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@25:249e4d56b27c, 2017-11-29 (annotated)

Committer:
tnhnrl
Date:
Wed Nov 29 15:42:12 2017 +0000
Revision:
25:249e4d56b27c
Parent:
24:c7d9b5bf3829
Child:
26:7e118fc02eea
uncommented portion of code used to test on bench

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 depthTolerance = 0.25; // depth tolerance for neutral finding exit critera
tnhnrl 16:3363b9f14913 8 pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 20:8987a9ae2bc7 9
tnhnrl 24:c7d9b5bf3829 10 bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
tnhnrl 24:c7d9b5bf3829 11 battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
tnhnrl 20:8987a9ae2bc7 12
tnhnrl 24:c7d9b5bf3829 13 depthCommand = 2.0; // user keyboard depth (default)
tnhnrl 24:c7d9b5bf3829 14 pitchCommand = -20.0; // user keyboard pitch (default)
tnhnrl 17:7c16b5671d0e 15
tnhnrl 24:c7d9b5bf3829 16 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
tnhnrl 20:8987a9ae2bc7 17
tnhnrl 20:8987a9ae2bc7 18 _state = SIT_IDLE; // select starting state here
tnhnrl 17:7c16b5671d0e 19 isTimeoutRunning = false; // default timer to not running
tnhnrl 20:8987a9ae2bc7 20 isSubStateTimerRunning = false; // default timer to not running
tnhnrl 17:7c16b5671d0e 21
tnhnrl 24:c7d9b5bf3829 22 _multi_dive_counter = 0;
tnhnrl 21:38c8544db6f4 23
tnhnrl 21:38c8544db6f4 24 _neutral_sub_state_active = false;
tnhnrl 17:7c16b5671d0e 25
tnhnrl 21:38c8544db6f4 26 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 27 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 28 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 21:38c8544db6f4 29
tnhnrl 21:38c8544db6f4 30 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 31 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 32 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 21:38c8544db6f4 33
tnhnrl 21:38c8544db6f4 34 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 35 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 23:434f04ef1fad 36
tnhnrl 23:434f04ef1fad 37 _state_array_counter = 0;
tnhnrl 24:c7d9b5bf3829 38
tnhnrl 24:c7d9b5bf3829 39 _substate = NEUTRAL_FIRST_PITCH; //to start sub-FSM
tnhnrl 24:c7d9b5bf3829 40 _previous_substate = -1; //to start sub-FSM
tnhnrl 16:3363b9f14913 41 }
tnhnrl 20:8987a9ae2bc7 42
tnhnrl 17:7c16b5671d0e 43 //Finite State Machine (FSM)
tnhnrl 24:c7d9b5bf3829 44 void StateMachine::runStateMachine() {
tnhnrl 16:3363b9f14913 45 // finite state machine ... each state has at least one exit criteria
tnhnrl 17:7c16b5671d0e 46 switch (_state) {
tnhnrl 16:3363b9f14913 47 case SIT_IDLE :
tnhnrl 16:3363b9f14913 48 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 16:3363b9f14913 49 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 50 showMenu();
tnhnrl 16:3363b9f14913 51 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 17:7c16b5671d0e 52 isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 53
tnhnrl 16:3363b9f14913 54 // what is active?
tnhnrl 16:3363b9f14913 55 bce().pause();
tnhnrl 16:3363b9f14913 56 batt().pause();
tnhnrl 17:7c16b5671d0e 57
tnhnrl 17:7c16b5671d0e 58 //reset sub FSM
tnhnrl 20:8987a9ae2bc7 59 isSubStateTimerRunning = false;
tnhnrl 16:3363b9f14913 60 }
tnhnrl 20:8987a9ae2bc7 61
tnhnrl 16:3363b9f14913 62 // how exit?
tnhnrl 20:8987a9ae2bc7 63 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 64 break;
tnhnrl 20:8987a9ae2bc7 65
tnhnrl 16:3363b9f14913 66 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 67 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 68 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 69 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 16:3363b9f14913 70 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 71 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 72 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 73
tnhnrl 16:3363b9f14913 74 // what needs to be started?
tnhnrl 16:3363b9f14913 75 bce().unpause();
tnhnrl 16:3363b9f14913 76 batt().unpause();
tnhnrl 20:8987a9ae2bc7 77
tnhnrl 20:8987a9ae2bc7 78 // what are the commands?
tnhnrl 16:3363b9f14913 79 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 16:3363b9f14913 80 batt().setPosition_mm(0.0);
tnhnrl 16:3363b9f14913 81 }
tnhnrl 20:8987a9ae2bc7 82
tnhnrl 16:3363b9f14913 83 // how exit?
tnhnrl 17:7c16b5671d0e 84 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 85 pc().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 86 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 87 timer.reset();
tnhnrl 16:3363b9f14913 88 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 89 }
tnhnrl 17:7c16b5671d0e 90 else if (depthLoop().getPosition() < 0.2) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 16:3363b9f14913 91 pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read());
tnhnrl 21:38c8544db6f4 92 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 93 timer.reset();
tnhnrl 16:3363b9f14913 94 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 95 }
tnhnrl 16:3363b9f14913 96 break;
tnhnrl 20:8987a9ae2bc7 97
tnhnrl 16:3363b9f14913 98 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 99 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 100 if (!isTimeoutRunning) {
tnhnrl 21:38c8544db6f4 101 pc().printf("\r\n\nstate: FIND_NEUTRAL\n\r");
tnhnrl 16:3363b9f14913 102 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 103 timer.start(); // background timer starts running
tnhnrl 20:8987a9ae2bc7 104 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 105
tnhnrl 16:3363b9f14913 106 // what needs to be started?
tnhnrl 16:3363b9f14913 107 bce().unpause();
tnhnrl 16:3363b9f14913 108 batt().unpause();
tnhnrl 24:c7d9b5bf3829 109 bce().setPosition_mm(bceFloatPosition);
tnhnrl 24:c7d9b5bf3829 110 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to close-to-neutral setting from config file
tnhnrl 17:7c16b5671d0e 111
tnhnrl 24:c7d9b5bf3829 112 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 24:c7d9b5bf3829 113 //set the first state of the FSM, and start the sub-FSM
tnhnrl 24:c7d9b5bf3829 114 _substate = NEUTRAL_FIRST_PITCH; _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 115 runNeutralStateMachine();
tnhnrl 16:3363b9f14913 116 }
tnhnrl 20:8987a9ae2bc7 117
tnhnrl 20:8987a9ae2bc7 118 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 17:7c16b5671d0e 119 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 120 pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
tnhnrl 21:38c8544db6f4 121 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 16:3363b9f14913 122 timer.reset();
tnhnrl 16:3363b9f14913 123 isTimeoutRunning = false;
tnhnrl 24:c7d9b5bf3829 124
tnhnrl 24:c7d9b5bf3829 125 //record this to the NEUTRAL sub-FSM tracker
tnhnrl 24:c7d9b5bf3829 126 _state_array[_state_array_counter] = EMERGENCY_CLIMB; //save to state array
tnhnrl 24:c7d9b5bf3829 127 _state_array_counter++;
tnhnrl 16:3363b9f14913 128 }
tnhnrl 21:38c8544db6f4 129
tnhnrl 24:c7d9b5bf3829 130 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 24:c7d9b5bf3829 131 //check if substate returned exit state, if so stop running the sub-FSM
tnhnrl 24:c7d9b5bf3829 132 if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 133 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 21:38c8544db6f4 134 pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\n\n\r");
tnhnrl 21:38c8544db6f4 135 _state = RISE;
tnhnrl 16:3363b9f14913 136 }
tnhnrl 17:7c16b5671d0e 137 break;
tnhnrl 17:7c16b5671d0e 138
tnhnrl 16:3363b9f14913 139 case DIVE :
tnhnrl 16:3363b9f14913 140 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 141 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 142 pc().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 16:3363b9f14913 143 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 144 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 145 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 146
tnhnrl 16:3363b9f14913 147 // what needs to be started?
tnhnrl 16:3363b9f14913 148 bce().unpause();
tnhnrl 16:3363b9f14913 149 batt().unpause();
tnhnrl 20:8987a9ae2bc7 150
tnhnrl 16:3363b9f14913 151 // what are the commands?
tnhnrl 16:3363b9f14913 152 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 153 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 154 pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 16:3363b9f14913 155 pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 156 }
tnhnrl 20:8987a9ae2bc7 157
tnhnrl 16:3363b9f14913 158 // how exit?
