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@72:250b2665755c, 2018-07-02 (annotated)

Committer:
tnhnrl
Date:
Mon Jul 02 14:28:22 2018 +0000
Revision:
72:250b2665755c
Parent:
71:939d179478c4
Child:
73:f6f378311c8d
keyboard fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 16:3363b9f14913 1 #include "StateMachine.hpp"
tnhnrl 16:3363b9f14913 2 #include "StaticDefs.hpp"
tnhnrl 20:8987a9ae2bc7 3
tnhnrl 16:3363b9f14913 4 StateMachine::StateMachine() {
tnhnrl 52:f207567d3ea4 5 _timeout = 20; // generic timeout for every state, seconds
tnhnrl 20:8987a9ae2bc7 6
tnhnrl 28:16c83a2fdefa 7 _pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state
tnhnrl 20:8987a9ae2bc7 8
tnhnrl 28:16c83a2fdefa 9 _bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
tnhnrl 28:16c83a2fdefa 10 _battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
tnhnrl 20:8987a9ae2bc7 11
tnhnrl 32:f2f8ae34aadc 12 _depth_command = 2.0; // user keyboard depth (default)
tnhnrl 32:f2f8ae34aadc 13 _pitch_command = -20.0; // user keyboard pitch (default)
tnhnrl 58:94b7fd55185e 14 _heading_command = 0.0;
tnhnrl 17:7c16b5671d0e 15
tnhnrl 57:ec69651c8c21 16 //new commands
tnhnrl 58:94b7fd55185e 17 _BCE_dive_offset = 0.0; //starting at the limits
tnhnrl 58:94b7fd55185e 18 _BMM_dive_offset = 0.0;
tnhnrl 57:ec69651c8c21 19 //new commands
tnhnrl 57:ec69651c8c21 20
tnhnrl 28:16c83a2fdefa 21 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
tnhnrl 20:8987a9ae2bc7 22
tnhnrl 28:16c83a2fdefa 23 _state = SIT_IDLE; // select starting state here
tnhnrl 28:16c83a2fdefa 24 _isTimeoutRunning = false; // default timer to not running
tnhnrl 28:16c83a2fdefa 25 _isSubStateTimerRunning = false; // default timer to not running
tnhnrl 17:7c16b5671d0e 26
tnhnrl 24:c7d9b5bf3829 27 _multi_dive_counter = 0;
tnhnrl 21:38c8544db6f4 28
tnhnrl 21:38c8544db6f4 29 _neutral_sub_state_active = false;
tnhnrl 17:7c16b5671d0e 30
tnhnrl 21:38c8544db6f4 31 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 32 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 33 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 21:38c8544db6f4 34
tnhnrl 21:38c8544db6f4 35 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 36 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 37 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 21:38c8544db6f4 38
tnhnrl 21:38c8544db6f4 39 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 40 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 23:434f04ef1fad 41
tnhnrl 28:16c83a2fdefa 42 _state_array_counter = 1; //used to iterate through and record states
tnhnrl 28:16c83a2fdefa 43 _substate_array_counter = 0; //used to iterate through and record substates
tnhnrl 28:16c83a2fdefa 44
tnhnrl 28:16c83a2fdefa 45 _state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this
tnhnrl 24:c7d9b5bf3829 46
tnhnrl 30:2964617e7676 47 _substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING
tnhnrl 28:16c83a2fdefa 48 _previous_substate = -1; //to start sub-FSM
tnhnrl 28:16c83a2fdefa 49 _previous_state = -1; //for tracking FSM states
tnhnrl 28:16c83a2fdefa 50
tnhnrl 28:16c83a2fdefa 51 _max_recorded_depth_neutral = -99; //float to record max depth
tnhnrl 28:16c83a2fdefa 52 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 32:f2f8ae34aadc 53
tnhnrl 32:f2f8ae34aadc 54 _neutral_sink_command_mm = -2.5; //defaults for neutral finding sub-FSM
tnhnrl 32:f2f8ae34aadc 55 _neutral_rise_command_mm = 2.0;
tnhnrl 32:f2f8ae34aadc 56 _neutral_pitch_command_mm = 0.5;
tnhnrl 32:f2f8ae34aadc 57
tnhnrl 32:f2f8ae34aadc 58 _max_recorded_auto_neutral_depth = -99;
tnhnrl 32:f2f8ae34aadc 59
tnhnrl 32:f2f8ae34aadc 60 _file_closed = true;
tnhnrl 57:ec69651c8c21 61
tnhnrl 57:ec69651c8c21 62 _debug_menu_on = false; //toggle between debug and simple menu screens
tnhnrl 16:3363b9f14913 63 }
tnhnrl 20:8987a9ae2bc7 64
tnhnrl 17:7c16b5671d0e 65 //Finite State Machine (FSM)
tnhnrl 69:919ac8d7e023 66 int StateMachine::runStateMachine() {
tnhnrl 72:250b2665755c 67 //static int transmit_packet_number = 1; //for data transmission
tnhnrl 72:250b2665755c 68
tnhnrl 16:3363b9f14913 69 // finite state machine ... each state has at least one exit criteria
tnhnrl 17:7c16b5671d0e 70 switch (_state) {
tnhnrl 16:3363b9f14913 71 case SIT_IDLE :
tnhnrl 68:8f549749b8ce 72 case KEYBOARD:
tnhnrl 16:3363b9f14913 73 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 28:16c83a2fdefa 74 if (!_isTimeoutRunning) {
tnhnrl 57:ec69651c8c21 75
tnhnrl 57:ec69651c8c21 76 if (_debug_menu_on)
tnhnrl 69:919ac8d7e023 77 printDebugMenu();
tnhnrl 57:ec69651c8c21 78 else
tnhnrl 69:919ac8d7e023 79 printSimpleMenu();
tnhnrl 16:3363b9f14913 80 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 28:16c83a2fdefa 81 _isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 82
tnhnrl 16:3363b9f14913 83 // what is active?
tnhnrl 16:3363b9f14913 84 bce().pause();
tnhnrl 16:3363b9f14913 85 batt().pause();
tnhnrl 32:f2f8ae34aadc 86
tnhnrl 17:7c16b5671d0e 87 //reset sub FSM
tnhnrl 28:16c83a2fdefa 88 _isSubStateTimerRunning = false;
tnhnrl 32:f2f8ae34aadc 89
tnhnrl 32:f2f8ae34aadc 90 //close the MBED file
tnhnrl 32:f2f8ae34aadc 91 _file_closed = true;
tnhnrl 16:3363b9f14913 92 }
tnhnrl 20:8987a9ae2bc7 93
tnhnrl 16:3363b9f14913 94 // how exit?
tnhnrl 20:8987a9ae2bc7 95 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 96 break;
tnhnrl 49:47ffa4feb6db 97
tnhnrl 49:47ffa4feb6db 98 case CHECK_TUNING : // state used to check the tuning of the pressure vessel
tnhnrl 49:47ffa4feb6db 99 // start local state timer and init any other one-shot actions
tnhnrl 49:47ffa4feb6db 100 if (!_isTimeoutRunning) {
tnhnrl 49:47ffa4feb6db 101 pc().printf("\r\n\nstate: CHECK_TUNING\r\n");
tnhnrl 49:47ffa4feb6db 102 timer.reset(); // timer goes back to zero
tnhnrl 49:47ffa4feb6db 103 timer.start(); // background timer starts running
tnhnrl 49:47ffa4feb6db 104 _isTimeoutRunning = true;
tnhnrl 49:47ffa4feb6db 105
tnhnrl 49:47ffa4feb6db 106 // what needs to be started?
tnhnrl 49:47ffa4feb6db 107 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 108 batt().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 109
tnhnrl 49:47ffa4feb6db 110 // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
tnhnrl 49:47ffa4feb6db 111 bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 112 batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 113
tnhnrl 49:47ffa4feb6db 114 // getSetPosition_mm is the commanded position in the LinearActuator class
tnhnrl 49:47ffa4feb6db 115
tnhnrl 49:47ffa4feb6db 116 pc().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 117 pc().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 118
tnhnrl 49:47ffa4feb6db 119 //triggers logger array
tnhnrl 49:47ffa4feb6db 120 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 49:47ffa4feb6db 121 }
tnhnrl 49:47ffa4feb6db 122
tnhnrl 49:47ffa4feb6db 123 // how exit?
tnhnrl 49:47ffa4feb6db 124 if (timer > _timeout) {
tnhnrl 49:47ffa4feb6db 125 pc().printf("CHECK_TUNING: timed out!\r\n");
tnhnrl 49:47ffa4feb6db 126 _state = FLOAT_BROADCAST;
tnhnrl 49:47ffa4feb6db 127 timer.reset();
tnhnrl 49:47ffa4feb6db 128 _isTimeoutRunning = false;
tnhnrl 49:47ffa4feb6db 129 }
tnhnrl 49:47ffa4feb6db 130
tnhnrl 67:c86a4b464682 131 //WHAT IS ACTIVE?
tnhnrl 67:c86a4b464682 132 // the inner loop position controls are maintaining the positions of the linear actuators
tnhnrl 67:c86a4b464682 133
tnhnrl 49:47ffa4feb6db 134 //print status to screen continuously
tnhnrl 49:47ffa4feb6db 135 pc().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f ft, pitch: %0.1f deg) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),timer.read());
tnhnrl 49:47ffa4feb6db 136
tnhnrl 67:c86a4b464682 137 checkMotorPositions();
tnhnrl 49:47ffa4feb6db 138
tnhnrl 49:47ffa4feb6db 139 break;
tnhnrl 20:8987a9ae2bc7 140
tnhnrl 16:3363b9f14913 141 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 142 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 143 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 144 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 16:3363b9f14913 145 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 146 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 147 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 148
tnhnrl 16:3363b9f14913 149 // what needs to be started?
tnhnrl 16:3363b9f14913 150 bce().unpause();
tnhnrl 16:3363b9f14913 151 batt().unpause();
tnhnrl 20:8987a9ae2bc7 152
tnhnrl 20:8987a9ae2bc7 153 // what are the commands?
tnhnrl 16:3363b9f14913 154 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 67:c86a4b464682 155 batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
tnhnrl 32:f2f8ae34aadc 156
tnhnrl 49:47ffa4feb6db 157 //triggers logger array
tnhnrl 32:f2f8ae34aadc 158 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 159 }
tnhnrl 20:8987a9ae2bc7 160
tnhnrl 16:3363b9f14913 161 // how exit?
tnhnrl 17:7c16b5671d0e 162 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 163 pc().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 164 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 165 timer.reset();
tnhnrl 28:16c83a2fdefa 166 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 167 }
tnhnrl 26:7e118fc02eea 168 else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 21:38c8544db6f4 169 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 170 timer.reset();
tnhnrl 28:16c83a2fdefa 171 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 172 }
tnhnrl 32:f2f8ae34aadc 173
tnhnrl 67:c86a4b464682 174 //WHAT IS ACTIVE?
tnhnrl 34:9b66c5188051 175 //print status to screen continuously
tnhnrl 67:c86a4b464682 176 pc().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),timer.read());
tnhnrl 32:f2f8ae34aadc 177
tnhnrl 16:3363b9f14913 178 break;
tnhnrl 20:8987a9ae2bc7 179
tnhnrl 16:3363b9f14913 180 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 181 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 182 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 183 pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
tnhnrl 16:3363b9f14913 184 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 185 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 186 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 187
tnhnrl 16:3363b9f14913 188 // what needs to be started?
