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@27:0a5b90cd65d6, 2017-11-29 (annotated)

Committer:
tnhnrl
Date:
Wed Nov 29 22:37:47 2017 +0000
Revision:
27:0a5b90cd65d6
Parent:
26:7e118fc02eea
Child:
28:16c83a2fdefa
depthTolerance variable removed 11/29

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 24:c7d9b5bf3829 5 _timeout = 480; // generic timeout for every state, seconds
tnhnrl 20:8987a9ae2bc7 6
tnhnrl 16:3363b9f14913 7 pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 20:8987a9ae2bc7 8
tnhnrl 24:c7d9b5bf3829 9 bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
tnhnrl 24:c7d9b5bf3829 10 battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
tnhnrl 20:8987a9ae2bc7 11
tnhnrl 24:c7d9b5bf3829 12 depthCommand = 2.0; // user keyboard depth (default)
tnhnrl 24:c7d9b5bf3829 13 pitchCommand = -20.0; // user keyboard pitch (default)
tnhnrl 17:7c16b5671d0e 14
tnhnrl 24:c7d9b5bf3829 15 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
tnhnrl 20:8987a9ae2bc7 16
tnhnrl 20:8987a9ae2bc7 17 _state = SIT_IDLE; // select starting state here
tnhnrl 17:7c16b5671d0e 18 isTimeoutRunning = false; // default timer to not running
tnhnrl 20:8987a9ae2bc7 19 isSubStateTimerRunning = false; // default timer to not running
tnhnrl 17:7c16b5671d0e 20
tnhnrl 24:c7d9b5bf3829 21 _multi_dive_counter = 0;
tnhnrl 21:38c8544db6f4 22
tnhnrl 21:38c8544db6f4 23 _neutral_sub_state_active = false;
tnhnrl 17:7c16b5671d0e 24
tnhnrl 21:38c8544db6f4 25 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 26 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 27 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 21:38c8544db6f4 28
tnhnrl 21:38c8544db6f4 29 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 30 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 31 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 21:38c8544db6f4 32
tnhnrl 21:38c8544db6f4 33 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 34 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 23:434f04ef1fad 35
tnhnrl 23:434f04ef1fad 36 _state_array_counter = 0;
tnhnrl 24:c7d9b5bf3829 37
tnhnrl 24:c7d9b5bf3829 38 _substate = NEUTRAL_FIRST_PITCH; //to start sub-FSM
tnhnrl 24:c7d9b5bf3829 39 _previous_substate = -1; //to start sub-FSM
tnhnrl 16:3363b9f14913 40 }
tnhnrl 20:8987a9ae2bc7 41
tnhnrl 17:7c16b5671d0e 42 //Finite State Machine (FSM)
tnhnrl 24:c7d9b5bf3829 43 void StateMachine::runStateMachine() {
tnhnrl 16:3363b9f14913 44 // finite state machine ... each state has at least one exit criteria
tnhnrl 17:7c16b5671d0e 45 switch (_state) {
tnhnrl 16:3363b9f14913 46 case SIT_IDLE :
tnhnrl 16:3363b9f14913 47 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 16:3363b9f14913 48 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 49 showMenu();
tnhnrl 16:3363b9f14913 50 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 17:7c16b5671d0e 51 isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 52
tnhnrl 16:3363b9f14913 53 // what is active?
tnhnrl 16:3363b9f14913 54 bce().pause();
tnhnrl 16:3363b9f14913 55 batt().pause();
tnhnrl 17:7c16b5671d0e 56
tnhnrl 17:7c16b5671d0e 57 //reset sub FSM
tnhnrl 20:8987a9ae2bc7 58 isSubStateTimerRunning = false;
tnhnrl 16:3363b9f14913 59 }
tnhnrl 20:8987a9ae2bc7 60
tnhnrl 16:3363b9f14913 61 // how exit?
tnhnrl 20:8987a9ae2bc7 62 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 63 break;
tnhnrl 20:8987a9ae2bc7 64
tnhnrl 16:3363b9f14913 65 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 66 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 67 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 68 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 16:3363b9f14913 69 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 70 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 71 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 72
tnhnrl 16:3363b9f14913 73 // what needs to be started?
tnhnrl 16:3363b9f14913 74 bce().unpause();
tnhnrl 16:3363b9f14913 75 batt().unpause();
tnhnrl 20:8987a9ae2bc7 76
tnhnrl 20:8987a9ae2bc7 77 // what are the commands?
tnhnrl 16:3363b9f14913 78 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 16:3363b9f14913 79 batt().setPosition_mm(0.0);
tnhnrl 16:3363b9f14913 80 }
tnhnrl 20:8987a9ae2bc7 81
tnhnrl 16:3363b9f14913 82 // how exit?
tnhnrl 17:7c16b5671d0e 83 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 84 pc().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 85 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 86 timer.reset();
tnhnrl 16:3363b9f14913 87 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 88 }
tnhnrl 26:7e118fc02eea 89 else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 16:3363b9f14913 90 pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read());
tnhnrl 21:38c8544db6f4 91 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 92 timer.reset();
tnhnrl 16:3363b9f14913 93 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 94 }
tnhnrl 16:3363b9f14913 95 break;
tnhnrl 20:8987a9ae2bc7 96
tnhnrl 16:3363b9f14913 97 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 98 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 99 if (!isTimeoutRunning) {
tnhnrl 21:38c8544db6f4 100 pc().printf("\r\n\nstate: FIND_NEUTRAL\n\r");
tnhnrl 16:3363b9f14913 101 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 102 timer.start(); // background timer starts running
tnhnrl 20:8987a9ae2bc7 103 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 104
tnhnrl 16:3363b9f14913 105 // what needs to be started?
tnhnrl 16:3363b9f14913 106 bce().unpause();
tnhnrl 16:3363b9f14913 107 batt().unpause();
tnhnrl 24:c7d9b5bf3829 108 bce().setPosition_mm(bceFloatPosition);
tnhnrl 24:c7d9b5bf3829 109 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to close-to-neutral setting from config file
tnhnrl 17:7c16b5671d0e 110
tnhnrl 24:c7d9b5bf3829 111 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 24:c7d9b5bf3829 112 //set the first state of the FSM, and start the sub-FSM
tnhnrl 24:c7d9b5bf3829 113 _substate = NEUTRAL_FIRST_PITCH; _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 114 runNeutralStateMachine();
tnhnrl 16:3363b9f14913 115 }
tnhnrl 20:8987a9ae2bc7 116
tnhnrl 20:8987a9ae2bc7 117 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 17:7c16b5671d0e 118 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 119 pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
tnhnrl 21:38c8544db6f4 120 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 16:3363b9f14913 121 timer.reset();
tnhnrl 16:3363b9f14913 122 isTimeoutRunning = false;
tnhnrl 24:c7d9b5bf3829 123
tnhnrl 24:c7d9b5bf3829 124 //record this to the NEUTRAL sub-FSM tracker
tnhnrl 24:c7d9b5bf3829 125 _state_array[_state_array_counter] = EMERGENCY_CLIMB; //save to state array
tnhnrl 24:c7d9b5bf3829 126 _state_array_counter++;
tnhnrl 16:3363b9f14913 127 }
tnhnrl 21:38c8544db6f4 128
tnhnrl 24:c7d9b5bf3829 129 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 24:c7d9b5bf3829 130 //check if substate returned exit state, if so stop running the sub-FSM
tnhnrl 26:7e118fc02eea 131 else if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 132 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 21:38c8544db6f4 133 pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\n\n\r");
tnhnrl 21:38c8544db6f4 134 _state = RISE;
tnhnrl 16:3363b9f14913 135 }
tnhnrl 17:7c16b5671d0e 136 break;
tnhnrl 17:7c16b5671d0e 137
tnhnrl 16:3363b9f14913 138 case DIVE :
tnhnrl 16:3363b9f14913 139 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 140 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 141 pc().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 16:3363b9f14913 142 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 143 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 144 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 145
tnhnrl 16:3363b9f14913 146 // what needs to be started?
tnhnrl 16:3363b9f14913 147 bce().unpause();
tnhnrl 16:3363b9f14913 148 batt().unpause();
tnhnrl 20:8987a9ae2bc7 149
tnhnrl 16:3363b9f14913 150 // what are the commands?
