aaef9766 2352 xbee().printf("\n\n\ruser_string was <%s>\r\n", user_string);
tnhnrl 52:f207567d3ea4 2353
tnhnrl 52:f207567d3ea4 2354 //check through the string for invalid characters (decimal values 43 through 57)
tnhnrl 52:f207567d3ea4 2355 for (int c = 0; c < strlen(user_string); c++) {
tnhnrl 74:d281aaef9766 2356 //xbee().printf("character is [%c]\r\n", user_string[c]); //debug
tnhnrl 52:f207567d3ea4 2357 if (user_string[c] >= 43 and user_string[c] <= 57) {
tnhnrl 74:d281aaef9766 2358 //xbee().printf("VALID CHARACTER!\r\n"); //debug
tnhnrl 52:f207567d3ea4 2359 ;
tnhnrl 52:f207567d3ea4 2360 }
tnhnrl 52:f207567d3ea4 2361 else {
tnhnrl 74:d281aaef9766 2362 xbee().printf("INVALID INPUT!\r\n");
tnhnrl 52:f207567d3ea4 2363 break;
tnhnrl 52:f207567d3ea4 2364 }
tnhnrl 52:f207567d3ea4 2365
tnhnrl 52:f207567d3ea4 2366 if (c == (strlen(user_string) - 1)) {
tnhnrl 52:f207567d3ea4 2367 valid_input = true;
tnhnrl 52:f207567d3ea4 2368 }
tnhnrl 52:f207567d3ea4 2369 }
tnhnrl 52:f207567d3ea4 2370
tnhnrl 52:f207567d3ea4 2371 if (valid_input) {
tnhnrl 52:f207567d3ea4 2372 float_conversion = atof(user_string);
tnhnrl 74:d281aaef9766 2373 xbee().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
tnhnrl 52:f207567d3ea4 2374 break;
tnhnrl 52:f207567d3ea4 2375 }
tnhnrl 52:f207567d3ea4 2376 }
tnhnrl 52:f207567d3ea4 2377
tnhnrl 52:f207567d3ea4 2378 return float_conversion;
tnhnrl 67:c86a4b464682 2379 }
tnhnrl 67:c86a4b464682 2380
tnhnrl 73:f6f378311c8d 2381 float StateMachine::getTimerValue() {
tnhnrl 73:f6f378311c8d 2382 return _fsm_timer;
tnhnrl 80:4e5d306d695b 2383 }
tnhnrl 80:4e5d306d695b 2384
tnhnrl 80:4e5d306d695b 2385 void StateMachine::logFileMenu() {
tnhnrl 80:4e5d306d695b 2386 char FILE_MENU_key;
tnhnrl 80:4e5d306d695b 2387
tnhnrl 80:4e5d306d695b 2388 // print the menu
tnhnrl 80:4e5d306d695b 2389 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
tnhnrl 80:4e5d306d695b 2390
tnhnrl 80:4e5d306d695b 2391 // handle the key presses
tnhnrl 80:4e5d306d695b 2392 while(1) {
tnhnrl 80:4e5d306d695b 2393 // get the user's keystroke from either of the two inputs
tnhnrl 80:4e5d306d695b 2394 if (xbee().readable()) {
tnhnrl 80:4e5d306d695b 2395 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
tnhnrl 80:4e5d306d695b 2396 FILE_MENU_key = xbee().getc();
tnhnrl 80:4e5d306d695b 2397 }
tnhnrl 80:4e5d306d695b 2398 else {
tnhnrl 80:4e5d306d695b 2399 continue; // didn't get a user input, so keep waiting for it
tnhnrl 80:4e5d306d695b 2400 }
tnhnrl 80:4e5d306d695b 2401
tnhnrl 80:4e5d306d695b 2402 // handle the user's key input
tnhnrl 80:4e5d306d695b 2403 if (FILE_MENU_key == 'P') { // user wants to save these modified values
tnhnrl 80:4e5d306d695b 2404 xbee().printf("\n\r>> Printing log file size!\n\r");
tnhnrl 80:4e5d306d695b 2405 wait(2);
tnhnrl 80:4e5d306d695b 2406 mbedLogger().getFileSize("/local/LOG000.csv");
tnhnrl 80:4e5d306d695b 2407 }
tnhnrl 80:4e5d306d695b 2408 else if (FILE_MENU_key == 'Y') {
tnhnrl 80:4e5d306d695b 2409 xbee().printf("\n\r>> Erasing MBED LOG FILE!\n\r");
tnhnrl 80:4e5d306d695b 2410 wait(2);
tnhnrl 80:4e5d306d695b 2411 mbedLogger().eraseFile();
tnhnrl 80:4e5d306d695b 2412 break;
tnhnrl 80:4e5d306d695b 2413 }
tnhnrl 80:4e5d306d695b 2414 else if (FILE_MENU_key == 'N') {
tnhnrl 80:4e5d306d695b 2415 xbee().printf("\n\r>> EXITING MENU. Log file intact.\n\r");
tnhnrl 80:4e5d306d695b 2416 wait(2);
tnhnrl 80:4e5d306d695b 2417 break;
tnhnrl 80:4e5d306d695b 2418 }
tnhnrl 80:4e5d306d695b 2419 else {
tnhnrl 80:4e5d306d695b 2420 xbee().printf("\n\r[%c] This key does nothing here. \r", FILE_MENU_key);
tnhnrl 80:4e5d306d695b 2421 }
tnhnrl 80:4e5d306d695b 2422 }
tnhnrl 16:3363b9f14913 2423 }