tnhnrl 16:3363b9f14913 189 bce().unpause();
tnhnrl 16:3363b9f14913 190 batt().unpause();
tnhnrl 28:16c83a2fdefa 191 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 24:c7d9b5bf3829 192 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to close-to-neutral setting from config file
tnhnrl 17:7c16b5671d0e 193
tnhnrl 24:c7d9b5bf3829 194 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 24:c7d9b5bf3829 195 //set the first state of the FSM, and start the sub-FSM
tnhnrl 30:2964617e7676 196 _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
tnhnrl 28:16c83a2fdefa 197 _previous_substate = -1;
tnhnrl 28:16c83a2fdefa 198
tnhnrl 28:16c83a2fdefa 199 //save this state to the array
tnhnrl 30:2964617e7676 200 _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
tnhnrl 28:16c83a2fdefa 201 _substate_array_counter++;
tnhnrl 28:16c83a2fdefa 202
tnhnrl 32:f2f8ae34aadc 203 runNeutralStateMachine();
tnhnrl 67:c86a4b464682 204
tnhnrl 49:47ffa4feb6db 205 //triggers logger array
tnhnrl 32:f2f8ae34aadc 206 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 207 }
tnhnrl 20:8987a9ae2bc7 208
tnhnrl 20:8987a9ae2bc7 209 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 17:7c16b5671d0e 210 if (timer > _timeout) {
tnhnrl 17:7c16b5671d0e 211 pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
tnhnrl 21:38c8544db6f4 212 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 16:3363b9f14913 213 timer.reset();
tnhnrl 28:16c83a2fdefa 214 _isTimeoutRunning = false;
tnhnrl 24:c7d9b5bf3829 215
tnhnrl 24:c7d9b5bf3829 216 //record this to the NEUTRAL sub-FSM tracker
tnhnrl 28:16c83a2fdefa 217 _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
tnhnrl 28:16c83a2fdefa 218 _substate_array_counter++;
tnhnrl 16:3363b9f14913 219 }
tnhnrl 21:38c8544db6f4 220
tnhnrl 24:c7d9b5bf3829 221 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 24:c7d9b5bf3829 222 //check if substate returned exit state, if so stop running the sub-FSM
tnhnrl 26:7e118fc02eea 223 else if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 224 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 58:94b7fd55185e 225 pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
tnhnrl 21:38c8544db6f4 226 _state = RISE;
tnhnrl 30:2964617e7676 227 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 228 }
tnhnrl 32:f2f8ae34aadc 229
tnhnrl 17:7c16b5671d0e 230 break;
tnhnrl 17:7c16b5671d0e 231
tnhnrl 16:3363b9f14913 232 case DIVE :
tnhnrl 16:3363b9f14913 233 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 234
tnhnrl 28:16c83a2fdefa 235 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 236 pc().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 16:3363b9f14913 237 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 238 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 239 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 240
tnhnrl 16:3363b9f14913 241 // what needs to be started?
tnhnrl 16:3363b9f14913 242 bce().unpause();
tnhnrl 16:3363b9f14913 243 batt().unpause();
tnhnrl 20:8987a9ae2bc7 244
tnhnrl 16:3363b9f14913 245 // what are the commands?
tnhnrl 32:f2f8ae34aadc 246 depthLoop().setCommand(_depth_command);
tnhnrl 32:f2f8ae34aadc 247 pitchLoop().setCommand(_pitch_command);
tnhnrl 32:f2f8ae34aadc 248
tnhnrl 34:9b66c5188051 249 pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 34:9b66c5188051 250 pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 28:16c83a2fdefa 251
tnhnrl 28:16c83a2fdefa 252 //reset max dive depth
tnhnrl 28:16c83a2fdefa 253 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 32:f2f8ae34aadc 254
tnhnrl 32:f2f8ae34aadc 255 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 256 //createNewFile();
tnhnrl 32:f2f8ae34aadc 257
tnhnrl 49:47ffa4feb6db 258 //triggers logger array
tnhnrl 32:f2f8ae34aadc 259 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 260 }
tnhnrl 20:8987a9ae2bc7 261
tnhnrl 16:3363b9f14913 262 // how exit?
tnhnrl 32:f2f8ae34aadc 263 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 264 pc().printf("DIVE: timed out\r\n\n");
tnhnrl 21:38c8544db6f4 265 _state = RISE; //new behavior 11/17/2017
tnhnrl 16:3363b9f14913 266 timer.reset();
tnhnrl 28:16c83a2fdefa 267 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 268 }
tnhnrl 32:f2f8ae34aadc 269 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 32:f2f8ae34aadc 270 pc().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 271 _state = RISE;
tnhnrl 16:3363b9f14913 272 timer.reset();
tnhnrl 28:16c83a2fdefa 273 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 274 }
tnhnrl 20:8987a9ae2bc7 275
tnhnrl 67:c86a4b464682 276 // WHAT IS ACTIVE?
tnhnrl 58:94b7fd55185e 277 pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depth: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
tnhnrl 32:f2f8ae34aadc 278 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 16:3363b9f14913 279 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 28:16c83a2fdefa 280
tnhnrl 28:16c83a2fdefa 281 if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
tnhnrl 28:16c83a2fdefa 282 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 283 }
tnhnrl 32:f2f8ae34aadc 284
tnhnrl 67:c86a4b464682 285 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 286
tnhnrl 16:3363b9f14913 287 break;
tnhnrl 16:3363b9f14913 288
tnhnrl 16:3363b9f14913 289 case RISE :
tnhnrl 16:3363b9f14913 290 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 291
tnhnrl 28:16c83a2fdefa 292 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 293 pc().printf("\r\n\nstate: RISE\r\n");
tnhnrl 16:3363b9f14913 294 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 295 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 296 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 297
tnhnrl 16:3363b9f14913 298 // what needs to be started?
tnhnrl 16:3363b9f14913 299 bce().unpause();
tnhnrl 16:3363b9f14913 300 batt().unpause();
tnhnrl 16:3363b9f14913 301
tnhnrl 16:3363b9f14913 302 // what are the commands?
tnhnrl 28:16c83a2fdefa 303 depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
tnhnrl 32:f2f8ae34aadc 304 pitchLoop().setCommand(-_pitch_command);
tnhnrl 34:9b66c5188051 305
tnhnrl 34:9b66c5188051 306 pc().printf("RISE: depth cmd: %0.1f\r\n",depthLoop().getCommand());
tnhnrl 34:9b66c5188051 307 pc().printf("RISE: pitch cmd: %0.1f\r\n",pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 308
tnhnrl 32:f2f8ae34aadc 309 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 310 //createNewFile();
tnhnrl 32:f2f8ae34aadc 311
tnhnrl 49:47ffa4feb6db 312 //triggers logger array
tnhnrl 32:f2f8ae34aadc 313 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 314 }
tnhnrl 20:8987a9ae2bc7 315
tnhnrl 16:3363b9f14913 316 // how exit?
tnhnrl 32:f2f8ae34aadc 317 if (timer.read() > _timeout) {
tnhnrl 16:3363b9f14913 318 pc().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 319 _state = EMERGENCY_CLIMB;
tnhnrl 16:3363b9f14913 320 timer.reset();
tnhnrl 28:16c83a2fdefa 321 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 322 }
tnhnrl 32:f2f8ae34aadc 323
tnhnrl 32:f2f8ae34aadc 324 //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
tnhnrl 32:f2f8ae34aadc 325 //did not work correctly in bench test (stuck in rise state)
tnhnrl 32:f2f8ae34aadc 326 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 32:f2f8ae34aadc 327 pc().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 28:16c83a2fdefa 328 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 329 timer.reset();
tnhnrl 28:16c83a2fdefa 330 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 331 }
tnhnrl 20:8987a9ae2bc7 332
tnhnrl 67:c86a4b464682 333 // WHAT IS ACTIVE?
tnhnrl 58:94b7fd55185e 334 pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
tnhnrl 17:7c16b5671d0e 335 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 32:f2f8ae34aadc 336 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 67:c86a4b464682 337
tnhnrl 67:c86a4b464682 338 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 339
tnhnrl 58:94b7fd55185e 340 break;
tnhnrl 58:94b7fd55185e 341
tnhnrl 58:94b7fd55185e 342 // NEW DIVE AND RISE SEQUENCES
tnhnrl 58:94b7fd55185e 343 case POSITION_DIVE :
tnhnrl 58:94b7fd55185e 344 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 345 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 346 pc().printf("\r\n\nstate: POSITION DIVE\r\n");
tnhnrl 58:94b7fd55185e 347 timer.reset(); // timer goes back to zero
tnhnrl 58:94b7fd55185e 348 timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 349 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 350
tnhnrl 58:94b7fd55185e 351 // what needs to be started?
tnhnrl 58:94b7fd55185e 352 bce().unpause();
tnhnrl 58:94b7fd55185e 353 batt().unpause();
tnhnrl 58:94b7fd55185e 354 rudder().unpause();
tnhnrl 58:94b7fd55185e 355
tnhnrl 58:94b7fd55185e 356 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 357 // These actions happen ONCE in the POSITION_DIVE sequence
tnhnrl 58:94b7fd55185e 358 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 359 bce().setPosition_mm(_neutral_bce_pos_mm- _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 360 //rudder().setPosition_deg(_heading_command);
tnhnrl 58:94b7fd55185e 361
tnhnrl 58:94b7fd55185e 362 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 363
tnhnrl 58:94b7fd55185e 364 pc().printf("PD: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 365 pc().printf("PD: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 366 pc().printf("PD: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 367
tnhnrl 58:94b7fd55185e 368 //reset max dive depth
tnhnrl 58:94b7fd55185e 369 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 58:94b7fd55185e 370
tnhnrl 58:94b7fd55185e 371 //triggers logger array
tnhnrl 58:94b7fd55185e 372 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 58:94b7fd55185e 373 }
tnhnrl 58:94b7fd55185e 374
tnhnrl 58:94b7fd55185e 375 // how exit?
tnhnrl 58:94b7fd55185e 376 // timer runs out goes to POSITION_RISE
tnhnrl 58:94b7fd55185e 377 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 378 pc().printf("PD: timed out\r\n\n");
tnhnrl 58:94b7fd55185e 379 _state = POSITION_RISE; //new behavior 11/17/2017
tnhnrl 58:94b7fd55185e 380 timer.reset();
tnhnrl 58:94b7fd55185e 381 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 382 }
tnhnrl 58:94b7fd55185e 383
tnhnrl 58:94b7fd55185e 384 // when you reach the dive threshold, surface
tnhnrl 58:94b7fd55185e 385 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 58:94b7fd55185e 386 pc().printf("PD: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 387 _state = POSITION_RISE;
tnhnrl 58:94b7fd55185e 388 timer.reset();
tnhnrl 58:94b7fd55185e 389 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 390 }
tnhnrl 58:94b7fd55185e 391
tnhnrl 58:94b7fd55185e 392 // what is active?
tnhnrl 58:94b7fd55185e 393 pc().printf("PD: bce pos (cmd pos): %3.1f mm (%0.1f), batt pos: %3.1f mm (%0.1f), rudder: %f (depth: %3.1f ft, pitch: %3.1f, heading: %3.1f [cmd: %0.1f])[%0.2f sec] [imu heading: %0.1f] \r", bce().getPosition_mm(),bce().getSetPosition_mm(), batt().getPosition_mm(),batt().getSetPosition_mm(), rudder().getPosition_pwm(), depthLoop().getPosition(), pitchLoop().getPosition(), headingLoop().getPosition(), headingLoop().getOutput(), timer.read(), imu().getHeading());
tnhnrl 58:94b7fd55185e 394
tnhnrl 58:94b7fd55185e 395 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
tnhnrl 58:94b7fd55185e 396 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
tnhnrl 58:94b7fd55185e 397 }
tnhnrl 58:94b7fd55185e 398
tnhnrl 58:94b7fd55185e 399 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 400 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 401
tnhnrl 67:c86a4b464682 402 checkMotorPositions();
tnhnrl 58:94b7fd55185e 403
tnhnrl 58:94b7fd55185e 404 break;
tnhnrl 58:94b7fd55185e 405
tnhnrl 58:94b7fd55185e 406 case POSITION_RISE :
tnhnrl 58:94b7fd55185e 407 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 408
tnhnrl 58:94b7fd55185e 409 if (!_isTimeoutRunning) {
tnhnrl 58:94b7fd55185e 410 pc().printf("\r\n\nstate: POSITION RISE\r\n");
tnhnrl 58:94b7fd55185e 411 timer.reset(); // timer goes back to zero
tnhnrl 58:94b7fd55185e 412 timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 413 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 414
tnhnrl 58:94b7fd55185e 415 // what needs to be started?
tnhnrl 58:94b7fd55185e 416 bce().unpause();
tnhnrl 58:94b7fd55185e 417 batt().unpause();
tnhnrl 58:94b7fd55185e 418
tnhnrl 58:94b7fd55185e 419 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 420 pc().printf("PR: <<DEBUG>> CMD BCE: %0.1f, CMD BMM: %0.1f)\r\n", _BCE_dive_offset, _BMM_dive_offset);
tnhnrl 58:94b7fd55185e 421
tnhnrl 58:94b7fd55185e 422 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 423 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 424 //rudder().setPosition_deg(_heading_command); //heading stays the same
tnhnrl 58:94b7fd55185e 425
tnhnrl 58:94b7fd55185e 426 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 427
tnhnrl 58:94b7fd55185e 428 pc().printf("PR: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 429 pc().printf("PR: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 58:94b7fd55185e 430 pc().printf("PR: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 431
tnhnrl 58:94b7fd55185e 432 //triggers logger array
tnhnrl 58:94b7fd55185e 433 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 58:94b7fd55185e 434 }
tnhnrl 58:94b7fd55185e 435
tnhnrl 58:94b7fd55185e 436 // how exit?