tnhnrl 16:3363b9f14913 151 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 152 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 153 pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 16:3363b9f14913 154 pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 155 }
tnhnrl 20:8987a9ae2bc7 156
tnhnrl 16:3363b9f14913 157 // how exit?
tnhnrl 17:7c16b5671d0e 158 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 159 pc().printf("DIVE: timed out\n\n\r");
tnhnrl 21:38c8544db6f4 160 _state = RISE; //new behavior 11/17/2017
tnhnrl 16:3363b9f14913 161 timer.reset();
tnhnrl 16:3363b9f14913 162 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 163 }
tnhnrl 16:3363b9f14913 164 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 16:3363b9f14913 165 pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 166 _state = RISE;
tnhnrl 16:3363b9f14913 167 timer.reset();
tnhnrl 16:3363b9f14913 168 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 169 }
tnhnrl 20:8987a9ae2bc7 170
tnhnrl 16:3363b9f14913 171 // what is active?
tnhnrl 21:38c8544db6f4 172 pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depth: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), timer.read());
tnhnrl 16:3363b9f14913 173 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 16:3363b9f14913 174 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 175 break;
tnhnrl 16:3363b9f14913 176
tnhnrl 16:3363b9f14913 177 case RISE :
tnhnrl 16:3363b9f14913 178 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 179 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 180 pc().printf("\r\n\nstate: RISE\r\n");
tnhnrl 16:3363b9f14913 181 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 182 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 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 16:3363b9f14913 188
tnhnrl 16:3363b9f14913 189 // what are the commands?
tnhnrl 26:7e118fc02eea 190 depthLoop().setCommand(0.5);
tnhnrl 16:3363b9f14913 191 pitchLoop().setCommand(-pitchCommand);
tnhnrl 16:3363b9f14913 192 pc().printf("RISE: depth cmd: 0.0\r\n");
tnhnrl 16:3363b9f14913 193 pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 194 }
tnhnrl 20:8987a9ae2bc7 195
tnhnrl 16:3363b9f14913 196 // how exit?
tnhnrl 17:7c16b5671d0e 197 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 198 pc().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 199 _state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 200 timer.reset();
tnhnrl 16:3363b9f14913 201 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 202 }
tnhnrl 16:3363b9f14913 203 else if (depthLoop().getPosition() < depthLoop().getCommand()) {
tnhnrl 16:3363b9f14913 204 pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 205 _state = FLOAT_LEVEL;
tnhnrl 16:3363b9f14913 206 timer.reset();
tnhnrl 16:3363b9f14913 207 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 208 }
tnhnrl 20:8987a9ae2bc7 209
tnhnrl 20:8987a9ae2bc7 210 // what is active?
tnhnrl 16:3363b9f14913 211 pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
tnhnrl 17:7c16b5671d0e 212 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 213 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 214 break;
tnhnrl 16:3363b9f14913 215
tnhnrl 16:3363b9f14913 216 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 217 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 218 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 219 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 16:3363b9f14913 220 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 221 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 222 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 223
tnhnrl 16:3363b9f14913 224 // what needs to be started?
tnhnrl 16:3363b9f14913 225 bce().unpause();
tnhnrl 16:3363b9f14913 226 batt().unpause();
tnhnrl 16:3363b9f14913 227
tnhnrl 20:8987a9ae2bc7 228 // what are the commands?
tnhnrl 16:3363b9f14913 229 bce().setPosition_mm(bceFloatPosition);
tnhnrl 16:3363b9f14913 230 pitchLoop().setCommand(0.0);
tnhnrl 16:3363b9f14913 231 }
tnhnrl 20:8987a9ae2bc7 232
tnhnrl 16:3363b9f14913 233 // how exit?
tnhnrl 17:7c16b5671d0e 234 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 235 pc().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 236 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 237 timer.reset();
tnhnrl 16:3363b9f14913 238 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 239 }
tnhnrl 17:7c16b5671d0e 240 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(pitchTolerance)) {
tnhnrl 16:3363b9f14913 241 pc().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 242 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 243 timer.reset();
tnhnrl 16:3363b9f14913 244 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 245 }
tnhnrl 20:8987a9ae2bc7 246
tnhnrl 16:3363b9f14913 247 // what is active?
tnhnrl 16:3363b9f14913 248 pc().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), timer.read());
tnhnrl 16:3363b9f14913 249 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 250 break;
tnhnrl 16:3363b9f14913 251
tnhnrl 16:3363b9f14913 252 case FLOAT_BROADCAST :
tnhnrl 16:3363b9f14913 253 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 254 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 255 pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
tnhnrl 16:3363b9f14913 256 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 257 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 258 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 259
tnhnrl 16:3363b9f14913 260 // what needs to be started?
tnhnrl 16:3363b9f14913 261 bce().unpause();
tnhnrl 16:3363b9f14913 262 batt().unpause();
tnhnrl 20:8987a9ae2bc7 263
tnhnrl 16:3363b9f14913 264 // what are the commands?
tnhnrl 16:3363b9f14913 265 bce().setPosition_mm(bceFloatPosition);
tnhnrl 16:3363b9f14913 266 batt().setPosition_mm(battFloatPosition);
tnhnrl 16:3363b9f14913 267 }
tnhnrl 20:8987a9ae2bc7 268
tnhnrl 16:3363b9f14913 269 // how exit?
tnhnrl 17:7c16b5671d0e 270 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 271 pc().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 272 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 273 timer.reset();
tnhnrl 16:3363b9f14913 274 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 275 }
tnhnrl 20:8987a9ae2bc7 276 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
tnhnrl 20:8987a9ae2bc7 277 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 16:3363b9f14913 278 pc().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband());
tnhnrl 21:38c8544db6f4 279 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 280 timer.reset();
tnhnrl 16:3363b9f14913 281 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 282 }
tnhnrl 20:8987a9ae2bc7 283
tnhnrl 20:8987a9ae2bc7 284 // what is active?
tnhnrl 26:7e118fc02eea 285 pc().printf("FB: bce pos: %0.1f mm, batt pos: %0.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec] (setPos batt: %0.1f bce: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read(), bce().getSetPosition_mm(),batt().getSetPosition_mm());
tnhnrl 16:3363b9f14913 286 break;
tnhnrl 17:7c16b5671d0e 287
tnhnrl 17:7c16b5671d0e 288 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 289 // start local state timer and init any other one-shot actions
tnhnrl 17:7c16b5671d0e 290 if (!isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 291 pc().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 17:7c16b5671d0e 292 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 293 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 294 isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 295
tnhnrl 17:7c16b5671d0e 296 // what needs to be started?
tnhnrl 17:7c16b5671d0e 297 bce().unpause();
tnhnrl 17:7c16b5671d0e 298 batt().unpause();
tnhnrl 17:7c16b5671d0e 299
tnhnrl 21:38c8544db6f4 300 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 17:7c16b5671d0e 301 float sequenceDepthCommand = currentStateStruct.depth;
tnhnrl 17:7c16b5671d0e 302 float sequencePitchCommand = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 303
tnhnrl 17:7c16b5671d0e 304 // what are the commands?
tnhnrl 17:7c16b5671d0e 305 depthLoop().setCommand(sequenceDepthCommand);
tnhnrl 17:7c16b5671d0e 306 pitchLoop().setCommand(sequencePitchCommand);
tnhnrl 21:38c8544db6f4 307 pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 308 }
tnhnrl 20:8987a9ae2bc7 309
tnhnrl 17:7c16b5671d0e 310 // how exit?
tnhnrl 17:7c16b5671d0e 311 if (timer > _timeout) {
tnhnrl 21:38c8544db6f4 312 pc().printf("\n\n\rMULTI-DIVE: timed out [time: %0.1f]\n\n\r", timer.read());
tnhnrl 21:38c8544db6f4 313 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 17:7c16b5671d0e 314 timer.reset();
tnhnrl 17:7c16b5671d0e 315 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 316 }
tnhnrl 17:7c16b5671d0e 317 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 17:7c16b5671d0e 318 pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 319 _state = MULTI_RISE;
tnhnrl 17:7c16b5671d0e 320 timer.reset();
tnhnrl 17:7c16b5671d0e 321 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 322 }
tnhnrl 20:8987a9ae2bc7 323
tnhnrl 17:7c16b5671d0e 324 // what is active?