tnhnrl 17:7c16b5671d0e 159 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 160 pc().printf("DIVE: timed out\n\n\r");
tnhnrl 21:38c8544db6f4 161 _state = RISE; //new behavior 11/17/2017
tnhnrl 16:3363b9f14913 162 timer.reset();
tnhnrl 16:3363b9f14913 163 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 164 }
tnhnrl 16:3363b9f14913 165 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 16:3363b9f14913 166 pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 167 _state = RISE;
tnhnrl 16:3363b9f14913 168 timer.reset();
tnhnrl 16:3363b9f14913 169 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 170 }
tnhnrl 20:8987a9ae2bc7 171
tnhnrl 16:3363b9f14913 172 // what is active?
tnhnrl 21:38c8544db6f4 173 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 174 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 16:3363b9f14913 175 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 176 break;
tnhnrl 16:3363b9f14913 177
tnhnrl 16:3363b9f14913 178 case RISE :
tnhnrl 16:3363b9f14913 179 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 180 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 181 pc().printf("\r\n\nstate: RISE\r\n");
tnhnrl 16:3363b9f14913 182 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 183 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 184 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 185
tnhnrl 16:3363b9f14913 186 // what needs to be started?
tnhnrl 16:3363b9f14913 187 bce().unpause();
tnhnrl 16:3363b9f14913 188 batt().unpause();
tnhnrl 16:3363b9f14913 189
tnhnrl 16:3363b9f14913 190 // what are the commands?
tnhnrl 16:3363b9f14913 191 depthLoop().setCommand(0.0);
tnhnrl 16:3363b9f14913 192 pitchLoop().setCommand(-pitchCommand);
tnhnrl 16:3363b9f14913 193 pc().printf("RISE: depth cmd: 0.0\r\n");
tnhnrl 16:3363b9f14913 194 pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 195 }
tnhnrl 20:8987a9ae2bc7 196
tnhnrl 16:3363b9f14913 197 // how exit?
tnhnrl 17:7c16b5671d0e 198 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 199 pc().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 200 _state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 201 timer.reset();
tnhnrl 16:3363b9f14913 202 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 203 }
tnhnrl 16:3363b9f14913 204 else if (depthLoop().getPosition() < depthLoop().getCommand()) {
tnhnrl 16:3363b9f14913 205 pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 206 _state = FLOAT_LEVEL;
tnhnrl 16:3363b9f14913 207 timer.reset();
tnhnrl 16:3363b9f14913 208 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 209 }
tnhnrl 20:8987a9ae2bc7 210
tnhnrl 20:8987a9ae2bc7 211 // what is active?
tnhnrl 16:3363b9f14913 212 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 213 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 214 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 215 break;
tnhnrl 16:3363b9f14913 216
tnhnrl 16:3363b9f14913 217 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 218 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 219 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 220 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 16:3363b9f14913 221 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 222 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 223 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 224
tnhnrl 16:3363b9f14913 225 // what needs to be started?
tnhnrl 16:3363b9f14913 226 bce().unpause();
tnhnrl 16:3363b9f14913 227 batt().unpause();
tnhnrl 16:3363b9f14913 228
tnhnrl 20:8987a9ae2bc7 229 // what are the commands?
tnhnrl 16:3363b9f14913 230 bce().setPosition_mm(bceFloatPosition);
tnhnrl 16:3363b9f14913 231 pitchLoop().setCommand(0.0);
tnhnrl 16:3363b9f14913 232 }
tnhnrl 20:8987a9ae2bc7 233
tnhnrl 16:3363b9f14913 234 // how exit?
tnhnrl 17:7c16b5671d0e 235 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 236 pc().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 237 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 238 timer.reset();
tnhnrl 16:3363b9f14913 239 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 240 }
tnhnrl 17:7c16b5671d0e 241 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(pitchTolerance)) {
tnhnrl 16:3363b9f14913 242 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 243 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 244 timer.reset();
tnhnrl 16:3363b9f14913 245 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 246 }
tnhnrl 20:8987a9ae2bc7 247
tnhnrl 16:3363b9f14913 248 // what is active?
tnhnrl 16:3363b9f14913 249 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 250 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 16:3363b9f14913 251 break;
tnhnrl 16:3363b9f14913 252
tnhnrl 16:3363b9f14913 253 case FLOAT_BROADCAST :
tnhnrl 16:3363b9f14913 254 // start local state timer and init any other one-shot actions
tnhnrl 16:3363b9f14913 255 if (!isTimeoutRunning) {
tnhnrl 16:3363b9f14913 256 pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
tnhnrl 16:3363b9f14913 257 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 258 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 259 isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 260
tnhnrl 16:3363b9f14913 261 // what needs to be started?
tnhnrl 16:3363b9f14913 262 bce().unpause();
tnhnrl 16:3363b9f14913 263 batt().unpause();
tnhnrl 20:8987a9ae2bc7 264
tnhnrl 16:3363b9f14913 265 // what are the commands?
tnhnrl 16:3363b9f14913 266 bce().setPosition_mm(bceFloatPosition);
tnhnrl 16:3363b9f14913 267 batt().setPosition_mm(battFloatPosition);
tnhnrl 16:3363b9f14913 268 }
tnhnrl 20:8987a9ae2bc7 269
tnhnrl 16:3363b9f14913 270 // how exit?
tnhnrl 17:7c16b5671d0e 271 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 272 pc().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 273 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 274 timer.reset();
tnhnrl 16:3363b9f14913 275 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 276 }
tnhnrl 20:8987a9ae2bc7 277 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
tnhnrl 20:8987a9ae2bc7 278 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 16:3363b9f14913 279 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 280 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 281 timer.reset();
tnhnrl 16:3363b9f14913 282 isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 283 }
tnhnrl 20:8987a9ae2bc7 284
tnhnrl 20:8987a9ae2bc7 285 // what is active?
tnhnrl 16:3363b9f14913 286 pc().printf("FB: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
tnhnrl 16:3363b9f14913 287 break;
tnhnrl 17:7c16b5671d0e 288
tnhnrl 17:7c16b5671d0e 289 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 290 // start local state timer and init any other one-shot actions
tnhnrl 17:7c16b5671d0e 291 if (!isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 292 pc().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 17:7c16b5671d0e 293 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 294 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 295 isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 296
tnhnrl 17:7c16b5671d0e 297 // what needs to be started?
tnhnrl 17:7c16b5671d0e 298 bce().unpause();
tnhnrl 17:7c16b5671d0e 299 batt().unpause();
tnhnrl 17:7c16b5671d0e 300
tnhnrl 21:38c8544db6f4 301 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 17:7c16b5671d0e 302 float sequenceDepthCommand = currentStateStruct.depth;
tnhnrl 17:7c16b5671d0e 303 float sequencePitchCommand = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 304
tnhnrl 17:7c16b5671d0e 305 // what are the commands?
tnhnrl 17:7c16b5671d0e 306 depthLoop().setCommand(sequenceDepthCommand);
tnhnrl 17:7c16b5671d0e 307 pitchLoop().setCommand(sequencePitchCommand);
tnhnrl 21:38c8544db6f4 308 pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 309 }
tnhnrl 20:8987a9ae2bc7 310
tnhnrl 17:7c16b5671d0e 311 // how exit?
tnhnrl 17:7c16b5671d0e 312 if (timer > _timeout) {
tnhnrl 21:38c8544db6f4 313 pc().printf("\n\n\rMULTI-DIVE: timed out [time: %0.1f]\n\n\r", timer.read());
tnhnrl 21:38c8544db6f4 314 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 17:7c16b5671d0e 315 timer.reset();
tnhnrl 17:7c16b5671d0e 316 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 317 }
tnhnrl 17:7c16b5671d0e 318 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 17:7c16b5671d0e 319 pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 320 _state = MULTI_RISE;
tnhnrl 17:7c16b5671d0e 321 timer.reset();
tnhnrl 17:7c16b5671d0e 322 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 323 }
tnhnrl 20:8987a9ae2bc7 324
tnhnrl 17:7c16b5671d0e 325 // what is active?