tnhnrl 58:94b7fd55185e 437 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 438 pc().printf("PR: timed out\r\n");
tnhnrl 58:94b7fd55185e 439 _state = EMERGENCY_CLIMB;
tnhnrl 58:94b7fd55185e 440 timer.reset();
tnhnrl 58:94b7fd55185e 441 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 442 }
tnhnrl 58:94b7fd55185e 443 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 58:94b7fd55185e 444 pc().printf("PR: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 445 _state = FLOAT_BROADCAST;
tnhnrl 58:94b7fd55185e 446 timer.reset();
tnhnrl 58:94b7fd55185e 447 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 448 }
tnhnrl 58:94b7fd55185e 449
tnhnrl 58:94b7fd55185e 450 // what is active?
tnhnrl 67:c86a4b464682 451 pc().printf("PR: bce pos (cmd pos): %3.1f mm (%0.1f), batt pos: %3.1f mm (%0.1f), rudder: %0.1f (depth: %3.1f ft, pitch: %3.1f, heading: %3.1f [cmd: %0.1f])[%0.2f sec] [imu heading: %0.1f] \r", bce().getPosition_mm(),bce().getSetPosition_mm(), batt().getPosition_mm(),batt().getSetPosition_mm(), rudder().getPosition_pwm(), depthLoop().getPosition(), pitchLoop().getPosition(), headingLoop().getPosition(), headingLoop().getOutput(), timer.read(), imu().getHeading());
tnhnrl 58:94b7fd55185e 452
tnhnrl 58:94b7fd55185e 453 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 454 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 455
tnhnrl 67:c86a4b464682 456 checkMotorPositions();
tnhnrl 58:94b7fd55185e 457
tnhnrl 58:94b7fd55185e 458 break;
tnhnrl 58:94b7fd55185e 459 // NEW DIVE AND RISE SEQUENCES
tnhnrl 16:3363b9f14913 460
tnhnrl 16:3363b9f14913 461 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 462 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 463 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 464 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 16:3363b9f14913 465 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 466 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 467 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 468
tnhnrl 16:3363b9f14913 469 // what needs to be started?
tnhnrl 16:3363b9f14913 470 bce().unpause();
tnhnrl 16:3363b9f14913 471 batt().unpause();
tnhnrl 16:3363b9f14913 472
tnhnrl 20:8987a9ae2bc7 473 // what are the commands?
tnhnrl 28:16c83a2fdefa 474 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 16:3363b9f14913 475 pitchLoop().setCommand(0.0);
tnhnrl 32:f2f8ae34aadc 476
tnhnrl 32:f2f8ae34aadc 477 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 478 //createNewFile();
tnhnrl 32:f2f8ae34aadc 479
tnhnrl 49:47ffa4feb6db 480 //triggers logger array
tnhnrl 32:f2f8ae34aadc 481 _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 482 }
tnhnrl 20:8987a9ae2bc7 483
tnhnrl 16:3363b9f14913 484 // how exit?
tnhnrl 17:7c16b5671d0e 485 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 486 pc().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 487 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 488 timer.reset();
tnhnrl 28:16c83a2fdefa 489 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 490 }
tnhnrl 28:16c83a2fdefa 491 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
tnhnrl 28:16c83a2fdefa 492 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 493 _state = FLOAT_BROADCAST;
tnhnrl 16:3363b9f14913 494 timer.reset();
tnhnrl 28:16c83a2fdefa 495 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 496 }
tnhnrl 20:8987a9ae2bc7 497
tnhnrl 16:3363b9f14913 498 // what is active?
tnhnrl 16:3363b9f14913 499 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 500 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 501
tnhnrl 16:3363b9f14913 502 break;
tnhnrl 16:3363b9f14913 503
tnhnrl 16:3363b9f14913 504 case FLOAT_BROADCAST :
tnhnrl 16:3363b9f14913 505 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 506 if (!_isTimeoutRunning) {
tnhnrl 16:3363b9f14913 507 pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
tnhnrl 16:3363b9f14913 508 timer.reset(); // timer goes back to zero
tnhnrl 16:3363b9f14913 509 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 510 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 511
tnhnrl 16:3363b9f14913 512 // what needs to be started?
tnhnrl 16:3363b9f14913 513 bce().unpause();
tnhnrl 16:3363b9f14913 514 batt().unpause();
tnhnrl 20:8987a9ae2bc7 515
tnhnrl 16:3363b9f14913 516 // what are the commands?
tnhnrl 55:f4ec445c42fe 517 bce().setPosition_mm(_bceFloatPosition); // 320.0
tnhnrl 55:f4ec445c42fe 518 batt().setPosition_mm(_battFloatPosition); // 73.0
tnhnrl 32:f2f8ae34aadc 519
tnhnrl 32:f2f8ae34aadc 520 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 521 //createNewFile();
tnhnrl 32:f2f8ae34aadc 522
tnhnrl 67:c86a4b464682 523 //triggers logger array
tnhnrl 32:f2f8ae34aadc 524 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 16:3363b9f14913 525 }
tnhnrl 20:8987a9ae2bc7 526
tnhnrl 16:3363b9f14913 527 // how exit?
tnhnrl 17:7c16b5671d0e 528 if (timer > _timeout) {
tnhnrl 16:3363b9f14913 529 pc().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 530 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 531 timer.reset();
tnhnrl 32:f2f8ae34aadc 532
tnhnrl 32:f2f8ae34aadc 533 //stop recording data
tnhnrl 35:2f66ea4863d5 534 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 535
tnhnrl 28:16c83a2fdefa 536 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 537 }
tnhnrl 20:8987a9ae2bc7 538 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
tnhnrl 20:8987a9ae2bc7 539 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 16:3363b9f14913 540 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 541 _state = SIT_IDLE;
tnhnrl 16:3363b9f14913 542 timer.reset();
tnhnrl 32:f2f8ae34aadc 543
tnhnrl 32:f2f8ae34aadc 544 //stop recording data
tnhnrl 35:2f66ea4863d5 545 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 546
tnhnrl 28:16c83a2fdefa 547 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 548 }
tnhnrl 20:8987a9ae2bc7 549
tnhnrl 20:8987a9ae2bc7 550 // what is active?
tnhnrl 58:94b7fd55185e 551 pc().printf("FB: bce pos: %0.1f mm, batt pos: %0.1f mm, heading(IMU): %0.1f (depthLoop POS: %3.1f ft) [%0.1f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), imu().getHeading(), depthLoop().getPosition(), timer.read(), bce().getSetPosition_mm(),batt().getSetPosition_mm());
tnhnrl 32:f2f8ae34aadc 552
tnhnrl 16:3363b9f14913 553 break;
tnhnrl 17:7c16b5671d0e 554
tnhnrl 17:7c16b5671d0e 555 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 556 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 557 if (!_isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 558 pc().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 17:7c16b5671d0e 559 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 560 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 561 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 562
tnhnrl 17:7c16b5671d0e 563 // what needs to be started?
tnhnrl 17:7c16b5671d0e 564 bce().unpause();
tnhnrl 17:7c16b5671d0e 565 batt().unpause();
tnhnrl 17:7c16b5671d0e 566
tnhnrl 21:38c8544db6f4 567 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 32:f2f8ae34aadc 568 float sequence_depth_command = currentStateStruct.depth;
tnhnrl 32:f2f8ae34aadc 569 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 570
tnhnrl 17:7c16b5671d0e 571 // what are the commands?
tnhnrl 32:f2f8ae34aadc 572 depthLoop().setCommand(sequence_depth_command);
tnhnrl 32:f2f8ae34aadc 573 pitchLoop().setCommand(sequence_pitch_command);
tnhnrl 21:38c8544db6f4 574 pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 575
tnhnrl 32:f2f8ae34aadc 576 //no max depth recording right now
tnhnrl 32:f2f8ae34aadc 577
tnhnrl 49:47ffa4feb6db 578 //triggers logger array
tnhnrl 32:f2f8ae34aadc 579 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 580 }
tnhnrl 20:8987a9ae2bc7 581
tnhnrl 17:7c16b5671d0e 582 // how exit?
tnhnrl 17:7c16b5671d0e 583 if (timer > _timeout) {
tnhnrl 58:94b7fd55185e 584 pc().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", timer.read());
tnhnrl 21:38c8544db6f4 585 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 17:7c16b5671d0e 586 timer.reset();
tnhnrl 28:16c83a2fdefa 587 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 588 }
tnhnrl 17:7c16b5671d0e 589 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 17:7c16b5671d0e 590 pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 591 _state = MULTI_RISE;
tnhnrl 17:7c16b5671d0e 592 timer.reset();
tnhnrl 28:16c83a2fdefa 593 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 594 }
tnhnrl 20:8987a9ae2bc7 595
tnhnrl 67:c86a4b464682 596 // WHAT IS ACTIVE?
tnhnrl 17:7c16b5671d0e 597 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 598 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 599 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 600
tnhnrl 67:c86a4b464682 601 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 602
tnhnrl 17:7c16b5671d0e 603 break;
tnhnrl 17:7c16b5671d0e 604
tnhnrl 17:7c16b5671d0e 605 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 606 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 607 if (!_isTimeoutRunning) {
tnhnrl 17:7c16b5671d0e 608 pc().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 17:7c16b5671d0e 609 timer.reset(); // timer goes back to zero
tnhnrl 17:7c16b5671d0e 610 timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 611 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 612
tnhnrl 17:7c16b5671d0e 613 // what needs to be started?
tnhnrl 17:7c16b5671d0e 614 bce().unpause();
tnhnrl 17:7c16b5671d0e 615 batt().unpause();
tnhnrl 17:7c16b5671d0e 616
tnhnrl 17:7c16b5671d0e 617 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 618 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 619 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 620
tnhnrl 17:7c16b5671d0e 621 //retrieve just pitch command from struct
tnhnrl 32:f2f8ae34aadc 622 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 623
tnhnrl 17:7c16b5671d0e 624 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 625 depthLoop().setCommand(0.5);
tnhnrl 32:f2f8ae34aadc 626 pitchLoop().setCommand(-sequence_pitch_command);
tnhnrl 21:38c8544db6f4 627 pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 628
tnhnrl 32:f2f8ae34aadc 629 //create the log file (works only if the file is closed)
tnhnrl 34:9b66c5188051 630 //createNewFile();
tnhnrl 32:f2f8ae34aadc 631
tnhnrl 49:47ffa4feb6db 632 //triggers logger array
tnhnrl 32:f2f8ae34aadc 633 _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 634 }
tnhnrl 20:8987a9ae2bc7 635
tnhnrl 17:7c16b5671d0e 636 // how exit?
tnhnrl 17:7c16b5671d0e 637 if (timer > _timeout) {
tnhnrl 58:94b7fd55185e 638 pc().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", timer.read());
tnhnrl 21:38c8544db6f4 639 _state = EMERGENCY_CLIMB;
tnhnrl 17:7c16b5671d0e 640 timer.reset();
tnhnrl 28:16c83a2fdefa 641 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 642
tnhnrl 17:7c16b5671d0e 643 //reset multi-dive sequence to start
tnhnrl 24:c7d9b5bf3829 644 _multi_dive_counter = 0;
tnhnrl 63:6cb0405fc6e6 645
tnhnrl 68:8f549749b8ce 646 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 647 // sequenceController().loadSequence();
tnhnrl 17:7c16b5671d0e 648 }
tnhnrl 20:8987a9ae2bc7 649 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 17:7c16b5671d0e 650 pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 651
tnhnrl 17:7c16b5671d0e 652 //going to next state
tnhnrl 28:16c83a2fdefa 653 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 654
tnhnrl 17:7c16b5671d0e 655 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 24:c7d9b5bf3829 656 _multi_dive_counter++;
tnhnrl 17:7c16b5671d0e 657
tnhnrl 17:7c16b5671d0e 658 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 659 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 660
tnhnrl 17:7c16b5671d0e 661 //check if this is the end of the dive sequence
tnhnrl 30:2964617e7676 662 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
tnhnrl 30:2964617e7676 663 if (currentStateStruct.state == FLOAT_BROADCAST) {
tnhnrl 68:8f549749b8ce 664 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 665 // sequenceController().loadSequence();
tnhnrl 63:6cb0405fc6e6 666
tnhnrl 28:16c83a2fdefa 667 _state = FLOAT_BROADCAST;
tnhnrl 17:7c16b5671d0e 668 }
tnhnrl 17:7c16b5671d0e 669
tnhnrl 17:7c16b5671d0e 670 else
tnhnrl 63:6cb0405fc6e6 671 _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
tnhnrl 17:7c16b5671d0e 672
tnhnrl 24:c7d9b5bf3829 673 //have to stop this with the _multi_dive_counter variable!