tnhnrl 17:7c16b5671d0e 325 pc().printf("MULTI-DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
tnhnrl 17:7c16b5671d0e 326 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 327 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 17:7c16b5671d0e 328 break;
tnhnrl 17:7c16b5671d0e 329
tnhnrl 17:7c16b5671d0e 330 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 331 // start local state timer and init any other one-shot actions
tnhnrl 17:7c16b5671d0e 332 if (!isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 333 pc().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 17:7c16b5671d0e 334 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 335 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 336 isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 337
tnhnrl 17:7c16b5671d0e 338 // what needs to be started?
tnhnrl 17:7c16b5671d0e 339 bce().unpause();
tnhnrl 17:7c16b5671d0e 340 batt().unpause();
tnhnrl 17:7c16b5671d0e 341
tnhnrl 17:7c16b5671d0e 342 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 343 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 344 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 345
tnhnrl 17:7c16b5671d0e 346 //retrieve just pitch command from struct
tnhnrl 17:7c16b5671d0e 347 float sequencePitchCommand = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 348
tnhnrl 17:7c16b5671d0e 349 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 350 depthLoop().setCommand(0.5);
tnhnrl 21:38c8544db6f4 351 pitchLoop().setCommand(-sequencePitchCommand);
tnhnrl 21:38c8544db6f4 352 pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 353 }
tnhnrl 20:8987a9ae2bc7 354
tnhnrl 17:7c16b5671d0e 355 // how exit?
tnhnrl 17:7c16b5671d0e 356 if (timer > _timeout) {
tnhnrl 21:38c8544db6f4 357 pc().printf("MULTI-RISE: timed out [time: %0.1f]\n\n\r", timer.read());
tnhnrl 21:38c8544db6f4 358 _state = EMERGENCY_CLIMB;
tnhnrl 17:7c16b5671d0e 359 timer.reset();
tnhnrl 17:7c16b5671d0e 360 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 361
tnhnrl 17:7c16b5671d0e 362 //reset multi-dive sequence to start
tnhnrl 24:c7d9b5bf3829 363 _multi_dive_counter = 0;
tnhnrl 17:7c16b5671d0e 364 }
tnhnrl 20:8987a9ae2bc7 365 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 17:7c16b5671d0e 366 pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 367
tnhnrl 17:7c16b5671d0e 368 //going to next state
tnhnrl 17:7c16b5671d0e 369 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 370
tnhnrl 17:7c16b5671d0e 371 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 24:c7d9b5bf3829 372 _multi_dive_counter++;
tnhnrl 17:7c16b5671d0e 373
tnhnrl 17:7c16b5671d0e 374 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 375 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 376
tnhnrl 17:7c16b5671d0e 377 //check if this is the end of the dive sequence
tnhnrl 17:7c16b5671d0e 378 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (Float_Level)
tnhnrl 17:7c16b5671d0e 379 if (currentStateStruct.state == FLOAT_LEVEL) {
tnhnrl 21:38c8544db6f4 380 _state = FLOAT_LEVEL;
tnhnrl 17:7c16b5671d0e 381 return;
tnhnrl 17:7c16b5671d0e 382 }
tnhnrl 17:7c16b5671d0e 383
tnhnrl 17:7c16b5671d0e 384 else
tnhnrl 21:38c8544db6f4 385 _state = MULTI_DIVE;
tnhnrl 17:7c16b5671d0e 386
tnhnrl 24:c7d9b5bf3829 387 //have to stop this with the _multi_dive_counter variable!
tnhnrl 17:7c16b5671d0e 388 }
tnhnrl 20:8987a9ae2bc7 389
tnhnrl 20:8987a9ae2bc7 390 // what is active?
tnhnrl 17:7c16b5671d0e 391 pc().printf("MULTI-RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
tnhnrl 17:7c16b5671d0e 392 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 393 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 17:7c16b5671d0e 394 break;
tnhnrl 16:3363b9f14913 395
tnhnrl 16:3363b9f14913 396 default :
tnhnrl 17:7c16b5671d0e 397 pc().printf("DEBUG: SIT_IDLE\n\r");
tnhnrl 21:38c8544db6f4 398 _state = SIT_IDLE;
tnhnrl 17:7c16b5671d0e 399 }
tnhnrl 16:3363b9f14913 400 }
tnhnrl 20:8987a9ae2bc7 401
tnhnrl 16:3363b9f14913 402 // output the keyboard menu for user's reference
tnhnrl 16:3363b9f14913 403 void StateMachine::showMenu() {
tnhnrl 16:3363b9f14913 404 pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
tnhnrl 16:3363b9f14913 405 pc().printf(" N to find neutral\r\n");
tnhnrl 17:7c16b5671d0e 406 pc().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 16:3363b9f14913 407 pc().printf(" D to initiate dive cycle\r\n");
tnhnrl 16:3363b9f14913 408 pc().printf(" R to initiate rise\r\n");
tnhnrl 16:3363b9f14913 409 pc().printf(" L to float level\r\n");
tnhnrl 16:3363b9f14913 410 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 16:3363b9f14913 411 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 16:3363b9f14913 412 pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
tnhnrl 16:3363b9f14913 413 pc().printf(" T to tare the depth sensor\r\n");
tnhnrl 16:3363b9f14913 414 pc().printf("[/] to change bce neutral position\r\n");
tnhnrl 16:3363b9f14913 415 pc().printf("</> to change batt neutral position\r\n");
tnhnrl 16:3363b9f14913 416 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchCommand);
tnhnrl 16:3363b9f14913 417 pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthCommand);
tnhnrl 17:7c16b5671d0e 418 pc().printf("+/- to decrease/increase timeout: %d s\r\n",_timeout);
tnhnrl 16:3363b9f14913 419 pc().printf(" 1 BCE PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 420 pc().printf(" 2 BATT PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 421 pc().printf(" 3 Depth PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 422 pc().printf(" 4 Pitch PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 423 pc().printf(" C See sensor readings\r\n");
tnhnrl 16:3363b9f14913 424 pc().printf(" ? to reset mbed\r\n");
tnhnrl 16:3363b9f14913 425 }
tnhnrl 20:8987a9ae2bc7 426
tnhnrl 17:7c16b5671d0e 427 //Find Neutral sub finite state machine
tnhnrl 17:7c16b5671d0e 428 // Note: the sub-fsm only moves the pistons once at the start of each timer loop
tnhnrl 17:7c16b5671d0e 429 // (timer completes, move piston, timer completes, move piston, etc)
tnhnrl 24:c7d9b5bf3829 430 int StateMachine::runNeutralStateMachine() {
tnhnrl 24:c7d9b5bf3829 431 //used to log sub-FSM states
tnhnrl 24:c7d9b5bf3829 432 if (_substate == NEUTRAL_FIRST_PITCH) {
tnhnrl 24:c7d9b5bf3829 433 _state_array[_state_array_counter] = NEUTRAL_FIRST_PITCH; //save to state array
tnhnrl 24:c7d9b5bf3829 434 _state_array_counter++;
tnhnrl 24:c7d9b5bf3829 435 }
tnhnrl 17:7c16b5671d0e 436
tnhnrl 24:c7d9b5bf3829 437 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 438 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 439 //start the 10 second timer
tnhnrl 23:434f04ef1fad 440 if (!isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 441 _neutral_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 442
tnhnrl 24:c7d9b5bf3829 443 pc().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f]\n\r", _neutral_timer, timer.read());
tnhnrl 20:8987a9ae2bc7 444
tnhnrl 20:8987a9ae2bc7 445 // what are the commands?
tnhnrl 24:c7d9b5bf3829 446 //move piston at start of sequence (retract 5 mm)
tnhnrl 24:c7d9b5bf3829 447 bce().setPosition_mm(bce().getSetPosition_mm() - 5); //no depth command
tnhnrl 23:434f04ef1fad 448
tnhnrl 23:434f04ef1fad 449 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 450 pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 451
tnhnrl 24:c7d9b5bf3829 452 pc().printf("NEUTRAL_SINKING: Retracting piston 5 mm [BCE CMD : %0.1f] [pitch cmd: %0.1f]\n\r", bce().getSetPosition_mm(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 453
tnhnrl 20:8987a9ae2bc7 454 isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 455 }
tnhnrl 20:8987a9ae2bc7 456
tnhnrl 20:8987a9ae2bc7 457 // how exit?