tnhnrl 17:7c16b5671d0e 326 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 327 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 328 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 17:7c16b5671d0e 329 break;
tnhnrl 17:7c16b5671d0e 330
tnhnrl 17:7c16b5671d0e 331 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 332 // start local state timer and init any other one-shot actions
tnhnrl 17:7c16b5671d0e 333 if (!isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 334 pc().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 17:7c16b5671d0e 335 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 336 timer.start(); // background timer starts running
tnhnrl 17:7c16b5671d0e 337 isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 338
tnhnrl 17:7c16b5671d0e 339 // what needs to be started?
tnhnrl 17:7c16b5671d0e 340 bce().unpause();
tnhnrl 17:7c16b5671d0e 341 batt().unpause();
tnhnrl 17:7c16b5671d0e 342
tnhnrl 17:7c16b5671d0e 343 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 344 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 345 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 346
tnhnrl 17:7c16b5671d0e 347 //retrieve just pitch command from struct
tnhnrl 17:7c16b5671d0e 348 float sequencePitchCommand = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 349
tnhnrl 17:7c16b5671d0e 350 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 351 depthLoop().setCommand(0.5);
tnhnrl 21:38c8544db6f4 352 pitchLoop().setCommand(-sequencePitchCommand);
tnhnrl 21:38c8544db6f4 353 pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 354 }
tnhnrl 20:8987a9ae2bc7 355
tnhnrl 17:7c16b5671d0e 356 // how exit?
tnhnrl 17:7c16b5671d0e 357 if (timer > _timeout) {
tnhnrl 21:38c8544db6f4 358 pc().printf("MULTI-RISE: timed out [time: %0.1f]\n\n\r", timer.read());
tnhnrl 21:38c8544db6f4 359 _state = EMERGENCY_CLIMB;
tnhnrl 17:7c16b5671d0e 360 timer.reset();
tnhnrl 17:7c16b5671d0e 361 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 362
tnhnrl 17:7c16b5671d0e 363 //reset multi-dive sequence to start
tnhnrl 24:c7d9b5bf3829 364 _multi_dive_counter = 0;
tnhnrl 17:7c16b5671d0e 365 }
tnhnrl 20:8987a9ae2bc7 366 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 17:7c16b5671d0e 367 pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 368
tnhnrl 17:7c16b5671d0e 369 //going to next state
tnhnrl 17:7c16b5671d0e 370 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 371
tnhnrl 17:7c16b5671d0e 372 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 24:c7d9b5bf3829 373 _multi_dive_counter++;
tnhnrl 17:7c16b5671d0e 374
tnhnrl 17:7c16b5671d0e 375 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 376 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 377
tnhnrl 17:7c16b5671d0e 378 //check if this is the end of the dive sequence
tnhnrl 17:7c16b5671d0e 379 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (Float_Level)
tnhnrl 17:7c16b5671d0e 380 if (currentStateStruct.state == FLOAT_LEVEL) {
tnhnrl 21:38c8544db6f4 381 _state = FLOAT_LEVEL;
tnhnrl 17:7c16b5671d0e 382 return;
tnhnrl 17:7c16b5671d0e 383 }
tnhnrl 17:7c16b5671d0e 384
tnhnrl 17:7c16b5671d0e 385 else
tnhnrl 21:38c8544db6f4 386 _state = MULTI_DIVE;
tnhnrl 17:7c16b5671d0e 387
tnhnrl 24:c7d9b5bf3829 388 //have to stop this with the _multi_dive_counter variable!
tnhnrl 17:7c16b5671d0e 389 }
tnhnrl 20:8987a9ae2bc7 390
tnhnrl 20:8987a9ae2bc7 391 // what is active?
tnhnrl 17:7c16b5671d0e 392 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 393 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 394 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 17:7c16b5671d0e 395 break;
tnhnrl 16:3363b9f14913 396
tnhnrl 16:3363b9f14913 397 default :
tnhnrl 17:7c16b5671d0e 398 pc().printf("DEBUG: SIT_IDLE\n\r");
tnhnrl 21:38c8544db6f4 399 _state = SIT_IDLE;
tnhnrl 17:7c16b5671d0e 400 }
tnhnrl 16:3363b9f14913 401 }
tnhnrl 20:8987a9ae2bc7 402
tnhnrl 16:3363b9f14913 403 // output the keyboard menu for user's reference
tnhnrl 16:3363b9f14913 404 void StateMachine::showMenu() {
tnhnrl 16:3363b9f14913 405 pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
tnhnrl 16:3363b9f14913 406 pc().printf(" N to find neutral\r\n");
tnhnrl 17:7c16b5671d0e 407 pc().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 16:3363b9f14913 408 pc().printf(" D to initiate dive cycle\r\n");
tnhnrl 16:3363b9f14913 409 pc().printf(" R to initiate rise\r\n");
tnhnrl 16:3363b9f14913 410 pc().printf(" L to float level\r\n");
tnhnrl 16:3363b9f14913 411 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 16:3363b9f14913 412 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 16:3363b9f14913 413 pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
tnhnrl 16:3363b9f14913 414 pc().printf(" T to tare the depth sensor\r\n");
tnhnrl 16:3363b9f14913 415 pc().printf("[/] to change bce neutral position\r\n");
tnhnrl 16:3363b9f14913 416 pc().printf("</> to change batt neutral position\r\n");
tnhnrl 16:3363b9f14913 417 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchCommand);
tnhnrl 16:3363b9f14913 418 pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthCommand);
tnhnrl 17:7c16b5671d0e 419 pc().printf("+/- to decrease/increase timeout: %d s\r\n",_timeout);
tnhnrl 16:3363b9f14913 420 pc().printf(" 1 BCE PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 421 pc().printf(" 2 BATT PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 422 pc().printf(" 3 Depth PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 423 pc().printf(" 4 Pitch PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 424 pc().printf(" C See sensor readings\r\n");
tnhnrl 16:3363b9f14913 425 pc().printf(" ? to reset mbed\r\n");
tnhnrl 16:3363b9f14913 426 }
tnhnrl 20:8987a9ae2bc7 427
tnhnrl 17:7c16b5671d0e 428 //Find Neutral sub finite state machine
tnhnrl 17:7c16b5671d0e 429 // Note: the sub-fsm only moves the pistons once at the start of each timer loop
tnhnrl 17:7c16b5671d0e 430 // (timer completes, move piston, timer completes, move piston, etc)
tnhnrl 24:c7d9b5bf3829 431 int StateMachine::runNeutralStateMachine() {
tnhnrl 24:c7d9b5bf3829 432 //used to log sub-FSM states
tnhnrl 24:c7d9b5bf3829 433 if (_substate == NEUTRAL_FIRST_PITCH) {
tnhnrl 24:c7d9b5bf3829 434 _state_array[_state_array_counter] = NEUTRAL_FIRST_PITCH; //save to state array
tnhnrl 24:c7d9b5bf3829 435 _state_array_counter++;
tnhnrl 24:c7d9b5bf3829 436 }
tnhnrl 17:7c16b5671d0e 437
tnhnrl 24:c7d9b5bf3829 438 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 439 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 440 //start the 10 second timer
tnhnrl 23:434f04ef1fad 441 if (!isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 442 _neutral_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 443
tnhnrl 24:c7d9b5bf3829 444 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 445
tnhnrl 20:8987a9ae2bc7 446 // what are the commands?
tnhnrl 24:c7d9b5bf3829 447 //move piston at start of sequence (retract 5 mm)
tnhnrl 24:c7d9b5bf3829 448 bce().setPosition_mm(bce().getSetPosition_mm() - 5); //no depth command
tnhnrl 23:434f04ef1fad 449
tnhnrl 23:434f04ef1fad 450 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 451 pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 452
tnhnrl 24:c7d9b5bf3829 453 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 454
tnhnrl 20:8987a9ae2bc7 455 isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 456 }
tnhnrl 20:8987a9ae2bc7 457
tnhnrl 20:8987a9ae2bc7 458 // how exit?
tnhnrl 20:8987a9ae2bc7 459 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 460 if (bce().getPosition_mm() <= 0) {
tnhnrl 25:249e4d56b27c 461 pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\n\r", bce().getPosition_mm());
tnhnrl 25:249e4d56b27c 462 _substate = NEUTRAL_EXIT;
tnhnrl 25:249e4d56b27c 463 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 25:249e4d56b27c 464 }
tnhnrl 20:8987a9ae2bc7 465 //once deeper than the commanded setpoint...