tnhnrl 17:7c16b5671d0e 674 }
tnhnrl 20:8987a9ae2bc7 675
tnhnrl 67:c86a4b464682 676 // WHAT IS ACTIVE?
tnhnrl 17:7c16b5671d0e 677 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 678 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 679 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 680
tnhnrl 67:c86a4b464682 681 checkMotorPositions();
tnhnrl 32:f2f8ae34aadc 682
tnhnrl 17:7c16b5671d0e 683 break;
tnhnrl 32:f2f8ae34aadc 684
tnhnrl 71:939d179478c4 685 case TX_MBED_LOG:
tnhnrl 63:6cb0405fc6e6 686 if (!_isTimeoutRunning) {
tnhnrl 71:939d179478c4 687 pc().printf("\r\n\nstate: TX_MBED_LOG\r\n");
tnhnrl 32:f2f8ae34aadc 688 timer.reset(); // timer goes back to zero
tnhnrl 32:f2f8ae34aadc 689 timer.start(); // background timer starts running
tnhnrl 32:f2f8ae34aadc 690 _isTimeoutRunning = true;
tnhnrl 32:f2f8ae34aadc 691
tnhnrl 68:8f549749b8ce 692 //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
tnhnrl 68:8f549749b8ce 693
tnhnrl 71:939d179478c4 694 pc().printf("TX_MBED_LOG set to zero\n\r");
tnhnrl 45:16b8162188ca 695
tnhnrl 69:919ac8d7e023 696 //function to read the file and get number of lines (packets to transmit)
tnhnrl 69:919ac8d7e023 697 _timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
tnhnrl 72:250b2665755c 698 //transmit_packet_number = mbedLogger().getNumberOfPackets(); //for comparison to end transmit sequence from python program
tnhnrl 68:8f549749b8ce 699
tnhnrl 68:8f549749b8ce 700 mbedLogger().setTransmitPacketNumber(0); //reset to zero
tnhnrl 45:16b8162188ca 701 }
tnhnrl 45:16b8162188ca 702
tnhnrl 69:919ac8d7e023 703 //TIMED OUT
tnhnrl 45:16b8162188ca 704 if (timer.read() > _timeout) {
tnhnrl 72:250b2665755c 705 pc().printf("\r\nTX_MBED_LOG: timed out!\r\n");
tnhnrl 63:6cb0405fc6e6 706
tnhnrl 63:6cb0405fc6e6 707 //STATE
tnhnrl 45:16b8162188ca 708 _state = SIT_IDLE;
tnhnrl 63:6cb0405fc6e6 709
tnhnrl 63:6cb0405fc6e6 710 timer.reset();
tnhnrl 63:6cb0405fc6e6 711 _isTimeoutRunning = false;
tnhnrl 63:6cb0405fc6e6 712
tnhnrl 71:939d179478c4 713 mbedLogger().closeLogFile();
tnhnrl 71:939d179478c4 714 pc().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
tnhnrl 63:6cb0405fc6e6 715 }
tnhnrl 63:6cb0405fc6e6 716
tnhnrl 68:8f549749b8ce 717 //What is active?
tnhnrl 69:919ac8d7e023 718 mbedLogger().fsmTransmitData();
tnhnrl 69:919ac8d7e023 719 mbedLogger().checkForPythonTransmitRequest();
tnhnrl 68:8f549749b8ce 720
tnhnrl 45:16b8162188ca 721 break;
tnhnrl 45:16b8162188ca 722
tnhnrl 45:16b8162188ca 723 case RECEIVE_SEQUENCE :
tnhnrl 58:94b7fd55185e 724 pc().printf("state: RECEIVE_SEQUENCE\r\n");
tnhnrl 45:16b8162188ca 725
tnhnrl 45:16b8162188ca 726 if (!_isTimeoutRunning) {
tnhnrl 45:16b8162188ca 727 pc().printf("RECEIVE_SEQUENCE _isTimeoutRunning\r\n");
tnhnrl 45:16b8162188ca 728 timer.reset(); // timer goes back to zero
tnhnrl 45:16b8162188ca 729 timer.start(); // background timer starts running
tnhnrl 45:16b8162188ca 730 _isTimeoutRunning = true;
tnhnrl 45:16b8162188ca 731 }
tnhnrl 45:16b8162188ca 732
tnhnrl 34:9b66c5188051 733 if (timer.read() > _timeout) {
tnhnrl 58:94b7fd55185e 734 pc().printf("RECEIVE_SEQUENCE: timed out!\r\n");
tnhnrl 34:9b66c5188051 735 _state = SIT_IDLE;
tnhnrl 34:9b66c5188051 736 timer.reset();
tnhnrl 32:f2f8ae34aadc 737 _isTimeoutRunning = false;
tnhnrl 32:f2f8ae34aadc 738 }
tnhnrl 32:f2f8ae34aadc 739
tnhnrl 45:16b8162188ca 740 // what is active?
tnhnrl 58:94b7fd55185e 741 pc().printf("Receive sequence active?\r\n");
tnhnrl 32:f2f8ae34aadc 742
tnhnrl 32:f2f8ae34aadc 743 break;
tnhnrl 16:3363b9f14913 744
tnhnrl 16:3363b9f14913 745 default :
tnhnrl 58:94b7fd55185e 746 pc().printf("DEBUG: SIT_IDLE\r\n");
tnhnrl 21:38c8544db6f4 747 _state = SIT_IDLE;
tnhnrl 28:16c83a2fdefa 748 }
tnhnrl 28:16c83a2fdefa 749
tnhnrl 28:16c83a2fdefa 750 //save the state to print to user
tnhnrl 28:16c83a2fdefa 751 if (_previous_state != _state) {
tnhnrl 28:16c83a2fdefa 752 _state_array[_state_array_counter] = _state; //save to state array
tnhnrl 28:16c83a2fdefa 753 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 754
tnhnrl 28:16c83a2fdefa 755 _previous_state = _state;
tnhnrl 28:16c83a2fdefa 756 }
tnhnrl 34:9b66c5188051 757
tnhnrl 34:9b66c5188051 758 return _state;
tnhnrl 34:9b66c5188051 759 // //if the state is SIT_IDLE, return 0 / false (for recording)
tnhnrl 34:9b66c5188051 760 // if (_state == SIT_IDLE)
tnhnrl 34:9b66c5188051 761 // return 0;
tnhnrl 34:9b66c5188051 762 // else
tnhnrl 34:9b66c5188051 763 // return 1; //return true to indicate that you're recording
tnhnrl 16:3363b9f14913 764 }
tnhnrl 20:8987a9ae2bc7 765
tnhnrl 16:3363b9f14913 766 // output the keyboard menu for user's reference
tnhnrl 69:919ac8d7e023 767 void StateMachine::printSimpleMenu() {
tnhnrl 68:8f549749b8ce 768 pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (06/27/2018):\r\r\n"); //make sure depth sensor tares itself on startup
tnhnrl 63:6cb0405fc6e6 769 pc().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f \r\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm);
tnhnrl 58:94b7fd55185e 770
tnhnrl 58:94b7fd55185e 771 pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 57:ec69651c8c21 772 pc().printf(" J to float level\r\n");
tnhnrl 57:ec69651c8c21 773 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 57:ec69651c8c21 774 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 57:ec69651c8c21 775 pc().printf(" P to print the current log file.\r\n");
tnhnrl 71:939d179478c4 776 pc().printf(" G to TX_MBED_LOG\r\n");
tnhnrl 57:ec69651c8c21 777 pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 58:94b7fd55185e 778
tnhnrl 58:94b7fd55185e 779 pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
tnhnrl 67:c86a4b464682 780 pc().printf("A/S to decrease/increase depth setpoint: %3.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 67:c86a4b464682 781
tnhnrl 66:0f20870117b7 782 pc().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 66:0f20870117b7 783
tnhnrl 57:ec69651c8c21 784 pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 58:94b7fd55185e 785 pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 58:94b7fd55185e 786
tnhnrl 67:c86a4b464682 787 pc().printf(" '|' to tare the depth sensor (vertical bar)\r\n");
tnhnrl 67:c86a4b464682 788
tnhnrl 57:ec69651c8c21 789 pc().printf(" ? to reset mbed\r\n");
tnhnrl 58:94b7fd55185e 790 pc().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
tnhnrl 57:ec69651c8c21 791 }
tnhnrl 57:ec69651c8c21 792
tnhnrl 69:919ac8d7e023 793 void StateMachine::printDebugMenu() {
tnhnrl 68:8f549749b8ce 794 pc().printf("\r\r\n\nDEBUG KEYBOARD MENU (06/27/2018):\r\r\n");
tnhnrl 65:2ac186553959 795 pc().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
tnhnrl 58:94b7fd55185e 796 pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 16:3363b9f14913 797 pc().printf(" N to find neutral\r\n");
tnhnrl 17:7c16b5671d0e 798 pc().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 16:3363b9f14913 799 pc().printf(" D to initiate dive cycle\r\n");
tnhnrl 16:3363b9f14913 800 pc().printf(" R to initiate rise\r\n");
tnhnrl 57:ec69651c8c21 801 pc().printf(" J to float level\r\n");
tnhnrl 16:3363b9f14913 802 pc().printf(" B to float at broadcast pitch\r\n");
tnhnrl 16:3363b9f14913 803 pc().printf(" E to initiate emergency climb\r\n");
tnhnrl 49:47ffa4feb6db 804 pc().printf(" '|' to tare the depth sensor (vertical bar)\r\n");
tnhnrl 28:16c83a2fdefa 805 pc().printf(" Z to show FSM and sub-FSM states.\r\n");
tnhnrl 32:f2f8ae34aadc 806 pc().printf(" P to print the current log file.\r\n");
tnhnrl 32:f2f8ae34aadc 807 pc().printf(" X to print the list of log files.\r\n");
tnhnrl 49:47ffa4feb6db 808 pc().printf(" I to receive data.\r\n");
tnhnrl 49:47ffa4feb6db 809 pc().printf(" O to transmit data.\r\n");
tnhnrl 49:47ffa4feb6db 810 pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 32:f2f8ae34aadc 811 pc().printf("[/] to change bce neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
tnhnrl 32:f2f8ae34aadc 812 pc().printf("</> to change batt neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
tnhnrl 32:f2f8ae34aadc 813 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",_pitch_command);
tnhnrl 67:c86a4b464682 814 pc().printf("A/S to decrease/increase depth setpoint: %3.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 58:94b7fd55185e 815 pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
tnhnrl 58:94b7fd55185e 816 pc().printf("k/l to decrease/increase BCE offset: %3.1f (Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
tnhnrl 58:94b7fd55185e 817 pc().printf(";/' to decrease/increase BMM offset: %3.1f (Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset);
tnhnrl 65:2ac186553959 818 pc().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 58:94b7fd55185e 819
tnhnrl 58:94b7fd55185e 820 // FIXED WITH NEW CODE
tnhnrl 16:3363b9f14913 821 pc().printf(" 1 BCE PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 822 pc().printf(" 2 BATT PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 823 pc().printf(" 3 Depth PID sub-menu\r\n");
tnhnrl 16:3363b9f14913 824 pc().printf(" 4 Pitch PID sub-menu\r\n");
tnhnrl 58:94b7fd55185e 825 pc().printf(" 5 Rudder (servo) sub-menu\r\n");
tnhnrl 58:94b7fd55185e 826 pc().printf(" 6 HEADING PID sub-menu\r\n");
tnhnrl 58:94b7fd55185e 827 pc().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE ***\r\n");
tnhnrl 58:94b7fd55185e 828 //pc().printf(" 8 VIEW_OUTPUTS sub-menu (does not a have a timer!)\r\n");
tnhnrl 58:94b7fd55185e 829 pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 53:c0586fe62b01 830
tnhnrl 58:94b7fd55185e 831 // FIXED WITH NEW CODE
tnhnrl 58:94b7fd55185e 832
tnhnrl 53:c0586fe62b01 833
tnhnrl 28:16c83a2fdefa 834 pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 16:3363b9f14913 835 pc().printf(" ? to reset mbed\r\n");
tnhnrl 58:94b7fd55185e 836 pc().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
tnhnrl 16:3363b9f14913 837 }
tnhnrl 20:8987a9ae2bc7 838
tnhnrl 67:c86a4b464682 839 //FIND_NEUTRAL Sub-Finite State Machine (sub-FSM)
tnhnrl 67:c86a4b464682 840 // Note: the sub-FSM only moves the pistons once at the start of each timer loop
tnhnrl 67:c86a4b464682 841 // (timer completes, moves piston, timer completes, moves piston, etc)
tnhnrl 28:16c83a2fdefa 842 int StateMachine::runNeutralStateMachine() {
tnhnrl 24:c7d9b5bf3829 843 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 844 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 845 //start the 10 second timer
tnhnrl 28:16c83a2fdefa 846 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 847 _neutral_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 848
tnhnrl 58:94b7fd55185e 849 pc().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (getSetPosition: %0.1f)\r\n", _neutral_timer, timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
tnhnrl 20:8987a9ae2bc7 850
tnhnrl 32:f2f8ae34aadc 851 // what are the commands? (BCE linear actuator active, no pitch movement)
tnhnrl 39:58375ca6b6ff 852 bce().setPosition_mm(bce().getSetPosition_mm() - 2.5); //Troy: There is some strange error where this has to be a hardcoded number.