tnhnrl 20:8987a9ae2bc7 458 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 459 if (bce().getPosition_mm() <= 0) {
tnhnrl 25:249e4d56b27c 460 pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\n\r", bce().getPosition_mm());
tnhnrl 25:249e4d56b27c 461 _substate = NEUTRAL_EXIT;
tnhnrl 25:249e4d56b27c 462 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 25:249e4d56b27c 463 }
tnhnrl 20:8987a9ae2bc7 464 //once deeper than the commanded setpoint...
tnhnrl 20:8987a9ae2bc7 465 else if (depthLoop().getPosition() > depthCommand) {
tnhnrl 24:c7d9b5bf3829 466 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 20:8987a9ae2bc7 467 isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 468 }
tnhnrl 20:8987a9ae2bc7 469
tnhnrl 20:8987a9ae2bc7 470 // what is active?
tnhnrl 20:8987a9ae2bc7 471 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 472 if (timer.read() >= _neutral_timer) {
tnhnrl 24:c7d9b5bf3829 473 pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! Retracting BCE piston 5 mm [current time: %0.1f]\r\n", timer.read());
tnhnrl 17:7c16b5671d0e 474
tnhnrl 24:c7d9b5bf3829 475 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 476 }
tnhnrl 21:38c8544db6f4 477
tnhnrl 23:434f04ef1fad 478 // what is active?
tnhnrl 23:434f04ef1fad 479 batt().setPosition_mm(pitchLoop().getOutput()); // pitch outer loop is running
tnhnrl 17:7c16b5671d0e 480 break;
tnhnrl 17:7c16b5671d0e 481
tnhnrl 17:7c16b5671d0e 482 case NEUTRAL_SLOWLY_RISE:
tnhnrl 23:434f04ef1fad 483 if (!isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 484 _neutral_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 485
tnhnrl 24:c7d9b5bf3829 486 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,timer.read());
tnhnrl 17:7c16b5671d0e 487
tnhnrl 20:8987a9ae2bc7 488 // what are the commands?
tnhnrl 20:8987a9ae2bc7 489 //move piston at start of sequence (extend)
tnhnrl 24:c7d9b5bf3829 490 bce().setPosition_mm(bce().getSetPosition_mm() + 2); //no depth command
tnhnrl 23:434f04ef1fad 491
tnhnrl 23:434f04ef1fad 492 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 493 pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 494
tnhnrl 24:c7d9b5bf3829 495 pc().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 5 mm [BCE CMD : %0.1f] [pitch cmd: %0.1f]\n\r", bce().getSetPosition_mm(), pitchLoop().getCommand());
tnhnrl 24:c7d9b5bf3829 496
tnhnrl 24:c7d9b5bf3829 497 isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 498 }
tnhnrl 17:7c16b5671d0e 499
tnhnrl 20:8987a9ae2bc7 500 // how exit?
tnhnrl 24:c7d9b5bf3829 501 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 502 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 24:c7d9b5bf3829 503 _substate = NEUTRAL_EXIT;
tnhnrl 24:c7d9b5bf3829 504 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 505 }
tnhnrl 17:7c16b5671d0e 506 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 507 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 24:c7d9b5bf3829 508 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", timer.read());
tnhnrl 24:c7d9b5bf3829 509 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 24:c7d9b5bf3829 510 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 511 }
tnhnrl 17:7c16b5671d0e 512
tnhnrl 20:8987a9ae2bc7 513 // what is active?
tnhnrl 20:8987a9ae2bc7 514 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 515 if (timer.read() >= _neutral_timer) {
tnhnrl 24:c7d9b5bf3829 516 pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! Extending 1 mm [timer: %0.1f]\r\n", timer.read());
tnhnrl 20:8987a9ae2bc7 517
tnhnrl 24:c7d9b5bf3829 518 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 519 }
tnhnrl 23:434f04ef1fad 520
tnhnrl 23:434f04ef1fad 521 // what is active?
tnhnrl 23:434f04ef1fad 522 batt().setPosition_mm(pitchLoop().getOutput()); // pitch outer loop is running
tnhnrl 17:7c16b5671d0e 523 break;
tnhnrl 17:7c16b5671d0e 524
danstrider 22:a10ee088403b 525 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 526 case NEUTRAL_FIRST_PITCH :
danstrider 22:a10ee088403b 527 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 528
tnhnrl 23:434f04ef1fad 529 if (!isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 530 _neutral_timer = timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 24:c7d9b5bf3829 531 pc().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - timer.read());
danstrider 22:a10ee088403b 532
danstrider 22:a10ee088403b 533 // what are the commands?
tnhnrl 24:c7d9b5bf3829 534 if (pitchLoop().getPosition() > 2) { // nose is high
tnhnrl 24:c7d9b5bf3829 535 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 23:434f04ef1fad 536 pc().printf("\n\rNeutral Check Pitch: moving battery FWD in 1mm increments\n\n\r");
danstrider 22:a10ee088403b 537 }
tnhnrl 24:c7d9b5bf3829 538 else if (pitchLoop().getPosition() < -2) { // nose is low
tnhnrl 24:c7d9b5bf3829 539 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 23:434f04ef1fad 540 pc().printf("\n\rNeutral Check Pitch: moving battery AFT in 1mm increments\n\n\r");
danstrider 22:a10ee088403b 541 }
tnhnrl 24:c7d9b5bf3829 542
tnhnrl 24:c7d9b5bf3829 543 isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 544 }
tnhnrl 20:8987a9ae2bc7 545
tnhnrl 20:8987a9ae2bc7 546 // how exit?
tnhnrl 20:8987a9ae2bc7 547 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 548 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 549 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 24:c7d9b5bf3829 550 pc().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\n\r"); //debug
danstrider 22:a10ee088403b 551 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 552
tnhnrl 24:c7d9b5bf3829 553 if (_substate == NEUTRAL_FIRST_PITCH) {
tnhnrl 24:c7d9b5bf3829 554 _substate = NEUTRAL_SINKING; // next state starts the sinking
tnhnrl 24:c7d9b5bf3829 555 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 556
tnhnrl 23:434f04ef1fad 557 // save this neutral (not in file) for pitch
tnhnrl 23:434f04ef1fad 558 pitchLoop().setOutputOffset(batt().getPosition_mm());
tnhnrl 23:434f04ef1fad 559
tnhnrl 24:c7d9b5bf3829 560 pc().printf("substate: NEUTRAL_FIRST_PITCH (next substate: NEUTRAL_SINKING)\n\r");
danstrider 22:a10ee088403b 561 }
tnhnrl 23:434f04ef1fad 562
tnhnrl 23:434f04ef1fad 563 // found level and at depth too, so save it all now
tnhnrl 24:c7d9b5bf3829 564 else if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 565 //save positions locally
danstrider 22:a10ee088403b 566 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 567 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 568
danstrider 22:a10ee088403b 569 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 570 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 571 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 572
danstrider 22:a10ee088403b 573 // save into the depth.txt and pitch.txt files
danstrider 22:a10ee088403b 574 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset
danstrider 22:a10ee088403b 575 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset
danstrider 22:a10ee088403b 576
danstrider 22:a10ee088403b 577 pc().printf("\n\rSaving Positions: BCE: %0.1f mm, BATT: %0.1f\n\n\r",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 578
tnhnrl 24:c7d9b5bf3829 579 _substate = NEUTRAL_EXIT;
tnhnrl 24:c7d9b5bf3829 580 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 581 }
tnhnrl 24:c7d9b5bf3829 582
tnhnrl 24:c7d9b5bf3829 583 else {
tnhnrl 24:c7d9b5bf3829 584 pc().printf("\n\rDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\n\r");
tnhnrl 24:c7d9b5bf3829 585 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 586 }
tnhnrl 17:7c16b5671d0e 587 }
danstrider 22:a10ee088403b 588
danstrider 22:a10ee088403b 589 // what is active?