tnhnrl 20:8987a9ae2bc7 466 else if (depthLoop().getPosition() > depthCommand) {
tnhnrl 24:c7d9b5bf3829 467 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 20:8987a9ae2bc7 468 isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 469 }
tnhnrl 20:8987a9ae2bc7 470
tnhnrl 20:8987a9ae2bc7 471 // what is active?
tnhnrl 20:8987a9ae2bc7 472 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 473 if (timer.read() >= _neutral_timer) {
tnhnrl 24:c7d9b5bf3829 474 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 475
tnhnrl 24:c7d9b5bf3829 476 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 477 }
tnhnrl 21:38c8544db6f4 478
tnhnrl 23:434f04ef1fad 479 // what is active?
tnhnrl 23:434f04ef1fad 480 batt().setPosition_mm(pitchLoop().getOutput()); // pitch outer loop is running
tnhnrl 17:7c16b5671d0e 481 break;
tnhnrl 17:7c16b5671d0e 482
tnhnrl 17:7c16b5671d0e 483 case NEUTRAL_SLOWLY_RISE:
tnhnrl 23:434f04ef1fad 484 if (!isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 485 _neutral_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 486
tnhnrl 24:c7d9b5bf3829 487 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 488
tnhnrl 20:8987a9ae2bc7 489 // what are the commands?
tnhnrl 20:8987a9ae2bc7 490 //move piston at start of sequence (extend)
tnhnrl 24:c7d9b5bf3829 491 bce().setPosition_mm(bce().getSetPosition_mm() + 2); //no depth command
tnhnrl 23:434f04ef1fad 492
tnhnrl 23:434f04ef1fad 493 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 494 pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 495
tnhnrl 24:c7d9b5bf3829 496 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 497
tnhnrl 24:c7d9b5bf3829 498 isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 499 }
tnhnrl 17:7c16b5671d0e 500
tnhnrl 20:8987a9ae2bc7 501 // how exit?
tnhnrl 24:c7d9b5bf3829 502 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 503 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 24:c7d9b5bf3829 504 _substate = NEUTRAL_EXIT;
tnhnrl 24:c7d9b5bf3829 505 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 506 }
tnhnrl 17:7c16b5671d0e 507 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 508 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 24:c7d9b5bf3829 509 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", timer.read());
tnhnrl 24:c7d9b5bf3829 510 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 24:c7d9b5bf3829 511 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 512 }
tnhnrl 17:7c16b5671d0e 513
tnhnrl 20:8987a9ae2bc7 514 // what is active?
tnhnrl 20:8987a9ae2bc7 515 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 516 if (timer.read() >= _neutral_timer) {
tnhnrl 24:c7d9b5bf3829 517 pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! Extending 1 mm [timer: %0.1f]\r\n", timer.read());
tnhnrl 20:8987a9ae2bc7 518
tnhnrl 24:c7d9b5bf3829 519 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 520 }
tnhnrl 23:434f04ef1fad 521
tnhnrl 23:434f04ef1fad 522 // what is active?
tnhnrl 23:434f04ef1fad 523 batt().setPosition_mm(pitchLoop().getOutput()); // pitch outer loop is running
tnhnrl 17:7c16b5671d0e 524 break;
tnhnrl 17:7c16b5671d0e 525
danstrider 22:a10ee088403b 526 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 527 case NEUTRAL_FIRST_PITCH :
danstrider 22:a10ee088403b 528 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 529
tnhnrl 23:434f04ef1fad 530 if (!isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 531 _neutral_timer = timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 24:c7d9b5bf3829 532 pc().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - timer.read());
danstrider 22:a10ee088403b 533
danstrider 22:a10ee088403b 534 // what are the commands?
tnhnrl 24:c7d9b5bf3829 535 if (pitchLoop().getPosition() > 2) { // nose is high
tnhnrl 24:c7d9b5bf3829 536 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 23:434f04ef1fad 537 pc().printf("\n\rNeutral Check Pitch: moving battery FWD in 1mm increments\n\n\r");
danstrider 22:a10ee088403b 538 }
tnhnrl 24:c7d9b5bf3829 539 else if (pitchLoop().getPosition() < -2) { // nose is low
tnhnrl 24:c7d9b5bf3829 540 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 23:434f04ef1fad 541 pc().printf("\n\rNeutral Check Pitch: moving battery AFT in 1mm increments\n\n\r");
danstrider 22:a10ee088403b 542 }
tnhnrl 24:c7d9b5bf3829 543
tnhnrl 24:c7d9b5bf3829 544 isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 545 }
tnhnrl 20:8987a9ae2bc7 546
tnhnrl 20:8987a9ae2bc7 547 // how exit?
tnhnrl 20:8987a9ae2bc7 548 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 549 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 550 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 24:c7d9b5bf3829 551 pc().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\n\r"); //debug
danstrider 22:a10ee088403b 552 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 553
tnhnrl 24:c7d9b5bf3829 554 if (_substate == NEUTRAL_FIRST_PITCH) {
tnhnrl 24:c7d9b5bf3829 555 _substate = NEUTRAL_SINKING; // next state starts the sinking
tnhnrl 24:c7d9b5bf3829 556 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 557
tnhnrl 23:434f04ef1fad 558 // save this neutral (not in file) for pitch
tnhnrl 23:434f04ef1fad 559 pitchLoop().setOutputOffset(batt().getPosition_mm());
tnhnrl 23:434f04ef1fad 560
tnhnrl 24:c7d9b5bf3829 561 pc().printf("substate: NEUTRAL_FIRST_PITCH (next substate: NEUTRAL_SINKING)\n\r");
danstrider 22:a10ee088403b 562 }
tnhnrl 23:434f04ef1fad 563
tnhnrl 23:434f04ef1fad 564 // found level and at depth too, so save it all now
tnhnrl 24:c7d9b5bf3829 565 else if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 566 //save positions locally
danstrider 22:a10ee088403b 567 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 568 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 569
danstrider 22:a10ee088403b 570 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 571 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 572 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 573
danstrider 22:a10ee088403b 574 // save into the depth.txt and pitch.txt files
danstrider 22:a10ee088403b 575 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset
danstrider 22:a10ee088403b 576 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset
danstrider 22:a10ee088403b 577
danstrider 22:a10ee088403b 578 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 579
tnhnrl 24:c7d9b5bf3829 580 _substate = NEUTRAL_EXIT;
tnhnrl 24:c7d9b5bf3829 581 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 582 }
tnhnrl 24:c7d9b5bf3829 583
tnhnrl 24:c7d9b5bf3829 584 else {
tnhnrl 24:c7d9b5bf3829 585 pc().printf("\n\rDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\n\r");
tnhnrl 24:c7d9b5bf3829 586 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 587 }
tnhnrl 17:7c16b5671d0e 588 }
danstrider 22:a10ee088403b 589
danstrider 22:a10ee088403b 590 // what is active?