tnhnrl 23:434f04ef1fad 853
tnhnrl 58:94b7fd55185e 854 pc().printf("NEUTRAL_SINKING: Retracting piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f] (pitch: %0.1f)\r\n", _neutral_sink_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand(), pitchLoop().getPosition());
tnhnrl 17:7c16b5671d0e 855
tnhnrl 28:16c83a2fdefa 856 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 857 }
tnhnrl 20:8987a9ae2bc7 858
tnhnrl 20:8987a9ae2bc7 859 // how exit?
tnhnrl 20:8987a9ae2bc7 860 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 861 if (bce().getPosition_mm() <= 0) {
tnhnrl 58:94b7fd55185e 862 pc().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
tnhnrl 25:249e4d56b27c 863 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 864 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 25:249e4d56b27c 865 }
tnhnrl 20:8987a9ae2bc7 866 //once deeper than the commanded setpoint...
tnhnrl 32:f2f8ae34aadc 867 else if (depthLoop().getPosition() > _depth_command) {
tnhnrl 24:c7d9b5bf3829 868 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 28:16c83a2fdefa 869 _isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 870 }
tnhnrl 20:8987a9ae2bc7 871
tnhnrl 20:8987a9ae2bc7 872 // what is active?
tnhnrl 20:8987a9ae2bc7 873 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 874 if (timer.read() >= _neutral_timer) {
tnhnrl 32:f2f8ae34aadc 875 pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", timer.read());
tnhnrl 17:7c16b5671d0e 876
tnhnrl 28:16c83a2fdefa 877 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 878 }
tnhnrl 39:58375ca6b6ff 879
tnhnrl 39:58375ca6b6ff 880 // what is active? (only the buoyancy engine moved every 5 seconds at start)
tnhnrl 39:58375ca6b6ff 881 pc().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f ft)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
tnhnrl 67:c86a4b464682 882
tnhnrl 67:c86a4b464682 883 checkMotorPositions(); //failsafe
tnhnrl 17:7c16b5671d0e 884 break;
tnhnrl 17:7c16b5671d0e 885
tnhnrl 17:7c16b5671d0e 886 case NEUTRAL_SLOWLY_RISE:
tnhnrl 28:16c83a2fdefa 887 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 888 _neutral_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 889
tnhnrl 24:c7d9b5bf3829 890 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 891
tnhnrl 20:8987a9ae2bc7 892 // what are the commands?
tnhnrl 32:f2f8ae34aadc 893 //move piston at start of sequence (default: extend 2.0 mm)
tnhnrl 39:58375ca6b6ff 894 bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command
tnhnrl 23:434f04ef1fad 895
tnhnrl 23:434f04ef1fad 896 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 23:434f04ef1fad 897 pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 898
tnhnrl 58:94b7fd55185e 899 pc().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f]\r\n", _neutral_rise_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand());
tnhnrl 24:c7d9b5bf3829 900
tnhnrl 28:16c83a2fdefa 901 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 902 }
tnhnrl 17:7c16b5671d0e 903
tnhnrl 20:8987a9ae2bc7 904 // how exit?
tnhnrl 24:c7d9b5bf3829 905 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 906 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 24:c7d9b5bf3829 907 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 908 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 909 }
tnhnrl 17:7c16b5671d0e 910 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 911 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 24:c7d9b5bf3829 912 pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", timer.read());
tnhnrl 24:c7d9b5bf3829 913 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 28:16c83a2fdefa 914 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 915 }
tnhnrl 17:7c16b5671d0e 916
tnhnrl 20:8987a9ae2bc7 917 // what is active?
tnhnrl 20:8987a9ae2bc7 918 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 919 if (timer.read() >= _neutral_timer) {
tnhnrl 32:f2f8ae34aadc 920 pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", timer.read());
tnhnrl 20:8987a9ae2bc7 921
tnhnrl 28:16c83a2fdefa 922 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 923 }
tnhnrl 23:434f04ef1fad 924
tnhnrl 32:f2f8ae34aadc 925 // what is active? (only the buoyancy engine moved every 5 seconds)
tnhnrl 32:f2f8ae34aadc 926 pc().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
tnhnrl 67:c86a4b464682 927 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 67:c86a4b464682 928
tnhnrl 67:c86a4b464682 929 checkMotorPositions(); //failsafe
tnhnrl 17:7c16b5671d0e 930 break;
tnhnrl 17:7c16b5671d0e 931
danstrider 22:a10ee088403b 932 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 933 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 934
tnhnrl 28:16c83a2fdefa 935 if (!_isSubStateTimerRunning) {
tnhnrl 24:c7d9b5bf3829 936 _neutral_timer = timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 24:c7d9b5bf3829 937 pc().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - timer.read());
danstrider 22:a10ee088403b 938
tnhnrl 32:f2f8ae34aadc 939 // what are the commands? (default: retract or extend 0.5 mm)
tnhnrl 24:c7d9b5bf3829 940 if (pitchLoop().getPosition() > 2) { // nose is high
tnhnrl 39:58375ca6b6ff 941 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 58:94b7fd55185e 942 pc().printf("\r\nNeutral Check Pitch: moving battery FWD in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
danstrider 22:a10ee088403b 943 }
tnhnrl 24:c7d9b5bf3829 944 else if (pitchLoop().getPosition() < -2) { // nose is low
tnhnrl 39:58375ca6b6ff 945 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 58:94b7fd55185e 946 pc().printf("\r\nNeutral Check Pitch: moving battery AFT in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
danstrider 22:a10ee088403b 947 }
tnhnrl 24:c7d9b5bf3829 948
tnhnrl 28:16c83a2fdefa 949 _isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 950 }
tnhnrl 20:8987a9ae2bc7 951
tnhnrl 28:16c83a2fdefa 952 // how exit?
tnhnrl 20:8987a9ae2bc7 953 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 954 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 955 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 58:94b7fd55185e 956 pc().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
danstrider 22:a10ee088403b 957 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 958
tnhnrl 28:16c83a2fdefa 959 if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
tnhnrl 28:16c83a2fdefa 960 _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 961 }
tnhnrl 28:16c83a2fdefa 962
tnhnrl 23:434f04ef1fad 963 // found level and at depth too, so save it all now
tnhnrl 32:f2f8ae34aadc 964 if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 965 //save positions locally
danstrider 22:a10ee088403b 966 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 967 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 968
danstrider 22:a10ee088403b 969 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 970 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 971 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 972
danstrider 22:a10ee088403b 973 // save into the depth.txt and pitch.txt files
danstrider 22:a10ee088403b 974 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset
danstrider 22:a10ee088403b 975 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset
danstrider 22:a10ee088403b 976
tnhnrl 58:94b7fd55185e 977 pc().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 978
tnhnrl 24:c7d9b5bf3829 979 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 980 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 981 }
tnhnrl 24:c7d9b5bf3829 982
tnhnrl 24:c7d9b5bf3829 983 else {
tnhnrl 58:94b7fd55185e 984 pc().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
tnhnrl 24:c7d9b5bf3829 985 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 986 }
tnhnrl 17:7c16b5671d0e 987 }
danstrider 22:a10ee088403b 988
danstrider 22:a10ee088403b 989 // what is active?
danstrider 22:a10ee088403b 990 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 24:c7d9b5bf3829 991 if (timer.read() >= _neutral_timer) {
danstrider 22:a10ee088403b 992 pc().printf("\r\n\nlevel timer COMPLETE!");
danstrider 22:a10ee088403b 993 pc().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), timer.read());
tnhnrl 28:16c83a2fdefa 994 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 995 }
tnhnrl 67:c86a4b464682 996
tnhnrl 67:c86a4b464682 997 checkMotorPositions(); //failsafe
tnhnrl 17:7c16b5671d0e 998 break;
danstrider 22:a10ee088403b 999
danstrider 22:a10ee088403b 1000 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 1001 case NEUTRAL_EXIT :
tnhnrl 58:94b7fd55185e 1002 pc().printf("substate: NEUTRAL_EXIT\r\n");
tnhnrl 20:8987a9ae2bc7 1003 break;
tnhnrl 21:38c8544db6f4 1004
danstrider 22:a10ee088403b 1005 default :
tnhnrl 58:94b7fd55185e 1006 pc().printf("how did we get to substate: default?\r\n"); //debug
tnhnrl 23:434f04ef1fad 1007 //a default within the sub-state machine
tnhnrl 24:c7d9b5bf3829 1008 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1009 break;
tnhnrl 17:7c16b5671d0e 1010 }
tnhnrl 20:8987a9ae2bc7 1011
tnhnrl 30:2964617e7676 1012 // reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
tnhnrl 24:c7d9b5bf3829 1013 if (_substate == NEUTRAL_EXIT) {
tnhnrl 58:94b7fd55185e 1014 pc().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
tnhnrl 24:c7d9b5bf3829 1015
tnhnrl 30:2964617e7676 1016 //reset internal sub-state back to first entry conditions (first state is immediately sinking)
tnhnrl 30:2964617e7676 1017 _substate = NEUTRAL_SINKING;
tnhnrl 28:16c83a2fdefa 1018 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 21:38c8544db6f4 1019
tnhnrl 24:c7d9b5bf3829 1020 //record sub-states to view after sequence
tnhnrl 30:2964617e7676 1021 _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
tnhnrl 28:16c83a2fdefa 1022 _substate_array_counter++;
tnhnrl 23:434f04ef1fad 1023
tnhnrl 24:c7d9b5bf3829 1024 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 1025 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 1026
tnhnrl 24:c7d9b5bf3829 1027 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 1028 return NEUTRAL_EXIT; // message to calling function we just exited
tnhnrl 21:38c8544db6f4 1029 }
tnhnrl 23:434f04ef1fad 1030 else {
tnhnrl 24:c7d9b5bf3829 1031 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 1032 if (_previous_substate != _substate) {
tnhnrl 28:16c83a2fdefa 1033 _substate_array[_substate_array_counter] = _substate; //save current state to state array
tnhnrl 28:16c83a2fdefa 1034 _substate_array_counter++;
tnhnrl 24:c7d9b5bf3829 1035
tnhnrl 24:c7d9b5bf3829 1036 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 1037 _previous_substate = _substate;
tnhnrl 24:c7d9b5bf3829 1038 }
tnhnrl 24:c7d9b5bf3829 1039
tnhnrl 24:c7d9b5bf3829 1040 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 1041 }
tnhnrl 17:7c16b5671d0e 1042 }
tnhnrl 20:8987a9ae2bc7 1043
tnhnrl 57:ec69651c8c21 1044 /* keyboard runs independently of the state machine, handling one key at a time
tnhnrl 57:ec69651c8c21 1045 keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 57:ec69651c8c21 1046 and only allows input when the state is "idle" */
tnhnrl 57:ec69651c8c21 1047
tnhnrl 17:7c16b5671d0e 1048 void StateMachine::keyboard() {
tnhnrl 57:ec69651c8c21 1049 char user_input;
tnhnrl 20:8987a9ae2bc7 1050
tnhnrl 16:3363b9f14913 1051 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 1052 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 1053
tnhnrl 37:357e98a929cc 1054 //TEST
tnhnrl 37:357e98a929cc 1055 int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 1056
tnhnrl 28:16c83a2fdefa 1057 if (pc().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) {
tnhnrl 16:3363b9f14913 1058 // get the key
tnhnrl 57:ec69651c8c21 1059 user_input = pc().getc();
tnhnrl 17:7c16b5671d0e 1060
tnhnrl 28:16c83a2fdefa 1061 //record that the keyboard was used
tnhnrl 28:16c83a2fdefa 1062 _state_array[_state_array_counter] = KEYBOARD;
tnhnrl 28:16c83a2fdefa 1063 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 1064
tnhnrl 21:38c8544db6f4 1065 // keyboard has to reset timer each time it's used
tnhnrl 28:16c83a2fdefa 1066 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 1067
tnhnrl 16:3363b9f14913 1068 // check command against desired control buttons
tnhnrl 72:250b2665755c 1069
tnhnrl 72:250b2665755c 1070 /***************************** COMMON COMMANDS *****************************/
tnhnrl 72:250b2665755c 1071 if (user_input == 'W') {
tnhnrl 72:250b2665755c 1072 pc().printf(">> Please enter the heading (deg).\r\n");
tnhnrl 72:250b2665755c 1073 _heading_command = getFloatUserInput();
tnhnrl 72:250b2665755c 1074 }
tnhnrl 72:250b2665755c 1075 else if (user_input == '8') {
tnhnrl 72:250b2665755c 1076 keyboard_menu_STREAM_STATUS();
tnhnrl 72:250b2665755c 1077 }
tnhnrl 72:250b2665755c 1078
tnhnrl 72:250b2665755c 1079 else if (user_input == '|') {
tnhnrl 72:250b2665755c 1080 pc().printf("taring depth sensor\r\n");
tnhnrl 72:250b2665755c 1081 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 72:250b2665755c 1082 wait(0.1);
tnhnrl 72:250b2665755c 1083 depth().tare(); // tares to ambient (do on surface)
tnhnrl 72:250b2665755c 1084 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
tnhnrl 72:250b2665755c 1085 }
tnhnrl 72:250b2665755c 1086
tnhnrl 72:250b2665755c 1087 else if (user_input == '?') {
tnhnrl 72:250b2665755c 1088 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 72:250b2665755c 1089 wait(0.5);
tnhnrl 72:250b2665755c 1090 mbed_reset();
tnhnrl 72:250b2665755c 1091 }
tnhnrl 72:250b2665755c 1092
tnhnrl 72:250b2665755c 1093 else if (user_input == 'T') {
tnhnrl 72:250b2665755c 1094 pc().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 72:250b2665755c 1095 _timeout = fabs(getFloatUserInput());
tnhnrl 72:250b2665755c 1096 }
tnhnrl 72:250b2665755c 1097
tnhnrl 72:250b2665755c 1098 /***************************** COMMON COMMANDS *****************************/
tnhnrl 57:ec69651c8c21 1099
tnhnrl 57:ec69651c8c21 1100 /***************************** DEBUG MENU *****************************/
tnhnrl 72:250b2665755c 1101 if (_debug_menu_on) {
tnhnrl 57:ec69651c8c21 1102 if (user_input == 'D') {
tnhnrl 57:ec69651c8c21 1103 _keyboard_state = DIVE;
tnhnrl 57:ec69651c8c21 1104 }
tnhnrl 57:ec69651c8c21 1105 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1106 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1107 }
tnhnrl 57:ec69651c8c21 1108 else if (user_input == 'M') {
tnhnrl 57:ec69651c8c21 1109 //currently does not run if there is no file.