danstrider 22:a10ee088403b 590 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 591 if (timer.read() >= _neutral_timer) {
danstrider 22:a10ee088403b 592 pc().printf("\r\n\nlevel timer COMPLETE!");
danstrider 22:a10ee088403b 593 pc().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), timer.read());
tnhnrl 24:c7d9b5bf3829 594 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 595 }
tnhnrl 17:7c16b5671d0e 596 break;
danstrider 22:a10ee088403b 597
danstrider 22:a10ee088403b 598 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 599 case NEUTRAL_EXIT :
tnhnrl 23:434f04ef1fad 600 pc().printf("substate: NEUTRAL_EXIT\n\r");
tnhnrl 20:8987a9ae2bc7 601 break;
tnhnrl 21:38c8544db6f4 602
danstrider 22:a10ee088403b 603 default :
tnhnrl 24:c7d9b5bf3829 604 pc().printf("how did we get to substate: default?\n\r"); //debug
tnhnrl 23:434f04ef1fad 605 //a default within the sub-state machine
tnhnrl 24:c7d9b5bf3829 606 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 607 break;
tnhnrl 17:7c16b5671d0e 608 }
tnhnrl 20:8987a9ae2bc7 609
tnhnrl 24:c7d9b5bf3829 610 // reset the sub-FSM if needed
tnhnrl 24:c7d9b5bf3829 611 if (_substate == NEUTRAL_EXIT) {
tnhnrl 24:c7d9b5bf3829 612 pc().printf("******************************** EXITING sub-FSM! *******************************\n\n\r");
tnhnrl 24:c7d9b5bf3829 613
tnhnrl 24:c7d9b5bf3829 614 //reset internal sub-state back to first entry conditions
tnhnrl 24:c7d9b5bf3829 615 _substate = NEUTRAL_FIRST_PITCH;
tnhnrl 24:c7d9b5bf3829 616 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 21:38c8544db6f4 617
tnhnrl 24:c7d9b5bf3829 618 //record sub-states to view after sequence
tnhnrl 24:c7d9b5bf3829 619 _state_array[_state_array_counter] = NEUTRAL_EXIT; //save to state array
tnhnrl 24:c7d9b5bf3829 620 _state_array_counter++;
tnhnrl 23:434f04ef1fad 621
tnhnrl 24:c7d9b5bf3829 622 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 623 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 624
tnhnrl 24:c7d9b5bf3829 625 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 626 return NEUTRAL_EXIT; // message to calling function we just exited
tnhnrl 21:38c8544db6f4 627 }
tnhnrl 23:434f04ef1fad 628 else {
tnhnrl 24:c7d9b5bf3829 629 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 630 if (_previous_substate != _substate) {
tnhnrl 24:c7d9b5bf3829 631 _state_array[_state_array_counter] = _substate; //save current state to state array
tnhnrl 24:c7d9b5bf3829 632 _state_array_counter++;
tnhnrl 24:c7d9b5bf3829 633
tnhnrl 24:c7d9b5bf3829 634 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 635 _previous_substate = _substate;
tnhnrl 24:c7d9b5bf3829 636 }
tnhnrl 24:c7d9b5bf3829 637
tnhnrl 24:c7d9b5bf3829 638 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 639 }
tnhnrl 17:7c16b5671d0e 640 }
tnhnrl 20:8987a9ae2bc7 641
tnhnrl 20:8987a9ae2bc7 642 // keyboard runs independently of the state machine, handling one key at a time
tnhnrl 20:8987a9ae2bc7 643 //keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 20:8987a9ae2bc7 644 //and only allows input when the state is "idle"
tnhnrl 17:7c16b5671d0e 645 void StateMachine::keyboard() {
tnhnrl 16:3363b9f14913 646 char userInput;
tnhnrl 20:8987a9ae2bc7 647
tnhnrl 16:3363b9f14913 648 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 649 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 650
tnhnrl 21:38c8544db6f4 651 int _keyboard_state = -1; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 652
tnhnrl 21:38c8544db6f4 653 if (pc().readable() && _state == SIT_IDLE) {
tnhnrl 16:3363b9f14913 654 // get the key
tnhnrl 17:7c16b5671d0e 655 userInput = pc().getc();
tnhnrl 17:7c16b5671d0e 656
tnhnrl 21:38c8544db6f4 657 // keyboard has to reset timer each time it's used
tnhnrl 20:8987a9ae2bc7 658 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 659
tnhnrl 16:3363b9f14913 660 // check command against desired control buttons
tnhnrl 16:3363b9f14913 661 if (userInput == 'D' or userInput == 'd') {
tnhnrl 17:7c16b5671d0e 662 _keyboard_state = DIVE;
tnhnrl 16:3363b9f14913 663 }
tnhnrl 16:3363b9f14913 664 else if (userInput == 'N' or userInput == 'n') {
tnhnrl 17:7c16b5671d0e 665 _keyboard_state = FIND_NEUTRAL;
tnhnrl 17:7c16b5671d0e 666 }
tnhnrl 17:7c16b5671d0e 667 else if (userInput == 'M' or userInput == 'm') {
tnhnrl 17:7c16b5671d0e 668 //currently does not run if there is no file.
tnhnrl 17:7c16b5671d0e 669
tnhnrl 17:7c16b5671d0e 670 //need to add method to Sequence Controller that returns -1
tnhnrl 17:7c16b5671d0e 671 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 17:7c16b5671d0e 672
tnhnrl 17:7c16b5671d0e 673 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 17:7c16b5671d0e 674 _keyboard_state = currentStateStruct.state;
tnhnrl 17:7c16b5671d0e 675
tnhnrl 17:7c16b5671d0e 676 pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 16:3363b9f14913 677 }
tnhnrl 16:3363b9f14913 678 else if (userInput == 'R' or userInput == 'r') {
tnhnrl 17:7c16b5671d0e 679 _keyboard_state = RISE;
tnhnrl 16:3363b9f14913 680 }
tnhnrl 16:3363b9f14913 681 else if (userInput == 'L' or userInput == 'l') {
tnhnrl 17:7c16b5671d0e 682 _keyboard_state = FLOAT_LEVEL;
tnhnrl 16:3363b9f14913 683 }
tnhnrl 16:3363b9f14913 684 else if (userInput == 'B' or userInput == 'b') {
tnhnrl 17:7c16b5671d0e 685 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 686 }
tnhnrl 16:3363b9f14913 687 else if (userInput == 'E' or userInput == 'e') {
tnhnrl 17:7c16b5671d0e 688 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 689 }
tnhnrl 16:3363b9f14913 690 else if (userInput == 'H' or userInput == 'h') {
tnhnrl 16:3363b9f14913 691 pc().printf("running homing procedure\r\n");
tnhnrl 16:3363b9f14913 692 bce().unpause(); bce().homePiston(); bce().pause();
tnhnrl 16:3363b9f14913 693 batt().unpause(); batt().homePiston(); batt().pause();
tnhnrl 16:3363b9f14913 694 }
tnhnrl 16:3363b9f14913 695 else if (userInput == 'T' or userInput == 't') {
tnhnrl 16:3363b9f14913 696 pc().printf("taring depth sensor\r\n");
tnhnrl 16:3363b9f14913 697 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 16:3363b9f14913 698 wait(0.1);
tnhnrl 16:3363b9f14913 699 depth().tare(); // tares to ambient (do on surface)
tnhnrl 16:3363b9f14913 700 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 16:3363b9f14913 701 }
tnhnrl 16:3363b9f14913 702
tnhnrl 16:3363b9f14913 703 else if (userInput == '[' or userInput == '{') {
tnhnrl 16:3363b9f14913 704 depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint
tnhnrl 16:3363b9f14913 705 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 706 }
tnhnrl 16:3363b9f14913 707 else if (userInput == ']' or userInput == '}') {
tnhnrl 16:3363b9f14913 708 depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint
tnhnrl 16:3363b9f14913 709 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 710 }
tnhnrl 16:3363b9f14913 711 else if (userInput == '<' or userInput == ',') {
tnhnrl 16:3363b9f14913 712 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint
tnhnrl 16:3363b9f14913 713 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 714 }