danstrider 22:a10ee088403b 591 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 592 if (timer.read() >= _neutral_timer) {
danstrider 22:a10ee088403b 593 pc().printf("\r\n\nlevel timer COMPLETE!");
danstrider 22:a10ee088403b 594 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 595 isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 596 }
tnhnrl 17:7c16b5671d0e 597 break;
danstrider 22:a10ee088403b 598
danstrider 22:a10ee088403b 599 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 600 case NEUTRAL_EXIT :
tnhnrl 23:434f04ef1fad 601 pc().printf("substate: NEUTRAL_EXIT\n\r");
tnhnrl 20:8987a9ae2bc7 602 break;
tnhnrl 21:38c8544db6f4 603
danstrider 22:a10ee088403b 604 default :
tnhnrl 24:c7d9b5bf3829 605 pc().printf("how did we get to substate: default?\n\r"); //debug
tnhnrl 23:434f04ef1fad 606 //a default within the sub-state machine
tnhnrl 24:c7d9b5bf3829 607 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 608 break;
tnhnrl 17:7c16b5671d0e 609 }
tnhnrl 20:8987a9ae2bc7 610
tnhnrl 24:c7d9b5bf3829 611 // reset the sub-FSM if needed
tnhnrl 24:c7d9b5bf3829 612 if (_substate == NEUTRAL_EXIT) {
tnhnrl 24:c7d9b5bf3829 613 pc().printf("******************************** EXITING sub-FSM! *******************************\n\n\r");
tnhnrl 24:c7d9b5bf3829 614
tnhnrl 24:c7d9b5bf3829 615 //reset internal sub-state back to first entry conditions
tnhnrl 24:c7d9b5bf3829 616 _substate = NEUTRAL_FIRST_PITCH;
tnhnrl 24:c7d9b5bf3829 617 isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 21:38c8544db6f4 618
tnhnrl 24:c7d9b5bf3829 619 //record sub-states to view after sequence
tnhnrl 24:c7d9b5bf3829 620 _state_array[_state_array_counter] = NEUTRAL_EXIT; //save to state array
tnhnrl 24:c7d9b5bf3829 621 _state_array_counter++;
tnhnrl 23:434f04ef1fad 622
tnhnrl 24:c7d9b5bf3829 623 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 624 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 625
tnhnrl 24:c7d9b5bf3829 626 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 627 return NEUTRAL_EXIT; // message to calling function we just exited
tnhnrl 21:38c8544db6f4 628 }
tnhnrl 23:434f04ef1fad 629 else {
tnhnrl 24:c7d9b5bf3829 630 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 631 if (_previous_substate != _substate) {
tnhnrl 24:c7d9b5bf3829 632 _state_array[_state_array_counter] = _substate; //save current state to state array
tnhnrl 24:c7d9b5bf3829 633 _state_array_counter++;
tnhnrl 24:c7d9b5bf3829 634
tnhnrl 24:c7d9b5bf3829 635 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 636 _previous_substate = _substate;
tnhnrl 24:c7d9b5bf3829 637 }
tnhnrl 24:c7d9b5bf3829 638
tnhnrl 24:c7d9b5bf3829 639 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 640 }
tnhnrl 17:7c16b5671d0e 641 }
tnhnrl 20:8987a9ae2bc7 642
tnhnrl 20:8987a9ae2bc7 643 // keyboard runs independently of the state machine, handling one key at a time
tnhnrl 20:8987a9ae2bc7 644 //keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 20:8987a9ae2bc7 645 //and only allows input when the state is "idle"
tnhnrl 17:7c16b5671d0e 646 void StateMachine::keyboard() {
tnhnrl 16:3363b9f14913 647 char userInput;
tnhnrl 20:8987a9ae2bc7 648
tnhnrl 16:3363b9f14913 649 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 650 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 651
tnhnrl 21:38c8544db6f4 652 int _keyboard_state = -1; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 653
tnhnrl 21:38c8544db6f4 654 if (pc().readable() && _state == SIT_IDLE) {
tnhnrl 16:3363b9f14913 655 // get the key
tnhnrl 17:7c16b5671d0e 656 userInput = pc().getc();
tnhnrl 17:7c16b5671d0e 657
tnhnrl 21:38c8544db6f4 658 // keyboard has to reset timer each time it's used
tnhnrl 20:8987a9ae2bc7 659 isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 660
tnhnrl 16:3363b9f14913 661 // check command against desired control buttons
tnhnrl 16:3363b9f14913 662 if (userInput == 'D' or userInput == 'd') {
tnhnrl 17:7c16b5671d0e 663 _keyboard_state = DIVE;
tnhnrl 16:3363b9f14913 664 }
tnhnrl 16:3363b9f14913 665 else if (userInput == 'N' or userInput == 'n') {
tnhnrl 17:7c16b5671d0e 666 _keyboard_state = FIND_NEUTRAL;
tnhnrl 17:7c16b5671d0e 667 }
tnhnrl 17:7c16b5671d0e 668 else if (userInput == 'M' or userInput == 'm') {
tnhnrl 17:7c16b5671d0e 669 //currently does not run if there is no file.
tnhnrl 17:7c16b5671d0e 670
tnhnrl 17:7c16b5671d0e 671 //need to add method to Sequence Controller that returns -1
tnhnrl 17:7c16b5671d0e 672 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 17:7c16b5671d0e 673
tnhnrl 17:7c16b5671d0e 674 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 17:7c16b5671d0e 675 _keyboard_state = currentStateStruct.state;
tnhnrl 17:7c16b5671d0e 676
tnhnrl 17:7c16b5671d0e 677 pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 16:3363b9f14913 678 }
tnhnrl 16:3363b9f14913 679 else if (userInput == 'R' or userInput == 'r') {
tnhnrl 17:7c16b5671d0e 680 _keyboard_state = RISE;
tnhnrl 16:3363b9f14913 681 }
tnhnrl 16:3363b9f14913 682 else if (userInput == 'L' or userInput == 'l') {
tnhnrl 17:7c16b5671d0e 683 _keyboard_state = FLOAT_LEVEL;
tnhnrl 16:3363b9f14913 684 }
tnhnrl 16:3363b9f14913 685 else if (userInput == 'B' or userInput == 'b') {
tnhnrl 17:7c16b5671d0e 686 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 687 }
tnhnrl 16:3363b9f14913 688 else if (userInput == 'E' or userInput == 'e') {
tnhnrl 17:7c16b5671d0e 689 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 690 }
tnhnrl 16:3363b9f14913 691 else if (userInput == 'H' or userInput == 'h') {
tnhnrl 16:3363b9f14913 692 pc().printf("running homing procedure\r\n");
tnhnrl 16:3363b9f14913 693 bce().unpause(); bce().homePiston(); bce().pause();
tnhnrl 16:3363b9f14913 694 batt().unpause(); batt().homePiston(); batt().pause();
tnhnrl 16:3363b9f14913 695 }
tnhnrl 16:3363b9f14913 696 else if (userInput == 'T' or userInput == 't') {
tnhnrl 16:3363b9f14913 697 pc().printf("taring depth sensor\r\n");
tnhnrl 16:3363b9f14913 698 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 16:3363b9f14913 699 wait(0.1);
tnhnrl 16:3363b9f14913 700 depth().tare(); // tares to ambient (do on surface)
tnhnrl 16:3363b9f14913 701 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 16:3363b9f14913 702 }
tnhnrl 16:3363b9f14913 703
tnhnrl 16:3363b9f14913 704 else if (userInput == '[' or userInput == '{') {
tnhnrl 16:3363b9f14913 705 depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint
tnhnrl 16:3363b9f14913 706 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 707 }
tnhnrl 16:3363b9f14913 708 else if (userInput == ']' or userInput == '}') {
tnhnrl 16:3363b9f14913 709 depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint
tnhnrl 16:3363b9f14913 710 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 711 }
tnhnrl 16:3363b9f14913 712 else if (userInput == '<' or userInput == ',') {
tnhnrl 16:3363b9f14913 713 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint
tnhnrl 16:3363b9f14913 714 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 715 }
tnhnrl 16:3363b9f14913 716 else if (userInput == '>' or userInput == '.') {
tnhnrl 16:3363b9f14913 717 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint
tnhnrl 16:3363b9f14913 718 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 719 }