tnhnrl 57:ec69651c8c21 1110
tnhnrl 57:ec69651c8c21 1111 //need to add method to Sequence Controller that returns -1
tnhnrl 57:ec69651c8c21 1112 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 57:ec69651c8c21 1113
tnhnrl 68:8f549749b8ce 1114 //load sequence from file
tnhnrl 68:8f549749b8ce 1115 _multi_dive_counter = 0;
tnhnrl 68:8f549749b8ce 1116 sequenceController().loadSequence();
tnhnrl 68:8f549749b8ce 1117 wait(1); //test if this resets the sequence
tnhnrl 68:8f549749b8ce 1118
tnhnrl 57:ec69651c8c21 1119 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 57:ec69651c8c21 1120 _keyboard_state = currentStateStruct.state;
tnhnrl 57:ec69651c8c21 1121
tnhnrl 58:94b7fd55185e 1122 pc().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 57:ec69651c8c21 1123 }
tnhnrl 57:ec69651c8c21 1124 else if (user_input == 'R') {
tnhnrl 57:ec69651c8c21 1125 _keyboard_state = RISE;
tnhnrl 57:ec69651c8c21 1126 }
tnhnrl 57:ec69651c8c21 1127 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1128 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1129 }
tnhnrl 57:ec69651c8c21 1130 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1131 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1132 }
tnhnrl 57:ec69651c8c21 1133 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1134 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1135 }
tnhnrl 17:7c16b5671d0e 1136
tnhnrl 65:2ac186553959 1137 else if (user_input == 'Y') {
tnhnrl 57:ec69651c8c21 1138 _keyboard_state = CHECK_TUNING;
tnhnrl 57:ec69651c8c21 1139 }
tnhnrl 17:7c16b5671d0e 1140
tnhnrl 58:94b7fd55185e 1141 else if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1142 _keyboard_state = POSITION_DIVE;
tnhnrl 58:94b7fd55185e 1143 }
tnhnrl 58:94b7fd55185e 1144
tnhnrl 57:ec69651c8c21 1145 // some debug tools below
tnhnrl 57:ec69651c8c21 1146 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1147 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1148 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1149 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 57:ec69651c8c21 1150 }
tnhnrl 57:ec69651c8c21 1151 else if (user_input == 'X') {
tnhnrl 57:ec69651c8c21 1152 mbedLogger().printMbedDirectory(); //print all log files to the screen
tnhnrl 57:ec69651c8c21 1153 }
tnhnrl 72:250b2665755c 1154 else if (user_input == 'G') {
tnhnrl 72:250b2665755c 1155 wait(1);
tnhnrl 72:250b2665755c 1156 _keyboard_state = TX_MBED_LOG;
tnhnrl 72:250b2665755c 1157 }
tnhnrl 57:ec69651c8c21 1158 else if (user_input == 'I') {
tnhnrl 57:ec69651c8c21 1159 mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files
tnhnrl 57:ec69651c8c21 1160 }
tnhnrl 57:ec69651c8c21 1161 else if (user_input == '~') {
tnhnrl 58:94b7fd55185e 1162 pc().printf("ERASING MBED LOG FILE\r\n");
tnhnrl 57:ec69651c8c21 1163 mbedLogger().eraseFile();
tnhnrl 57:ec69651c8c21 1164 }
tnhnrl 57:ec69651c8c21 1165 else if (user_input == 'Z') {
tnhnrl 58:94b7fd55185e 1166 pc().printf("FSG FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1167 string string_state;
tnhnrl 57:ec69651c8c21 1168
tnhnrl 57:ec69651c8c21 1169 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1170 if (_state_array[i] == SIT_IDLE)
tnhnrl 57:ec69651c8c21 1171 string_state = "SIT_IDLE <END>";
tnhnrl 57:ec69651c8c21 1172 else if (_state_array[i] == FIND_NEUTRAL)
tnhnrl 57:ec69651c8c21 1173 string_state = "FIND_NEUTRAL";
tnhnrl 57:ec69651c8c21 1174 else if (_state_array[i] == DIVE)
tnhnrl 57:ec69651c8c21 1175 string_state = "DIVE";
tnhnrl 57:ec69651c8c21 1176 else if (_state_array[i] == RISE)
tnhnrl 57:ec69651c8c21 1177 string_state = "RISE";
tnhnrl 57:ec69651c8c21 1178 else if (_state_array[i] == FLOAT_LEVEL)
tnhnrl 57:ec69651c8c21 1179 string_state = "FLOAT_LEVEL";
tnhnrl 57:ec69651c8c21 1180 else if (_state_array[i] == FLOAT_BROADCAST)
tnhnrl 57:ec69651c8c21 1181 string_state = "FLOAT_BROADCAST";
tnhnrl 57:ec69651c8c21 1182 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1183 string_state = "EMERGENCY_CLIMB";
tnhnrl 57:ec69651c8c21 1184 else if (_state_array[i] == MULTI_DIVE)
tnhnrl 57:ec69651c8c21 1185 string_state = "MULTI_DIVE";
tnhnrl 57:ec69651c8c21 1186 else if (_state_array[i] == MULTI_RISE)
tnhnrl 57:ec69651c8c21 1187 string_state = "MULTI_RISE";
tnhnrl 57:ec69651c8c21 1188 else if (_state_array[i] == KEYBOARD)
tnhnrl 57:ec69651c8c21 1189 string_state = "KEYBOARD";
tnhnrl 58:94b7fd55185e 1190 pc().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
tnhnrl 57:ec69651c8c21 1191 }
tnhnrl 57:ec69651c8c21 1192
tnhnrl 58:94b7fd55185e 1193 pc().printf("\r\nNeutral sub-FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1194 string string_substate;
tnhnrl 57:ec69651c8c21 1195
tnhnrl 57:ec69651c8c21 1196 for (int i = 0; i < _substate_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1197 if (_substate_array[i] == NEUTRAL_SINKING)
tnhnrl 57:ec69651c8c21 1198 string_substate = "NEUTRAL_SINKING";
tnhnrl 57:ec69651c8c21 1199 else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 57:ec69651c8c21 1200 string_substate = "NEUTRAL_SLOWLY_RISE";
tnhnrl 57:ec69651c8c21 1201 else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 57:ec69651c8c21 1202 string_substate = "NEUTRAL_CHECK_PITCH";
tnhnrl 57:ec69651c8c21 1203 else if (_substate_array[i] == NEUTRAL_EXIT)
tnhnrl 57:ec69651c8c21 1204 string_substate = "NEUTRAL_EXIT <-- ";
tnhnrl 57:ec69651c8c21 1205 else if (_substate_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1206 string_substate = " -- > EMERGENCY_CLIMB <-- ";
tnhnrl 58:94b7fd55185e 1207 pc().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
tnhnrl 57:ec69651c8c21 1208 }
tnhnrl 58:94b7fd55185e 1209 pc().printf("\r\n"); //make space between printouts
tnhnrl 72:250b2665755c 1210 }
tnhnrl 72:250b2665755c 1211 //BATTERY/PITCH
tnhnrl 57:ec69651c8c21 1212 else if (user_input == '[' or user_input == '{') {
tnhnrl 72:250b2665755c 1213 pc().printf("Please TYPE in the new BATT neutral position.\n\r");
tnhnrl 72:250b2665755c 1214 _neutral_batt_pos_mm = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1215 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
tnhnrl 57:ec69651c8c21 1216 pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1217 // save neutral pitch value to config file
tnhnrl 57:ec69651c8c21 1218 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
tnhnrl 57:ec69651c8c21 1219 }
tnhnrl 28:16c83a2fdefa 1220
tnhnrl 72:250b2665755c 1221 //BCE/DEPTH
tnhnrl 72:250b2665755c 1222 else if (user_input == ';' or user_input == ':') {
tnhnrl 72:250b2665755c 1223 pc().printf("Please TYPE in the new BCE neutral position.\n\r");
tnhnrl 72:250b2665755c 1224 _neutral_bce_pos_mm = getFloatUserInput();
tnhnrl 72:250b2665755c 1225 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
tnhnrl 72:250b2665755c 1226 pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 72:250b2665755c 1227 // save neutral depth value to config file
tnhnrl 72:250b2665755c 1228 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
tnhnrl 57:ec69651c8c21 1229 }
tnhnrl 57:ec69651c8c21 1230
tnhnrl 72:250b2665755c 1231 // change settings
tnhnrl 72:250b2665755c 1232 //heading is in the common controls
tnhnrl 72:250b2665755c 1233 else if (user_input == 'Q') {
tnhnrl 72:250b2665755c 1234 pc().printf(">> Please enter the desired depth (ft).\r\n");
tnhnrl 72:250b2665755c 1235 _pitch_command = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1236 }
tnhnrl 72:250b2665755c 1237 else if (user_input == 'A') {
tnhnrl 72:250b2665755c 1238 pc().printf(">> Please enter the desired pitch (deg).\r\n");
tnhnrl 72:250b2665755c 1239 _depth_command = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1240 }
tnhnrl 72:250b2665755c 1241
tnhnrl 57:ec69651c8c21 1242 else if (user_input == '5') {
tnhnrl 58:94b7fd55185e 1243 keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 57:ec69651c8c21 1244 }
tnhnrl 57:ec69651c8c21 1245
tnhnrl 57:ec69651c8c21 1246 else if (user_input == '6') {
tnhnrl 58:94b7fd55185e 1247 keyboard_menu_HEADING_PID_settings();
tnhnrl 58:94b7fd55185e 1248 }
tnhnrl 57:ec69651c8c21 1249
tnhnrl 58:94b7fd55185e 1250 // go to tuning sub-menu
tnhnrl 57:ec69651c8c21 1251 else if (user_input == '7') {
tnhnrl 58:94b7fd55185e 1252 keyboard_menu_MANUAL_TUNING();
tnhnrl 57:ec69651c8c21 1253 }
tnhnrl 57:ec69651c8c21 1254
tnhnrl 65:2ac186553959 1255 else if (user_input == 'U') {
tnhnrl 57:ec69651c8c21 1256 keyboard_menu_POSITION_READINGS();
tnhnrl 57:ec69651c8c21 1257 }
tnhnrl 57:ec69651c8c21 1258
tnhnrl 57:ec69651c8c21 1259 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 57:ec69651c8c21 1260 else if (user_input == '1') {
tnhnrl 57:ec69651c8c21 1261 keyboard_menu_BCE_PID_settings();
tnhnrl 57:ec69651c8c21 1262 }
tnhnrl 57:ec69651c8c21 1263 else if (user_input == '2') {
tnhnrl 57:ec69651c8c21 1264 keyboard_menu_BATT_PID_settings();
tnhnrl 57:ec69651c8c21 1265 }
tnhnrl 57:ec69651c8c21 1266 else if (user_input == '3') {
tnhnrl 57:ec69651c8c21 1267 keyboard_menu_DEPTH_PID_settings();
tnhnrl 57:ec69651c8c21 1268 }
tnhnrl 57:ec69651c8c21 1269 else if (user_input == '4') {
tnhnrl 57:ec69651c8c21 1270 keyboard_menu_PITCH_PID_settings();
tnhnrl 28:16c83a2fdefa 1271 }
tnhnrl 57:ec69651c8c21 1272
tnhnrl 57:ec69651c8c21 1273 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 57:ec69651c8c21 1274
tnhnrl 58:94b7fd55185e 1275 pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 57:ec69651c8c21 1276
tnhnrl 57:ec69651c8c21 1277 // Testing out ADC
tnhnrl 57:ec69651c8c21 1278 float vref = 5.6;
tnhnrl 57:ec69651c8c21 1279 float vmeasured = 0;
tnhnrl 57:ec69651c8c21 1280 unsigned int raw = adc().readCh5();
tnhnrl 57:ec69651c8c21 1281 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 57:ec69651c8c21 1282 pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 57:ec69651c8c21 1283 pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 57:ec69651c8c21 1284 pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 57:ec69651c8c21 1285 pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 57:ec69651c8c21 1286 pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 57:ec69651c8c21 1287 pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 57:ec69651c8c21 1288 pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
tnhnrl 57:ec69651c8c21 1289 pc().printf("raw board current: %d \r\n",adc().readCh7());
tnhnrl 57:ec69651c8c21 1290 pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 57:ec69651c8c21 1291 pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 57:ec69651c8c21 1292 pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 57:ec69651c8c21 1293 // End of ADC Test