tnhnrl 16:3363b9f14913 715 else if (userInput == '>' or userInput == '.') {
tnhnrl 16:3363b9f14913 716 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint
tnhnrl 16:3363b9f14913 717 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 718 }
tnhnrl 16:3363b9f14913 719
tnhnrl 16:3363b9f14913 720 else if (userInput == '?') {
tnhnrl 16:3363b9f14913 721 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 16:3363b9f14913 722 wait(0.5);
tnhnrl 16:3363b9f14913 723 mbed_reset();
tnhnrl 16:3363b9f14913 724 }
tnhnrl 20:8987a9ae2bc7 725
tnhnrl 16:3363b9f14913 726 // change settings
tnhnrl 16:3363b9f14913 727 else if (userInput == 'Q' or userInput == 'q') {
tnhnrl 16:3363b9f14913 728 pitchCommand -= 0.5; //decrement the pitch setpoint
tnhnrl 16:3363b9f14913 729 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 730 pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 731 }
tnhnrl 16:3363b9f14913 732 else if (userInput == 'W' or userInput == 'w') {
tnhnrl 16:3363b9f14913 733 pitchCommand += 0.5; //increment the pitch setpoint
tnhnrl 16:3363b9f14913 734 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 735 pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 736 }
tnhnrl 16:3363b9f14913 737 else if (userInput == 'A' or userInput == 'a') {
tnhnrl 16:3363b9f14913 738 depthCommand -= 0.5; //decrement the depth setpoint
tnhnrl 16:3363b9f14913 739 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 740 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
tnhnrl 16:3363b9f14913 741 }
tnhnrl 16:3363b9f14913 742 else if (userInput == 'S' or userInput == 's') {
tnhnrl 16:3363b9f14913 743 depthCommand += 0.5; //increment the depth setpoint
tnhnrl 16:3363b9f14913 744 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 745 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
tnhnrl 16:3363b9f14913 746 }
tnhnrl 20:8987a9ae2bc7 747
tnhnrl 16:3363b9f14913 748 else if (userInput == '-') {
tnhnrl 17:7c16b5671d0e 749 _timeout -= 10.0; //decrement the timeout
tnhnrl 17:7c16b5671d0e 750 pc().printf(">>> timeout decreased: %d\r\n", _timeout);
tnhnrl 16:3363b9f14913 751 }
tnhnrl 16:3363b9f14913 752 else if (userInput == '=' or userInput == '+') {
tnhnrl 17:7c16b5671d0e 753 _timeout += 10.0; //increment the timeout
tnhnrl 17:7c16b5671d0e 754 pc().printf(">>> timeout increased: %d\r\n", _timeout);
tnhnrl 16:3363b9f14913 755 }
tnhnrl 16:3363b9f14913 756
tnhnrl 16:3363b9f14913 757 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 16:3363b9f14913 758 else if (userInput == '1') {
tnhnrl 16:3363b9f14913 759 keyboard_menu_BCE_PID_settings();
tnhnrl 16:3363b9f14913 760 }
tnhnrl 16:3363b9f14913 761 else if (userInput == '2') {
tnhnrl 16:3363b9f14913 762 keyboard_menu_BATT_PID_settings();
tnhnrl 16:3363b9f14913 763 }
tnhnrl 16:3363b9f14913 764 else if (userInput == '3') {
tnhnrl 16:3363b9f14913 765 keyboard_menu_DEPTH_PID_settings();
tnhnrl 16:3363b9f14913 766 }
tnhnrl 16:3363b9f14913 767 else if (userInput == '4') {
tnhnrl 16:3363b9f14913 768 keyboard_menu_PITCH_PID_settings();
tnhnrl 16:3363b9f14913 769 }
tnhnrl 16:3363b9f14913 770
tnhnrl 16:3363b9f14913 771 else if (userInput == 'C' or userInput == 'c') {
tnhnrl 16:3363b9f14913 772 pc().printf("depth: %3.1f\r\n",depthLoop().getPosition());
tnhnrl 16:3363b9f14913 773 pc().printf("pitch: %3.1f\r\n",imu().getPitch());
tnhnrl 16:3363b9f14913 774 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 16:3363b9f14913 775 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 16:3363b9f14913 776 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 16:3363b9f14913 777 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 16:3363b9f14913 778 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 16:3363b9f14913 779 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 23:434f04ef1fad 780
tnhnrl 23:434f04ef1fad 781 pc().printf("Neutral sub FSM states: \n\r");
tnhnrl 24:c7d9b5bf3829 782 string string_state;
tnhnrl 24:c7d9b5bf3829 783
tnhnrl 23:434f04ef1fad 784 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 24:c7d9b5bf3829 785 if (_state_array[i] == NEUTRAL_FIRST_PITCH)
tnhnrl 24:c7d9b5bf3829 786 string_state = "NEUTRAL_FIRST_PITCH";
tnhnrl 24:c7d9b5bf3829 787 else if (_state_array[i] == NEUTRAL_SINKING)
tnhnrl 24:c7d9b5bf3829 788 string_state = "NEUTRAL_SINKING";
tnhnrl 24:c7d9b5bf3829 789 else if (_state_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 24:c7d9b5bf3829 790 string_state = "NEUTRAL_SLOWLY_RISE";
tnhnrl 24:c7d9b5bf3829 791 else if (_state_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 24:c7d9b5bf3829 792 string_state = "NEUTRAL_CHECK_PITCH";
tnhnrl 24:c7d9b5bf3829 793 else if (_state_array[i] == NEUTRAL_EXIT)
tnhnrl 24:c7d9b5bf3829 794 string_state = "NEUTRAL_EXIT <-- ";
tnhnrl 24:c7d9b5bf3829 795 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 24:c7d9b5bf3829 796 string_state = "EMERGENCY_CLIMB <-- ";
tnhnrl 24:c7d9b5bf3829 797 pc().printf("state #%d: %d (%s)\n\r", i, _state_array[i], string_state.c_str());
tnhnrl 23:434f04ef1fad 798 }
tnhnrl 16:3363b9f14913 799 }
tnhnrl 17:7c16b5671d0e 800
tnhnrl 17:7c16b5671d0e 801 //when you read the keyboard successfully, change the state
tnhnrl 26:7e118fc02eea 802 _state = _keyboard_state; //set state at the end of this function
tnhnrl 16:3363b9f14913 803 }
tnhnrl 16:3363b9f14913 804 }
tnhnrl 20:8987a9ae2bc7 805
tnhnrl 20:8987a9ae2bc7 806
tnhnrl 16:3363b9f14913 807 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 16:3363b9f14913 808 char PID_key;
tnhnrl 16:3363b9f14913 809 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 810 float KP = bce().getControllerP(); // load current value
tnhnrl 16:3363b9f14913 811 float KI = bce().getControllerI(); // load current global value
tnhnrl 16:3363b9f14913 812 float KD = bce().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 813
tnhnrl 16:3363b9f14913 814 // show the menu
tnhnrl 16:3363b9f14913 815 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 816 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 817 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 21:38c8544db6f4 818 pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 16:3363b9f14913 819
tnhnrl 16:3363b9f14913 820 // handle the key presses
tnhnrl 16:3363b9f14913 821 while(1) {
tnhnrl 16:3363b9f14913 822 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 823 if (pc().readable()) {
tnhnrl 16:3363b9f14913 824 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 825 }
tnhnrl 16:3363b9f14913 826 else {
tnhnrl 16:3363b9f14913 827 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 828 }
tnhnrl 16:3363b9f14913 829
tnhnrl 16:3363b9f14913 830 // handle the user's key input
tnhnrl 16:3363b9f14913 831 if (PID_key == '-') {
tnhnrl 16:3363b9f14913 832 KP -= gain_step_size;
tnhnrl 16:3363b9f14913 833 pc().printf("P gain: %0.5f \r\n", KP);
tnhnrl 16:3363b9f14913 834 }
tnhnrl 16:3363b9f14913 835 else if (PID_key == '=') {
tnhnrl 16:3363b9f14913 836 KP += gain_step_size;
tnhnrl 16:3363b9f14913 837 pc().printf("P gain: %0.5f \r\n", KP);
tnhnrl 16:3363b9f14913 838 }
tnhnrl 16:3363b9f14913 839 else if (PID_key == '[') {