tnhnrl 16:3363b9f14913 720
tnhnrl 16:3363b9f14913 721 else if (userInput == '?') {
tnhnrl 16:3363b9f14913 722 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 16:3363b9f14913 723 wait(0.5);
tnhnrl 16:3363b9f14913 724 mbed_reset();
tnhnrl 16:3363b9f14913 725 }
tnhnrl 20:8987a9ae2bc7 726
tnhnrl 16:3363b9f14913 727 // change settings
tnhnrl 16:3363b9f14913 728 else if (userInput == 'Q' or userInput == 'q') {
tnhnrl 16:3363b9f14913 729 pitchCommand -= 0.5; //decrement the pitch setpoint
tnhnrl 16:3363b9f14913 730 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 731 pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 732 }
tnhnrl 16:3363b9f14913 733 else if (userInput == 'W' or userInput == 'w') {
tnhnrl 16:3363b9f14913 734 pitchCommand += 0.5; //increment the pitch setpoint
tnhnrl 16:3363b9f14913 735 pitchLoop().setCommand(pitchCommand);
tnhnrl 16:3363b9f14913 736 pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
tnhnrl 16:3363b9f14913 737 }
tnhnrl 16:3363b9f14913 738 else if (userInput == 'A' or userInput == 'a') {
tnhnrl 16:3363b9f14913 739 depthCommand -= 0.5; //decrement the depth setpoint
tnhnrl 16:3363b9f14913 740 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 741 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
tnhnrl 16:3363b9f14913 742 }
tnhnrl 16:3363b9f14913 743 else if (userInput == 'S' or userInput == 's') {
tnhnrl 16:3363b9f14913 744 depthCommand += 0.5; //increment the depth setpoint
tnhnrl 16:3363b9f14913 745 depthLoop().setCommand(depthCommand);
tnhnrl 16:3363b9f14913 746 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
tnhnrl 16:3363b9f14913 747 }
tnhnrl 20:8987a9ae2bc7 748
tnhnrl 16:3363b9f14913 749 else if (userInput == '-') {
tnhnrl 17:7c16b5671d0e 750 _timeout -= 10.0; //decrement the timeout
tnhnrl 17:7c16b5671d0e 751 pc().printf(">>> timeout decreased: %d\r\n", _timeout);
tnhnrl 16:3363b9f14913 752 }
tnhnrl 16:3363b9f14913 753 else if (userInput == '=' or userInput == '+') {
tnhnrl 17:7c16b5671d0e 754 _timeout += 10.0; //increment the timeout
tnhnrl 17:7c16b5671d0e 755 pc().printf(">>> timeout increased: %d\r\n", _timeout);
tnhnrl 16:3363b9f14913 756 }
tnhnrl 16:3363b9f14913 757
tnhnrl 24:c7d9b5bf3829 758 //new 11/29/2017
tnhnrl 24:c7d9b5bf3829 759 else if (userInput == ';') {
tnhnrl 24:c7d9b5bf3829 760 _timeout -= 1.0; //decrement the timeout
tnhnrl 24:c7d9b5bf3829 761 pc().printf(">>> NEUTRAL sub-FSM timeout decreased: %d\r\n", _timeout);
tnhnrl 24:c7d9b5bf3829 762 }
tnhnrl 24:c7d9b5bf3829 763 else if (userInput == '\'') {
tnhnrl 24:c7d9b5bf3829 764 _timeout += 1.0; //increment the timeout
tnhnrl 24:c7d9b5bf3829 765 pc().printf(">>> NEUTRAL sub-FSM timeout increased: %d\r\n", _timeout);
tnhnrl 24:c7d9b5bf3829 766 }
tnhnrl 24:c7d9b5bf3829 767
tnhnrl 16:3363b9f14913 768 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 16:3363b9f14913 769 else if (userInput == '1') {
tnhnrl 16:3363b9f14913 770 keyboard_menu_BCE_PID_settings();
tnhnrl 16:3363b9f14913 771 }
tnhnrl 16:3363b9f14913 772 else if (userInput == '2') {
tnhnrl 16:3363b9f14913 773 keyboard_menu_BATT_PID_settings();
tnhnrl 16:3363b9f14913 774 }
tnhnrl 16:3363b9f14913 775 else if (userInput == '3') {
tnhnrl 16:3363b9f14913 776 keyboard_menu_DEPTH_PID_settings();
tnhnrl 16:3363b9f14913 777 }
tnhnrl 16:3363b9f14913 778 else if (userInput == '4') {
tnhnrl 16:3363b9f14913 779 keyboard_menu_PITCH_PID_settings();
tnhnrl 16:3363b9f14913 780 }
tnhnrl 16:3363b9f14913 781
tnhnrl 16:3363b9f14913 782 else if (userInput == 'C' or userInput == 'c') {
tnhnrl 16:3363b9f14913 783 pc().printf("depth: %3.1f\r\n",depthLoop().getPosition());
tnhnrl 16:3363b9f14913 784 pc().printf("pitch: %3.1f\r\n",imu().getPitch());
tnhnrl 16:3363b9f14913 785 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 16:3363b9f14913 786 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 16:3363b9f14913 787 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 16:3363b9f14913 788 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 16:3363b9f14913 789 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 16:3363b9f14913 790 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 23:434f04ef1fad 791
tnhnrl 23:434f04ef1fad 792 pc().printf("Neutral sub FSM states: \n\r");
tnhnrl 24:c7d9b5bf3829 793 string string_state;
tnhnrl 24:c7d9b5bf3829 794
tnhnrl 23:434f04ef1fad 795 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 24:c7d9b5bf3829 796 if (_state_array[i] == NEUTRAL_FIRST_PITCH)
tnhnrl 24:c7d9b5bf3829 797 string_state = "NEUTRAL_FIRST_PITCH";
tnhnrl 24:c7d9b5bf3829 798 else if (_state_array[i] == NEUTRAL_SINKING)
tnhnrl 24:c7d9b5bf3829 799 string_state = "NEUTRAL_SINKING";
tnhnrl 24:c7d9b5bf3829 800 else if (_state_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 24:c7d9b5bf3829 801 string_state = "NEUTRAL_SLOWLY_RISE";
tnhnrl 24:c7d9b5bf3829 802 else if (_state_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 24:c7d9b5bf3829 803 string_state = "NEUTRAL_CHECK_PITCH";
tnhnrl 24:c7d9b5bf3829 804 else if (_state_array[i] == NEUTRAL_EXIT)
tnhnrl 24:c7d9b5bf3829 805 string_state = "NEUTRAL_EXIT <-- ";
tnhnrl 24:c7d9b5bf3829 806 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 24:c7d9b5bf3829 807 string_state = "EMERGENCY_CLIMB <-- ";
tnhnrl 24:c7d9b5bf3829 808 pc().printf("state #%d: %d (%s)\n\r", i, _state_array[i], string_state.c_str());
tnhnrl 23:434f04ef1fad 809 }
tnhnrl 16:3363b9f14913 810 }
tnhnrl 17:7c16b5671d0e 811
tnhnrl 17:7c16b5671d0e 812 //when you read the keyboard successfully, change the state
tnhnrl 21:38c8544db6f4 813 _state = _keyboard_state; //set state at the end of this function
tnhnrl 24:c7d9b5bf3829 814
tnhnrl 24:c7d9b5bf3829 815 wait_us(100);
tnhnrl 16:3363b9f14913 816 }
tnhnrl 16:3363b9f14913 817 }
tnhnrl 20:8987a9ae2bc7 818
tnhnrl 20:8987a9ae2bc7 819
tnhnrl 16:3363b9f14913 820 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 16:3363b9f14913 821 char PID_key;
tnhnrl 16:3363b9f14913 822 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 823 float KP = bce().getControllerP(); // load current value
tnhnrl 16:3363b9f14913 824 float KI = bce().getControllerI(); // load current global value
tnhnrl 16:3363b9f14913 825 float KD = bce().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 826
tnhnrl 16:3363b9f14913 827 // show the menu
tnhnrl 16:3363b9f14913 828 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 829 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 830 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 21:38c8544db6f4 831 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 832
tnhnrl 16:3363b9f14913 833 // handle the key presses
tnhnrl 16:3363b9f14913 834 while(1) {
tnhnrl 16:3363b9f14913 835 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 836 if (pc().readable()) {
tnhnrl 16:3363b9f14913 837 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 838 }
tnhnrl 16:3363b9f14913 839 else {
tnhnrl 16:3363b9f14913 840 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 841 }
tnhnrl 16:3363b9f14913 842
tnhnrl 16:3363b9f14913 843 // handle the user's key input
tnhnrl 16:3363b9f14913 844 if (PID_key == '-') {
tnhnrl 16:3363b9f14913 845 KP -= gain_step_size;
tnhnrl 16:3363b9f14913 846 pc().printf("P gain: %0.5f \r\n", KP);