tnhnrl 57:ec69651c8c21 1294
tnhnrl 57:ec69651c8c21 1295 pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 57:ec69651c8c21 1296 pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 57:ec69651c8c21 1297 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 57:ec69651c8c21 1298 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 57:ec69651c8c21 1299 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 57:ec69651c8c21 1300 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 57:ec69651c8c21 1301 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 57:ec69651c8c21 1302 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 57:ec69651c8c21 1303
tnhnrl 58:94b7fd55185e 1304 pc().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 57:ec69651c8c21 1305 pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1306 pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1307 pc().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
tnhnrl 57:ec69651c8c21 1308
tnhnrl 58:94b7fd55185e 1309 pc().printf("\r\n");
tnhnrl 57:ec69651c8c21 1310 pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 57:ec69651c8c21 1311 pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 57:ec69651c8c21 1312 pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1313 pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 72:250b2665755c 1314 }
tnhnrl 57:ec69651c8c21 1315 else if (user_input == '*') {
tnhnrl 58:94b7fd55185e 1316 pc().printf("SWITCHING TO SIMPLE MENU!\r\n");
tnhnrl 57:ec69651c8c21 1317 wait(2);
tnhnrl 57:ec69651c8c21 1318 _debug_menu_on = false;
tnhnrl 57:ec69651c8c21 1319 }
tnhnrl 57:ec69651c8c21 1320 } //end of debug menu
tnhnrl 57:ec69651c8c21 1321 /***************************** DEBUG MENU *****************************/
tnhnrl 57:ec69651c8c21 1322
tnhnrl 57:ec69651c8c21 1323 /***************************** SIMPLE MENU *****************************/
tnhnrl 72:250b2665755c 1324 else {
tnhnrl 58:94b7fd55185e 1325 if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1326 _keyboard_state = POSITION_DIVE;
tnhnrl 57:ec69651c8c21 1327 }
tnhnrl 57:ec69651c8c21 1328 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1329 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1330 }
tnhnrl 57:ec69651c8c21 1331 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1332 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1333 }
tnhnrl 57:ec69651c8c21 1334 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1335 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1336 }
tnhnrl 57:ec69651c8c21 1337 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1338 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1339 }
tnhnrl 57:ec69651c8c21 1340
tnhnrl 57:ec69651c8c21 1341 // some debug tools below
tnhnrl 57:ec69651c8c21 1342 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1343 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1344 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1345 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 72:250b2665755c 1346 }
tnhnrl 68:8f549749b8ce 1347 else if (user_input == 'G') {
tnhnrl 70:0e5180befedd 1348 wait(1);
tnhnrl 71:939d179478c4 1349 _keyboard_state = TX_MBED_LOG;
tnhnrl 68:8f549749b8ce 1350 }
tnhnrl 57:ec69651c8c21 1351 else if (user_input == '~') {
tnhnrl 58:94b7fd55185e 1352 pc().printf("ERASING MBED LOG FILE\r\n");
tnhnrl 57:ec69651c8c21 1353 mbedLogger().eraseFile();
tnhnrl 57:ec69651c8c21 1354 }
tnhnrl 57:ec69651c8c21 1355
tnhnrl 58:94b7fd55185e 1356 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 58:94b7fd55185e 1357
tnhnrl 58:94b7fd55185e 1358 pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 58:94b7fd55185e 1359
tnhnrl 58:94b7fd55185e 1360 // Testing out ADC
tnhnrl 58:94b7fd55185e 1361 float vref = 5.6;
tnhnrl 58:94b7fd55185e 1362 float vmeasured = 0;
tnhnrl 58:94b7fd55185e 1363 unsigned int raw = adc().readCh5();
tnhnrl 58:94b7fd55185e 1364 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 68:8f549749b8ce 1365
tnhnrl 68:8f549749b8ce 1366 //same equations in mbed logger
tnhnrl 68:8f549749b8ce 1367 float press_xducer_PSI = (22.029*(5.0*adc().readCh5()/4095.0) + 10.884) * 0.145038; // Press_Xducer (on-board)
tnhnrl 68:8f549749b8ce 1368 float voltage_input = (adc().readCh6()/4095.0) * 5.0 * 7.8; //tnh
tnhnrl 68:8f549749b8ce 1369 float current_input = adc().readCh7()/4095.0;
tnhnrl 68:8f549749b8ce 1370
tnhnrl 58:94b7fd55185e 1371 pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 58:94b7fd55185e 1372 pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 58:94b7fd55185e 1373 pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 58:94b7fd55185e 1374 pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 58:94b7fd55185e 1375 pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 68:8f549749b8ce 1376 pc().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),press_xducer_PSI);
tnhnrl 68:8f549749b8ce 1377 //pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 68:8f549749b8ce 1378 pc().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),voltage_input);
tnhnrl 68:8f549749b8ce 1379 pc().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), current_input);
tnhnrl 58:94b7fd55185e 1380 pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 58:94b7fd55185e 1381 pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 58:94b7fd55185e 1382 pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 58:94b7fd55185e 1383 // End of ADC Test
tnhnrl 58:94b7fd55185e 1384
tnhnrl 58:94b7fd55185e 1385 pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 58:94b7fd55185e 1386 pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 58:94b7fd55185e 1387 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 58:94b7fd55185e 1388 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 58:94b7fd55185e 1389 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 58:94b7fd55185e 1390 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 58:94b7fd55185e 1391 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 1392 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 58:94b7fd55185e 1393
tnhnrl 58:94b7fd55185e 1394 pc().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 58:94b7fd55185e 1395 pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1396 pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1397 pc().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
tnhnrl 58:94b7fd55185e 1398
tnhnrl 58:94b7fd55185e 1399 pc().printf("\r\n");
tnhnrl 58:94b7fd55185e 1400 pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 58:94b7fd55185e 1401 pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 58:94b7fd55185e 1402 pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1403 pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1404 }
tnhnrl 67:c86a4b464682 1405
tnhnrl 57:ec69651c8c21 1406 //POSITION DIVE COMMANDS
tnhnrl 72:250b2665755c 1407 else if (user_input == 'Q') {
tnhnrl 72:250b2665755c 1408 pc().printf(">> Please enter the desired BMM offset (mm).\r\n");
tnhnrl 72:250b2665755c 1409 _BMM_dive_offset = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1410 }
tnhnrl 72:250b2665755c 1411 else if (user_input == 'A') {
tnhnrl 72:250b2665755c 1412 pc().printf(">> Please enter the desired BCE offset (mm).\r\n");
tnhnrl 72:250b2665755c 1413 _BCE_dive_offset = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1414 }
tnhnrl 57:ec69651c8c21 1415 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1416
tnhnrl 57:ec69651c8c21 1417 else if (user_input == '*') {
tnhnrl 58:94b7fd55185e 1418 pc().printf("SWITCHING TO DEBUG MENU!\r\n");
tnhnrl 57:ec69651c8c21 1419 _debug_menu_on = true;
tnhnrl 57:ec69651c8c21 1420 wait(2);
tnhnrl 57:ec69651c8c21 1421 }
tnhnrl 16:3363b9f14913 1422 }
tnhnrl 57:ec69651c8c21 1423 /***************************** SIMPLE MENU *****************************/
tnhnrl 17:7c16b5671d0e 1424
tnhnrl 17:7c16b5671d0e 1425 //when you read the keyboard successfully, change the state
tnhnrl 28:16c83a2fdefa 1426 _state = _keyboard_state; //set state at the end of this function
tnhnrl 58:94b7fd55185e 1427 //pc().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
tnhnrl 16:3363b9f14913 1428 }
tnhnrl 16:3363b9f14913 1429 }
tnhnrl 52:f207567d3ea4 1430
tnhnrl 52:f207567d3ea4 1431 void StateMachine::keyboard_menu_STREAM_STATUS() {
tnhnrl 52:f207567d3ea4 1432 char STATUS_key;
tnhnrl 52:f207567d3ea4 1433
tnhnrl 52:f207567d3ea4 1434 // show the menu
tnhnrl 58:94b7fd55185e 1435 pc().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
tnhnrl 52:f207567d3ea4 1436
tnhnrl 52:f207567d3ea4 1437 while (1) {
tnhnrl 52:f207567d3ea4 1438 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1439 STATUS_key = pc().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1440 }
tnhnrl 52:f207567d3ea4 1441
tnhnrl 52:f207567d3ea4 1442 else {
tnhnrl 52:f207567d3ea4 1443
tnhnrl 52:f207567d3ea4 1444 wait(1);
tnhnrl 54:d4990fb68404 1445
tnhnrl 58:94b7fd55185e 1446
tnhnrl 65:2ac186553959 1447 pc().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f [0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
tnhnrl 58:94b7fd55185e 1448 //pc().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f (unfiltered: %0.2f) [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depth().getRawPSI(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm());
tnhnrl 58:94b7fd55185e 1449 //pc().printf("\n0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
tnhnrl 58:94b7fd55185e 1450
tnhnrl 54:d4990fb68404 1451
tnhnrl 56:48a8a5a65b82 1452 //pc().printf("(set) BCE POS: %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS: %0.2f )(channel reading: %d) (volt: %0.2f) << %0.2f >> (Pressure: %0.2f (raw: %0.2f) PITCH: %0.2f HEADING: %0.2f)\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(), depthLoop().getPosition(),depth().readADCCounts(),depth().readVoltage(),depth().getPsi(),depth().getRawPSI(),depth().getRawPSI(),imu().getPitch(),imu().getHeading());
tnhnrl 52:f207567d3ea4 1453
tnhnrl 54:d4990fb68404 1454 //pc().printf("Neutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 54:d4990fb68404 1455 // pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 54:d4990fb68404 1456 // pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 54:d4990fb68404 1457 // pc().printf("heading (rudder): %3.1f deg\r\n",rudderLoop().getPosition()); //for heading
tnhnrl 52:f207567d3ea4 1458