tnhnrl 16:3363b9f14913 840 KI -= gain_step_size;
tnhnrl 16:3363b9f14913 841 pc().printf("I gain: %0.5f \r\n", KI);
tnhnrl 16:3363b9f14913 842 }
tnhnrl 16:3363b9f14913 843 else if (PID_key == ']') {
tnhnrl 16:3363b9f14913 844 KI += gain_step_size;
tnhnrl 16:3363b9f14913 845 pc().printf("I gain: %0.5f \r\n", KI);
tnhnrl 16:3363b9f14913 846 }
tnhnrl 16:3363b9f14913 847 else if (PID_key == ';') {
tnhnrl 16:3363b9f14913 848 KD -= gain_step_size;
tnhnrl 16:3363b9f14913 849 pc().printf("D gain: %0.5f \r\n", KD);
tnhnrl 16:3363b9f14913 850 }
tnhnrl 16:3363b9f14913 851 else if (PID_key == '\'') {
tnhnrl 16:3363b9f14913 852 KD += gain_step_size;
tnhnrl 16:3363b9f14913 853 pc().printf("D gain: %0.5f \r\n", KD);
tnhnrl 16:3363b9f14913 854 }
tnhnrl 16:3363b9f14913 855 else if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 856 // set values
tnhnrl 16:3363b9f14913 857 bce().setControllerP(KP);
tnhnrl 16:3363b9f14913 858 bce().setControllerI(KI);
tnhnrl 16:3363b9f14913 859 bce().setControllerD(KD);
tnhnrl 16:3363b9f14913 860
tnhnrl 16:3363b9f14913 861 // save into "PID.cfg"
tnhnrl 16:3363b9f14913 862 //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
tnhnrl 16:3363b9f14913 863 break; //exit the while loop
tnhnrl 16:3363b9f14913 864 }
tnhnrl 16:3363b9f14913 865 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 866 break; //exit the while loop
tnhnrl 16:3363b9f14913 867 }
tnhnrl 16:3363b9f14913 868 else {
tnhnrl 16:3363b9f14913 869 pc().printf("\n\rThis key does nothing here. ");
tnhnrl 16:3363b9f14913 870 }
tnhnrl 16:3363b9f14913 871 }
tnhnrl 16:3363b9f14913 872 }
tnhnrl 20:8987a9ae2bc7 873
tnhnrl 16:3363b9f14913 874 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 16:3363b9f14913 875 char PID_key;
tnhnrl 16:3363b9f14913 876 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 877 float KP = batt().getControllerP(); // load current global value
tnhnrl 16:3363b9f14913 878 float KI = batt().getControllerI(); // load current global value
tnhnrl 16:3363b9f14913 879 float KD = batt().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 880
tnhnrl 16:3363b9f14913 881 // print the menu
tnhnrl 16:3363b9f14913 882 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 883 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 884 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 21:38c8544db6f4 885 pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 20:8987a9ae2bc7 886
tnhnrl 16:3363b9f14913 887 // handle the key presses
tnhnrl 16:3363b9f14913 888 while(1) {
tnhnrl 16:3363b9f14913 889 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 890 if (pc().readable()) {
tnhnrl 16:3363b9f14913 891 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 892 }
tnhnrl 16:3363b9f14913 893 else {
tnhnrl 16:3363b9f14913 894 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 895 }
tnhnrl 16:3363b9f14913 896
tnhnrl 16:3363b9f14913 897 // handle the user's key input
tnhnrl 16:3363b9f14913 898 if (PID_key == '-') {
tnhnrl 16:3363b9f14913 899 KP -= gain_step_size;
tnhnrl 16:3363b9f14913 900 pc().printf("\rP gain: %0.5f ", KP);
tnhnrl 16:3363b9f14913 901 }
tnhnrl 16:3363b9f14913 902 else if (PID_key == '=') {
tnhnrl 16:3363b9f14913 903 KP += gain_step_size;
tnhnrl 16:3363b9f14913 904 pc().printf("\rP gain: %0.5f ", KP);
tnhnrl 16:3363b9f14913 905 }
tnhnrl 16:3363b9f14913 906 else if (PID_key == '[') {
tnhnrl 16:3363b9f14913 907 KI -= gain_step_size;
tnhnrl 16:3363b9f14913 908 pc().printf("\rI gain: %0.5f ", KI);
tnhnrl 16:3363b9f14913 909 }
tnhnrl 16:3363b9f14913 910 else if (PID_key == ']') {
tnhnrl 16:3363b9f14913 911 KI += gain_step_size;
tnhnrl 16:3363b9f14913 912 pc().printf("\rI gain: %0.5f ", KI);
tnhnrl 16:3363b9f14913 913 }
tnhnrl 16:3363b9f14913 914 else if (PID_key == ';') {
tnhnrl 16:3363b9f14913 915 KD -= gain_step_size;
tnhnrl 16:3363b9f14913 916 pc().printf("\rD gain: %0.5f ", KD);
tnhnrl 16:3363b9f14913 917 }
tnhnrl 16:3363b9f14913 918 else if (PID_key == '\'') {
tnhnrl 16:3363b9f14913 919 KD += gain_step_size;
tnhnrl 16:3363b9f14913 920 pc().printf("\rD gain: %0.5f ", KD);
tnhnrl 16:3363b9f14913 921 }
tnhnrl 16:3363b9f14913 922 else if (PID_key == 'S') { // user wants to save the modified values
tnhnrl 16:3363b9f14913 923 // set global values
tnhnrl 16:3363b9f14913 924 batt().setControllerP(KP);
tnhnrl 16:3363b9f14913 925 batt().setControllerI(KI);
tnhnrl 16:3363b9f14913 926 batt().setControllerD(KD);
tnhnrl 16:3363b9f14913 927
tnhnrl 16:3363b9f14913 928 // save to "PID.cfg" file
tnhnrl 16:3363b9f14913 929 //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
tnhnrl 16:3363b9f14913 930 break; //exit the while loop
tnhnrl 16:3363b9f14913 931 }
tnhnrl 16:3363b9f14913 932 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 933 break; //exit the while loop
tnhnrl 16:3363b9f14913 934 }
tnhnrl 16:3363b9f14913 935 else {
tnhnrl 16:3363b9f14913 936 pc().printf("This key does nothing here.\r");
tnhnrl 16:3363b9f14913 937 }
tnhnrl 16:3363b9f14913 938 }
tnhnrl 16:3363b9f14913 939 }
tnhnrl 20:8987a9ae2bc7 940
tnhnrl 16:3363b9f14913 941 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 16:3363b9f14913 942 char PID_key;
tnhnrl 16:3363b9f14913 943 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 944
tnhnrl 16:3363b9f14913 945 // show the menu
tnhnrl 16:3363b9f14913 946 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 947 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 948 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r");
tnhnrl 16:3363b9f14913 949 pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 950
tnhnrl 16:3363b9f14913 951 // handle the key presses
tnhnrl 16:3363b9f14913 952 while(1) {
tnhnrl 16:3363b9f14913 953 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 954 if (pc().readable()) {
tnhnrl 16:3363b9f14913 955 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 956 }
tnhnrl 16:3363b9f14913 957 else {
tnhnrl 16:3363b9f14913 958 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 959 }
tnhnrl 16:3363b9f14913 960
tnhnrl 16:3363b9f14913 961 // handle the user's key input
tnhnrl 16:3363b9f14913 962 if (PID_key == '-') {
tnhnrl 21:38c8544db6f4 963 _depth_KP -= gain_step_size;
tnhnrl 21:38c8544db6f4 964 pc().printf("P gain: %0.5f \r\n", _depth_KP);
tnhnrl 16:3363b9f14913 965 }
tnhnrl 16:3363b9f14913 966 else if (PID_key == '=') {
tnhnrl 21:38c8544db6f4 967 _depth_KP += gain_step_size;
tnhnrl 21:38c8544db6f4 968 pc().printf("P gain: %0.5f \r\n", _depth_KP);
tnhnrl 16:3363b9f14913 969 }
tnhnrl 16:3363b9f14913 970 else if (PID_key == '[') {
tnhnrl 21:38c8544db6f4 971 _depth_KI -= gain_step_size;
tnhnrl 21:38c8544db6f4 972 pc().printf("I gain: %0.5f \r\n", _depth_KI);
tnhnrl 16:3363b9f14913 973 }
tnhnrl 16:3363b9f14913 974 else if (PID_key == ']') {
tnhnrl 21:38c8544db6f4 975 _depth_KI += gain_step_size;
tnhnrl 21:38c8544db6f4 976 pc().printf("I gain: %0.5f \r\n", _depth_KI);
tnhnrl 16:3363b9f14913 977 }
tnhnrl 16:3363b9f14913 978 else if (PID_key == ';') {
tnhnrl 21:38c8544db6f4 979 _depth_KD -= gain_step_size;
tnhnrl 21:38c8544db6f4 980 pc().printf("D gain: %0.5f \r\n", _depth_KD);