tnhnrl 16:3363b9f14913 847 }
tnhnrl 16:3363b9f14913 848 else if (PID_key == '=') {
tnhnrl 16:3363b9f14913 849 KP += gain_step_size;
tnhnrl 16:3363b9f14913 850 pc().printf("P gain: %0.5f \r\n", KP);
tnhnrl 16:3363b9f14913 851 }
tnhnrl 16:3363b9f14913 852 else if (PID_key == '[') {
tnhnrl 16:3363b9f14913 853 KI -= gain_step_size;
tnhnrl 16:3363b9f14913 854 pc().printf("I gain: %0.5f \r\n", KI);
tnhnrl 16:3363b9f14913 855 }
tnhnrl 16:3363b9f14913 856 else if (PID_key == ']') {
tnhnrl 16:3363b9f14913 857 KI += gain_step_size;
tnhnrl 16:3363b9f14913 858 pc().printf("I gain: %0.5f \r\n", KI);
tnhnrl 16:3363b9f14913 859 }
tnhnrl 16:3363b9f14913 860 else if (PID_key == ';') {
tnhnrl 16:3363b9f14913 861 KD -= gain_step_size;
tnhnrl 16:3363b9f14913 862 pc().printf("D gain: %0.5f \r\n", KD);
tnhnrl 16:3363b9f14913 863 }
tnhnrl 16:3363b9f14913 864 else if (PID_key == '\'') {
tnhnrl 16:3363b9f14913 865 KD += gain_step_size;
tnhnrl 16:3363b9f14913 866 pc().printf("D gain: %0.5f \r\n", KD);
tnhnrl 16:3363b9f14913 867 }
tnhnrl 16:3363b9f14913 868 else if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 869 // set values
tnhnrl 16:3363b9f14913 870 bce().setControllerP(KP);
tnhnrl 16:3363b9f14913 871 bce().setControllerI(KI);
tnhnrl 16:3363b9f14913 872 bce().setControllerD(KD);
tnhnrl 16:3363b9f14913 873
tnhnrl 16:3363b9f14913 874 // save into "PID.cfg"
tnhnrl 16:3363b9f14913 875 //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 876 break; //exit the while loop
tnhnrl 16:3363b9f14913 877 }
tnhnrl 16:3363b9f14913 878 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 879 break; //exit the while loop
tnhnrl 16:3363b9f14913 880 }
tnhnrl 16:3363b9f14913 881 else {
tnhnrl 16:3363b9f14913 882 pc().printf("\n\rThis key does nothing here. ");
tnhnrl 16:3363b9f14913 883 }
tnhnrl 16:3363b9f14913 884 }
tnhnrl 16:3363b9f14913 885 }
tnhnrl 20:8987a9ae2bc7 886
tnhnrl 16:3363b9f14913 887 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 16:3363b9f14913 888 char PID_key;
tnhnrl 16:3363b9f14913 889 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 890 float KP = batt().getControllerP(); // load current global value
tnhnrl 16:3363b9f14913 891 float KI = batt().getControllerI(); // load current global value
tnhnrl 16:3363b9f14913 892 float KD = batt().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 893
tnhnrl 16:3363b9f14913 894 // print the menu
tnhnrl 16:3363b9f14913 895 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 896 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 897 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 21:38c8544db6f4 898 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 899
tnhnrl 16:3363b9f14913 900 // handle the key presses
tnhnrl 16:3363b9f14913 901 while(1) {
tnhnrl 16:3363b9f14913 902 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 903 if (pc().readable()) {
tnhnrl 16:3363b9f14913 904 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 905 }
tnhnrl 16:3363b9f14913 906 else {
tnhnrl 16:3363b9f14913 907 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 908 }
tnhnrl 16:3363b9f14913 909
tnhnrl 16:3363b9f14913 910 // handle the user's key input
tnhnrl 16:3363b9f14913 911 if (PID_key == '-') {
tnhnrl 16:3363b9f14913 912 KP -= gain_step_size;
tnhnrl 16:3363b9f14913 913 pc().printf("\rP gain: %0.5f ", KP);
tnhnrl 16:3363b9f14913 914 }
tnhnrl 16:3363b9f14913 915 else if (PID_key == '=') {
tnhnrl 16:3363b9f14913 916 KP += gain_step_size;
tnhnrl 16:3363b9f14913 917 pc().printf("\rP gain: %0.5f ", KP);
tnhnrl 16:3363b9f14913 918 }
tnhnrl 16:3363b9f14913 919 else if (PID_key == '[') {
tnhnrl 16:3363b9f14913 920 KI -= gain_step_size;
tnhnrl 16:3363b9f14913 921 pc().printf("\rI gain: %0.5f ", KI);
tnhnrl 16:3363b9f14913 922 }
tnhnrl 16:3363b9f14913 923 else if (PID_key == ']') {
tnhnrl 16:3363b9f14913 924 KI += gain_step_size;
tnhnrl 16:3363b9f14913 925 pc().printf("\rI gain: %0.5f ", KI);
tnhnrl 16:3363b9f14913 926 }
tnhnrl 16:3363b9f14913 927 else if (PID_key == ';') {
tnhnrl 16:3363b9f14913 928 KD -= gain_step_size;
tnhnrl 16:3363b9f14913 929 pc().printf("\rD gain: %0.5f ", KD);
tnhnrl 16:3363b9f14913 930 }
tnhnrl 16:3363b9f14913 931 else if (PID_key == '\'') {
tnhnrl 16:3363b9f14913 932 KD += gain_step_size;
tnhnrl 16:3363b9f14913 933 pc().printf("\rD gain: %0.5f ", KD);
tnhnrl 16:3363b9f14913 934 }
tnhnrl 16:3363b9f14913 935 else if (PID_key == 'S') { // user wants to save the modified values
tnhnrl 16:3363b9f14913 936 // set global values
tnhnrl 16:3363b9f14913 937 batt().setControllerP(KP);
tnhnrl 16:3363b9f14913 938 batt().setControllerI(KI);
tnhnrl 16:3363b9f14913 939 batt().setControllerD(KD);
tnhnrl 16:3363b9f14913 940
tnhnrl 16:3363b9f14913 941 // save to "PID.cfg" file
tnhnrl 16:3363b9f14913 942 //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 943 break; //exit the while loop
tnhnrl 16:3363b9f14913 944 }
tnhnrl 16:3363b9f14913 945 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 946 break; //exit the while loop
tnhnrl 16:3363b9f14913 947 }
tnhnrl 16:3363b9f14913 948 else {
tnhnrl 16:3363b9f14913 949 pc().printf("This key does nothing here.\r");
tnhnrl 16:3363b9f14913 950 }
tnhnrl 16:3363b9f14913 951 }
tnhnrl 16:3363b9f14913 952 }
tnhnrl 20:8987a9ae2bc7 953
tnhnrl 16:3363b9f14913 954 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 16:3363b9f14913 955 char PID_key;
tnhnrl 16:3363b9f14913 956 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 957
tnhnrl 16:3363b9f14913 958 // show the menu
tnhnrl 16:3363b9f14913 959 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 960 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 961 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r");
tnhnrl 16:3363b9f14913 962 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 963
tnhnrl 16:3363b9f14913 964 // handle the key presses
tnhnrl 16:3363b9f14913 965 while(1) {
tnhnrl 16:3363b9f14913 966 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 967 if (pc().readable()) {
tnhnrl 16:3363b9f14913 968 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 969 }
tnhnrl 16:3363b9f14913 970 else {
tnhnrl 16:3363b9f14913 971 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 972 }
tnhnrl 16:3363b9f14913 973
tnhnrl 16:3363b9f14913 974 // handle the user's key input
tnhnrl 16:3363b9f14913 975 if (PID_key == '-') {
tnhnrl 21:38c8544db6f4 976 _depth_KP -= gain_step_size;
tnhnrl 21:38c8544db6f4 977 pc().printf("P gain: %0.5f \r\n", _depth_KP);
tnhnrl 16:3363b9f14913 978 }
tnhnrl 16:3363b9f14913 979 else if (PID_key == '=') {
tnhnrl 21:38c8544db6f4 980 _depth_KP += gain_step_size;
tnhnrl 21:38c8544db6f4 981 pc().printf("P gain: %0.5f \r\n", _depth_KP);
tnhnrl 16:3363b9f14913 982 }
tnhnrl 16:3363b9f14913 983 else if (PID_key == '[') {
tnhnrl 21:38c8544db6f4 984 _depth_KI -= gain_step_size;
tnhnrl 21:38c8544db6f4 985 pc().printf("I gain: %0.5f \r\n", _depth_KI);
tnhnrl 16:3363b9f14913 986 }
tnhnrl 16:3363b9f14913 987 else if (PID_key == ']') {
tnhnrl 21:38c8544db6f4 988 _depth_KI += gain_step_size;
tnhnrl 21:38c8544db6f4 989 pc().printf("I gain: %0.5f \r\n", _depth_KI);
tnhnrl 16:3363b9f14913 990 }
tnhnrl 16:3363b9f14913 991 else if (PID_key == ';') {
tnhnrl 21:38c8544db6f4 992 _depth_KD -= gain_step_size;