tnhnrl 16:3363b9f14913 981 }
tnhnrl 16:3363b9f14913 982 else if (PID_key == '\'') {
tnhnrl 21:38c8544db6f4 983 _depth_KD += gain_step_size;
tnhnrl 21:38c8544db6f4 984 pc().printf("D gain: %0.5f \r\n", _depth_KD);
tnhnrl 16:3363b9f14913 985 }
tnhnrl 16:3363b9f14913 986 else if (PID_key == 'S') { // user wants to save these settings
tnhnrl 16:3363b9f14913 987 // set global values
tnhnrl 21:38c8544db6f4 988 depthLoop().setControllerP(_depth_KP);
tnhnrl 21:38c8544db6f4 989 depthLoop().setControllerI(_depth_KI);
tnhnrl 21:38c8544db6f4 990 depthLoop().setControllerD(_depth_KD);
tnhnrl 16:3363b9f14913 991
tnhnrl 21:38c8544db6f4 992 // save depth PID values for outer loop
tnhnrl 21:38c8544db6f4 993 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 16:3363b9f14913 994 break; //exit the while loop
tnhnrl 16:3363b9f14913 995 }
tnhnrl 16:3363b9f14913 996 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 997 break; //exit the while loop
tnhnrl 16:3363b9f14913 998 }
tnhnrl 16:3363b9f14913 999 else {
tnhnrl 16:3363b9f14913 1000 pc().printf("\n\rThis key does nothing here. ");
tnhnrl 16:3363b9f14913 1001 }
tnhnrl 16:3363b9f14913 1002 }
tnhnrl 16:3363b9f14913 1003 }
tnhnrl 16:3363b9f14913 1004
tnhnrl 16:3363b9f14913 1005 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 16:3363b9f14913 1006 char PID_key;
tnhnrl 16:3363b9f14913 1007 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 1008
tnhnrl 16:3363b9f14913 1009 // print the menu
tnhnrl 16:3363b9f14913 1010 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 1011 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 1012 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 16:3363b9f14913 1013 pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 20:8987a9ae2bc7 1014
tnhnrl 16:3363b9f14913 1015 // handle the key presses
tnhnrl 16:3363b9f14913 1016 while(1) {
tnhnrl 16:3363b9f14913 1017 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 1018 if (pc().readable()) {
tnhnrl 16:3363b9f14913 1019 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 1020 }
tnhnrl 16:3363b9f14913 1021 else {
tnhnrl 16:3363b9f14913 1022 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 1023 }
tnhnrl 16:3363b9f14913 1024
tnhnrl 16:3363b9f14913 1025 // handle the user's key input
tnhnrl 16:3363b9f14913 1026 if (PID_key == '-') {
tnhnrl 21:38c8544db6f4 1027 _pitch_KP -= gain_step_size;
tnhnrl 21:38c8544db6f4 1028 pc().printf("\rP gain: %0.5f ", _pitch_KP);
tnhnrl 16:3363b9f14913 1029 }
tnhnrl 16:3363b9f14913 1030 else if (PID_key == '=') {
tnhnrl 21:38c8544db6f4 1031 _pitch_KP += gain_step_size;
tnhnrl 21:38c8544db6f4 1032 pc().printf("\rP gain: %0.5f ", _pitch_KP);
tnhnrl 16:3363b9f14913 1033 }
tnhnrl 16:3363b9f14913 1034 else if (PID_key == '[') {
tnhnrl 21:38c8544db6f4 1035 _pitch_KI -= gain_step_size;
tnhnrl 21:38c8544db6f4 1036 pc().printf("\rI gain: %0.5f ", _pitch_KI);
tnhnrl 16:3363b9f14913 1037 }
tnhnrl 16:3363b9f14913 1038 else if (PID_key == ']') {
tnhnrl 21:38c8544db6f4 1039 _pitch_KI += gain_step_size;
tnhnrl 21:38c8544db6f4 1040 pc().printf("\rI gain: %0.5f ", _pitch_KI);
tnhnrl 16:3363b9f14913 1041 }
tnhnrl 16:3363b9f14913 1042 else if (PID_key == ';') {
tnhnrl 21:38c8544db6f4 1043 _pitch_KD -= gain_step_size;
tnhnrl 21:38c8544db6f4 1044 pc().printf("\rD gain: %0.5f ", _pitch_KD);
tnhnrl 16:3363b9f14913 1045 }
tnhnrl 16:3363b9f14913 1046 else if (PID_key == '\'') {
tnhnrl 21:38c8544db6f4 1047 _pitch_KD += gain_step_size;
tnhnrl 21:38c8544db6f4 1048 pc().printf("\rD gain: %0.5f ", _pitch_KD);
tnhnrl 16:3363b9f14913 1049 }
tnhnrl 16:3363b9f14913 1050 else if (PID_key == 'S') { // user wants to save the modified values
tnhnrl 16:3363b9f14913 1051 // set global values
tnhnrl 21:38c8544db6f4 1052 pitchLoop().setControllerP(_pitch_KP);
tnhnrl 21:38c8544db6f4 1053 pitchLoop().setControllerI(_pitch_KI);
tnhnrl 21:38c8544db6f4 1054 pitchLoop().setControllerD(_pitch_KD);
tnhnrl 16:3363b9f14913 1055
tnhnrl 21:38c8544db6f4 1056 // save pitch PID values for outer loop
tnhnrl 21:38c8544db6f4 1057 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 16:3363b9f14913 1058 break; //exit the while loop
tnhnrl 16:3363b9f14913 1059 }
tnhnrl 16:3363b9f14913 1060 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 1061 break; //exit the while loop
tnhnrl 16:3363b9f14913 1062 }
tnhnrl 16:3363b9f14913 1063 else {
tnhnrl 16:3363b9f14913 1064 pc().printf("This key does nothing here.\r");
tnhnrl 16:3363b9f14913 1065 }
tnhnrl 16:3363b9f14913 1066 }
tnhnrl 16:3363b9f14913 1067 }
tnhnrl 20:8987a9ae2bc7 1068
tnhnrl 16:3363b9f14913 1069 float StateMachine::getDepthCommand() {
tnhnrl 16:3363b9f14913 1070 return depthCommand;
tnhnrl 16:3363b9f14913 1071 }
tnhnrl 20:8987a9ae2bc7 1072
tnhnrl 16:3363b9f14913 1073 float StateMachine::getPitchCommand() {
tnhnrl 16:3363b9f14913 1074 return pitchCommand;
tnhnrl 17:7c16b5671d0e 1075 }
tnhnrl 20:8987a9ae2bc7 1076
tnhnrl 17:7c16b5671d0e 1077 void StateMachine::setState(int input_state) {
tnhnrl 17:7c16b5671d0e 1078 //pc().printf("input_state: %d\n\r", input_state); //debug
tnhnrl 17:7c16b5671d0e 1079 //_state = input_state; //changing wrong variable
tnhnrl 21:38c8544db6f4 1080 _state = input_state;
tnhnrl 17:7c16b5671d0e 1081 }
tnhnrl 20:8987a9ae2bc7 1082
tnhnrl 17:7c16b5671d0e 1083 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 1084 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 1085 }
tnhnrl 20:8987a9ae2bc7 1086
tnhnrl 17:7c16b5671d0e 1087 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 1088 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 1089 }
tnhnrl 20:8987a9ae2bc7 1090
tnhnrl 17:7c16b5671d0e 1091 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 17:7c16b5671d0e 1092 depthCommand = input_depth_command;
tnhnrl 17:7c16b5671d0e 1093 }
tnhnrl 20:8987a9ae2bc7 1094
tnhnrl 17:7c16b5671d0e 1095 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 17:7c16b5671d0e 1096 pitchCommand = input_pitch_command;
tnhnrl 17:7c16b5671d0e 1097 }
tnhnrl 20:8987a9ae2bc7 1098
tnhnrl 17:7c16b5671d0e 1099 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 1100 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 1101 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 1102
tnhnrl 21:38c8544db6f4 1103 pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 1104 }
tnhnrl 20:8987a9ae2bc7 1105
tnhnrl 17:7c16b5671d0e 1106 int StateMachine::timeoutRunning() {
tnhnrl 17:7c16b5671d0e 1107 return isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 1108 }
tnhnrl 20:8987a9ae2bc7 1109
tnhnrl 17:7c16b5671d0e 1110 //process one state at a time
tnhnrl 17:7c16b5671d0e 1111 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 1112 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 1113 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 1114 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 1115 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 1116 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
tnhnrl 17:7c16b5671d0e 1117
tnhnrl 17:7c16b5671d0e 1118 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 16:3363b9f14913 1119 }