tnhnrl 21:38c8544db6f4 993 pc().printf("D gain: %0.5f \r\n", _depth_KD);
tnhnrl 16:3363b9f14913 994 }
tnhnrl 16:3363b9f14913 995 else if (PID_key == '\'') {
tnhnrl 21:38c8544db6f4 996 _depth_KD += gain_step_size;
tnhnrl 21:38c8544db6f4 997 pc().printf("D gain: %0.5f \r\n", _depth_KD);
tnhnrl 16:3363b9f14913 998 }
tnhnrl 16:3363b9f14913 999 else if (PID_key == 'S') { // user wants to save these settings
tnhnrl 16:3363b9f14913 1000 // set global values
tnhnrl 21:38c8544db6f4 1001 depthLoop().setControllerP(_depth_KP);
tnhnrl 21:38c8544db6f4 1002 depthLoop().setControllerI(_depth_KI);
tnhnrl 21:38c8544db6f4 1003 depthLoop().setControllerD(_depth_KD);
tnhnrl 16:3363b9f14913 1004
tnhnrl 21:38c8544db6f4 1005 // save depth PID values for outer loop
tnhnrl 21:38c8544db6f4 1006 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 16:3363b9f14913 1007 break; //exit the while loop
tnhnrl 16:3363b9f14913 1008 }
tnhnrl 16:3363b9f14913 1009 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 1010 break; //exit the while loop
tnhnrl 16:3363b9f14913 1011 }
tnhnrl 16:3363b9f14913 1012 else {
tnhnrl 16:3363b9f14913 1013 pc().printf("\n\rThis key does nothing here. ");
tnhnrl 16:3363b9f14913 1014 }
tnhnrl 16:3363b9f14913 1015 }
tnhnrl 16:3363b9f14913 1016 }
tnhnrl 16:3363b9f14913 1017
tnhnrl 16:3363b9f14913 1018 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 16:3363b9f14913 1019 char PID_key;
tnhnrl 16:3363b9f14913 1020 float gain_step_size = 0.01; // modify this to change gain step size
tnhnrl 16:3363b9f14913 1021
tnhnrl 16:3363b9f14913 1022 // print the menu
tnhnrl 16:3363b9f14913 1023 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
tnhnrl 16:3363b9f14913 1024 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
tnhnrl 16:3363b9f14913 1025 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 16:3363b9f14913 1026 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 1027
tnhnrl 16:3363b9f14913 1028 // handle the key presses
tnhnrl 16:3363b9f14913 1029 while(1) {
tnhnrl 16:3363b9f14913 1030 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 1031 if (pc().readable()) {
tnhnrl 16:3363b9f14913 1032 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 1033 }
tnhnrl 16:3363b9f14913 1034 else {
tnhnrl 16:3363b9f14913 1035 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 1036 }
tnhnrl 16:3363b9f14913 1037
tnhnrl 16:3363b9f14913 1038 // handle the user's key input
tnhnrl 16:3363b9f14913 1039 if (PID_key == '-') {
tnhnrl 21:38c8544db6f4 1040 _pitch_KP -= gain_step_size;
tnhnrl 21:38c8544db6f4 1041 pc().printf("\rP gain: %0.5f ", _pitch_KP);
tnhnrl 16:3363b9f14913 1042 }
tnhnrl 16:3363b9f14913 1043 else if (PID_key == '=') {
tnhnrl 21:38c8544db6f4 1044 _pitch_KP += gain_step_size;
tnhnrl 21:38c8544db6f4 1045 pc().printf("\rP gain: %0.5f ", _pitch_KP);
tnhnrl 16:3363b9f14913 1046 }
tnhnrl 16:3363b9f14913 1047 else if (PID_key == '[') {
tnhnrl 21:38c8544db6f4 1048 _pitch_KI -= gain_step_size;
tnhnrl 21:38c8544db6f4 1049 pc().printf("\rI gain: %0.5f ", _pitch_KI);
tnhnrl 16:3363b9f14913 1050 }
tnhnrl 16:3363b9f14913 1051 else if (PID_key == ']') {
tnhnrl 21:38c8544db6f4 1052 _pitch_KI += gain_step_size;
tnhnrl 21:38c8544db6f4 1053 pc().printf("\rI gain: %0.5f ", _pitch_KI);
tnhnrl 16:3363b9f14913 1054 }
tnhnrl 16:3363b9f14913 1055 else if (PID_key == ';') {
tnhnrl 21:38c8544db6f4 1056 _pitch_KD -= gain_step_size;
tnhnrl 21:38c8544db6f4 1057 pc().printf("\rD gain: %0.5f ", _pitch_KD);
tnhnrl 16:3363b9f14913 1058 }
tnhnrl 16:3363b9f14913 1059 else if (PID_key == '\'') {
tnhnrl 21:38c8544db6f4 1060 _pitch_KD += gain_step_size;
tnhnrl 21:38c8544db6f4 1061 pc().printf("\rD gain: %0.5f ", _pitch_KD);
tnhnrl 16:3363b9f14913 1062 }
tnhnrl 16:3363b9f14913 1063 else if (PID_key == 'S') { // user wants to save the modified values
tnhnrl 16:3363b9f14913 1064 // set global values
tnhnrl 21:38c8544db6f4 1065 pitchLoop().setControllerP(_pitch_KP);
tnhnrl 21:38c8544db6f4 1066 pitchLoop().setControllerI(_pitch_KI);
tnhnrl 21:38c8544db6f4 1067 pitchLoop().setControllerD(_pitch_KD);
tnhnrl 16:3363b9f14913 1068
tnhnrl 21:38c8544db6f4 1069 // save pitch PID values for outer loop
tnhnrl 21:38c8544db6f4 1070 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 16:3363b9f14913 1071 break; //exit the while loop
tnhnrl 16:3363b9f14913 1072 }
tnhnrl 16:3363b9f14913 1073 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 1074 break; //exit the while loop
tnhnrl 16:3363b9f14913 1075 }
tnhnrl 16:3363b9f14913 1076 else {
tnhnrl 16:3363b9f14913 1077 pc().printf("This key does nothing here.\r");
tnhnrl 16:3363b9f14913 1078 }
tnhnrl 16:3363b9f14913 1079 }
tnhnrl 16:3363b9f14913 1080 }
tnhnrl 20:8987a9ae2bc7 1081
tnhnrl 16:3363b9f14913 1082 float StateMachine::getDepthCommand() {
tnhnrl 16:3363b9f14913 1083 return depthCommand;
tnhnrl 16:3363b9f14913 1084 }
tnhnrl 20:8987a9ae2bc7 1085
tnhnrl 16:3363b9f14913 1086 float StateMachine::getPitchCommand() {
tnhnrl 16:3363b9f14913 1087 return pitchCommand;
tnhnrl 17:7c16b5671d0e 1088 }
tnhnrl 20:8987a9ae2bc7 1089
tnhnrl 17:7c16b5671d0e 1090 void StateMachine::setState(int input_state) {
tnhnrl 17:7c16b5671d0e 1091 //pc().printf("input_state: %d\n\r", input_state); //debug
tnhnrl 17:7c16b5671d0e 1092 //_state = input_state; //changing wrong variable
tnhnrl 21:38c8544db6f4 1093 _state = input_state;
tnhnrl 17:7c16b5671d0e 1094 }
tnhnrl 20:8987a9ae2bc7 1095
tnhnrl 17:7c16b5671d0e 1096 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 1097 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 1098 }
tnhnrl 20:8987a9ae2bc7 1099
tnhnrl 17:7c16b5671d0e 1100 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 1101 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 1102 }
tnhnrl 20:8987a9ae2bc7 1103
tnhnrl 17:7c16b5671d0e 1104 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 17:7c16b5671d0e 1105 depthCommand = input_depth_command;
tnhnrl 17:7c16b5671d0e 1106 }
tnhnrl 20:8987a9ae2bc7 1107
tnhnrl 17:7c16b5671d0e 1108 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 17:7c16b5671d0e 1109 pitchCommand = input_pitch_command;
tnhnrl 17:7c16b5671d0e 1110 }
tnhnrl 20:8987a9ae2bc7 1111
tnhnrl 17:7c16b5671d0e 1112 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 1113 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 1114 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 1115
tnhnrl 21:38c8544db6f4 1116 pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 1117 }
tnhnrl 20:8987a9ae2bc7 1118
tnhnrl 17:7c16b5671d0e 1119 int StateMachine::timeoutRunning() {
tnhnrl 17:7c16b5671d0e 1120 return isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 1121 }
tnhnrl 20:8987a9ae2bc7 1122
tnhnrl 17:7c16b5671d0e 1123 //process one state at a time
tnhnrl 17:7c16b5671d0e 1124 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 1125 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 1126 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 1127 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 1128 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 1129 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
tnhnrl 17:7c16b5671d0e 1130
tnhnrl 17:7c16b5671d0e 1131 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 16:3363b9f14913 1132 }