tnhnrl 54:d4990fb68404 1459 // pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 54:d4990fb68404 1460 // pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 54:d4990fb68404 1461 //
tnhnrl 54:d4990fb68404 1462 // pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 54:d4990fb68404 1463 // pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 52:f207567d3ea4 1464
tnhnrl 54:d4990fb68404 1465 // pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 54:d4990fb68404 1466 // pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 54:d4990fb68404 1467 //
tnhnrl 54:d4990fb68404 1468 // pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 54:d4990fb68404 1469 // pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 52:f207567d3ea4 1470
tnhnrl 52:f207567d3ea4 1471 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1472 }
tnhnrl 52:f207567d3ea4 1473
tnhnrl 52:f207567d3ea4 1474 // process the keys
tnhnrl 58:94b7fd55185e 1475 if (STATUS_key == 'X') {
tnhnrl 58:94b7fd55185e 1476 pc().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
tnhnrl 52:f207567d3ea4 1477 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1478 }
tnhnrl 52:f207567d3ea4 1479
tnhnrl 52:f207567d3ea4 1480 else {
tnhnrl 58:94b7fd55185e 1481 pc().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
tnhnrl 52:f207567d3ea4 1482 }
tnhnrl 52:f207567d3ea4 1483 }
tnhnrl 52:f207567d3ea4 1484 }
tnhnrl 52:f207567d3ea4 1485
tnhnrl 52:f207567d3ea4 1486 void StateMachine::keyboard_menu_RUDDER_SERVO_settings() {
tnhnrl 52:f207567d3ea4 1487 //load current parameters from the rudder
tnhnrl 52:f207567d3ea4 1488 float rudder_min_pwm = rudder().getMinPWM();
tnhnrl 52:f207567d3ea4 1489 float rudder_max_pwm = rudder().getMaxPWM();
tnhnrl 52:f207567d3ea4 1490 float rudder_ctr_pwm = rudder().getCenterPWM();
tnhnrl 52:f207567d3ea4 1491 float rudder_min_deg = rudder().getMinDeg();
tnhnrl 52:f207567d3ea4 1492 float rudder_max_deg = rudder().getMaxDeg();
tnhnrl 52:f207567d3ea4 1493
tnhnrl 52:f207567d3ea4 1494 char RUDDER_PID_key;
tnhnrl 52:f207567d3ea4 1495
tnhnrl 52:f207567d3ea4 1496 // print the menu
tnhnrl 58:94b7fd55185e 1497 pc().printf("\r\nRUDDER (servo driver) settings (MENU)");
tnhnrl 58:94b7fd55185e 1498 pc().printf("\r\n(Adjust min/max/center PWM settings with the following keys: N and M and C");
tnhnrl 58:94b7fd55185e 1499 pc().printf("\r\n(Adjust DEGREE limit settings with the following keys: min = K, max = L");
tnhnrl 58:94b7fd55185e 1500 pc().printf("\r\n(Hit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
tnhnrl 52:f207567d3ea4 1501 pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1502
tnhnrl 52:f207567d3ea4 1503 // handle the key presses
tnhnrl 52:f207567d3ea4 1504 while(1) {
tnhnrl 52:f207567d3ea4 1505 // get the user's keystroke from either of the two inputs
tnhnrl 52:f207567d3ea4 1506 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1507 RUDDER_PID_key = pc().getc();
tnhnrl 52:f207567d3ea4 1508 }
tnhnrl 52:f207567d3ea4 1509 else {
tnhnrl 52:f207567d3ea4 1510 wait(0.5);
tnhnrl 52:f207567d3ea4 1511 pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1512 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1513 }
tnhnrl 52:f207567d3ea4 1514
tnhnrl 52:f207567d3ea4 1515 // handle the user's key input
tnhnrl 52:f207567d3ea4 1516 if (RUDDER_PID_key == 'S') { // user wants to save the modified values
tnhnrl 52:f207567d3ea4 1517 // set global values
tnhnrl 52:f207567d3ea4 1518 rudder().setMinPWM(rudder_min_pwm);
tnhnrl 52:f207567d3ea4 1519 rudder().setMaxPWM(rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1520 rudder().setCenterPWM(rudder_ctr_pwm);
tnhnrl 52:f207567d3ea4 1521 rudder().setMinDeg(rudder_min_deg);
tnhnrl 52:f207567d3ea4 1522 rudder().setMaxDeg(rudder_max_deg);
tnhnrl 52:f207567d3ea4 1523
tnhnrl 52:f207567d3ea4 1524 // save rudder servo driver values for inner loop
tnhnrl 52:f207567d3ea4 1525 configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1526 pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1527 }
tnhnrl 52:f207567d3ea4 1528 else if (RUDDER_PID_key == 'X') {
tnhnrl 52:f207567d3ea4 1529 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1530 }
tnhnrl 52:f207567d3ea4 1531 // MIN PWM
tnhnrl 52:f207567d3ea4 1532 else if (RUDDER_PID_key == 'N') {
tnhnrl 58:94b7fd55185e 1533 pc().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1534 rudder_min_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1535 }
tnhnrl 52:f207567d3ea4 1536 // MAX PWM
tnhnrl 52:f207567d3ea4 1537 else if (RUDDER_PID_key == 'M') {
tnhnrl 58:94b7fd55185e 1538 pc().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1539 rudder_max_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1540 }
tnhnrl 52:f207567d3ea4 1541 // CENTER PWM
tnhnrl 52:f207567d3ea4 1542 else if (RUDDER_PID_key == 'C') {
tnhnrl 58:94b7fd55185e 1543 pc().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1544 rudder_ctr_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1545 }
tnhnrl 52:f207567d3ea4 1546 // MIN DEG
tnhnrl 52:f207567d3ea4 1547 else if (RUDDER_PID_key == 'K') {
tnhnrl 58:94b7fd55185e 1548 pc().printf(">> Type in rudder_min_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1549 rudder_min_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1550 }
tnhnrl 52:f207567d3ea4 1551 // MAX DEG
tnhnrl 52:f207567d3ea4 1552 else if (RUDDER_PID_key == 'L') {
tnhnrl 58:94b7fd55185e 1553 pc().printf(">> Type in rudder_max_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1554 rudder_max_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1555 }
tnhnrl 52:f207567d3ea4 1556
tnhnrl 52:f207567d3ea4 1557 else {
tnhnrl 52:f207567d3ea4 1558 pc().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
tnhnrl 52:f207567d3ea4 1559 }
tnhnrl 52:f207567d3ea4 1560 }
tnhnrl 52:f207567d3ea4 1561 }
tnhnrl 54:d4990fb68404 1562
tnhnrl 58:94b7fd55185e 1563 void StateMachine::keyboard_menu_HEADING_PID_settings() {
tnhnrl 58:94b7fd55185e 1564 char HEADING_PID_key;
tnhnrl 58:94b7fd55185e 1565
tnhnrl 58:94b7fd55185e 1566 float heading_KP = headingLoop().getControllerP();
tnhnrl 58:94b7fd55185e 1567 float heading_KI = headingLoop().getControllerI();
tnhnrl 58:94b7fd55185e 1568 float heading_KD = headingLoop().getControllerD();
tnhnrl 58:94b7fd55185e 1569 float heading_offset_deg = headingLoop().getOutputOffset();
tnhnrl 58:94b7fd55185e 1570
tnhnrl 58:94b7fd55185e 1571 // print the menu
tnhnrl 58:94b7fd55185e 1572 pc().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
tnhnrl 58:94b7fd55185e 1573 pc().printf("\n\r Adjust PID settings with the following keys: P and I and D");
tnhnrl 58:94b7fd55185e 1574 pc().printf("\n\r Adjust zero offset with O (oh)");
tnhnrl 58:94b7fd55185e 1575 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 63:6cb0405fc6e6 1576 pc().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1577
tnhnrl 58:94b7fd55185e 1578 // handle the key presses
tnhnrl 58:94b7fd55185e 1579 while(1) {
tnhnrl 58:94b7fd55185e 1580 // get the user's keystroke from either of the two inputs
tnhnrl 58:94b7fd55185e 1581 if (pc().readable()) {
tnhnrl 58:94b7fd55185e 1582 HEADING_PID_key = pc().getc();
tnhnrl 58:94b7fd55185e 1583 }
tnhnrl 58:94b7fd55185e 1584 else {
tnhnrl 58:94b7fd55185e 1585 continue; // didn't get a user input, so keep waiting for it
tnhnrl 58:94b7fd55185e 1586 }
tnhnrl 58:94b7fd55185e 1587
tnhnrl 58:94b7fd55185e 1588 // handle the user's key input
tnhnrl 58:94b7fd55185e 1589 if (HEADING_PID_key == 'S') { // user wants to save the modified values
tnhnrl 58:94b7fd55185e 1590 // set global values
tnhnrl 58:94b7fd55185e 1591 headingLoop().setControllerP(heading_KP);
tnhnrl 58:94b7fd55185e 1592 headingLoop().setControllerI(heading_KI);
tnhnrl 58:94b7fd55185e 1593 headingLoop().setControllerD(heading_KD);
tnhnrl 58:94b7fd55185e 1594 headingLoop().setOutputOffset(heading_offset_deg);
tnhnrl 58:94b7fd55185e 1595
tnhnrl 58:94b7fd55185e 1596 // save pitch PID values for outer loop (must save neutral position also)
tnhnrl 58:94b7fd55185e 1597 configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg); //_neutral_heading_pos_deg);
tnhnrl 63:6cb0405fc6e6 1598 pc().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset());
tnhnrl 58:94b7fd55185e 1599 }
tnhnrl 58:94b7fd55185e 1600 else if (HEADING_PID_key == 'X') {
tnhnrl 58:94b7fd55185e 1601 break; //exit the while loop
tnhnrl 58:94b7fd55185e 1602 }
tnhnrl 58:94b7fd55185e 1603
tnhnrl 58:94b7fd55185e 1604 else if (HEADING_PID_key == 'P') {
tnhnrl 58:94b7fd55185e 1605 heading_KP = getFloatUserInput();;
tnhnrl 58:94b7fd55185e 1606 }
tnhnrl 58:94b7fd55185e 1607 else if (HEADING_PID_key == 'I') {
tnhnrl 58:94b7fd55185e 1608 heading_KI = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1609 }
tnhnrl 58:94b7fd55185e 1610 else if (HEADING_PID_key == 'D') {
tnhnrl 58:94b7fd55185e 1611 heading_KD = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1612 }
tnhnrl 58:94b7fd55185e 1613 else if (HEADING_PID_key == 'O') {
tnhnrl 58:94b7fd55185e 1614 heading_offset_deg = getFloatUserInput();
tnhnrl 58:94b7fd55185e 1615 }
tnhnrl 58:94b7fd55185e 1616
tnhnrl 58:94b7fd55185e 1617 else {
tnhnrl 58:94b7fd55185e 1618 pc().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
tnhnrl 58:94b7fd55185e 1619 }
tnhnrl 58:94b7fd55185e 1620 }
tnhnrl 58:94b7fd55185e 1621 }
tnhnrl 58:94b7fd55185e 1622
tnhnrl 54:d4990fb68404 1623 void StateMachine::keyboard_menu_COUNTS_STATUS() {
tnhnrl 54:d4990fb68404 1624
tnhnrl 54:d4990fb68404 1625 }
tnhnrl 56:48a8a5a65b82 1626
tnhnrl 49:47ffa4feb6db 1627 void StateMachine::keyboard_menu_MANUAL_TUNING() {
tnhnrl 49:47ffa4feb6db 1628 char TUNING_key;
tnhnrl 49:47ffa4feb6db 1629
tnhnrl 49:47ffa4feb6db 1630 // show the menu
tnhnrl 58:94b7fd55185e 1631 pc().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
tnhnrl 58:94b7fd55185e 1632 pc().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
tnhnrl 67:c86a4b464682 1633 pc().printf("\r\nMANUAL_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 56:48a8a5a65b82 1634
tnhnrl 56:48a8a5a65b82 1635 //made these into internal parameters
tnhnrl 56:48a8a5a65b82 1636 float _tuning_bce_pos_mm = 300.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1637 float _tuning_batt_pos_mm = 60.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1638 float _tuning_rudder_pos_deg = 0.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1639
tnhnrl 56:48a8a5a65b82 1640 //immediately start at those positions
tnhnrl 56:48a8a5a65b82 1641 bce().setPosition_mm(_tuning_bce_pos_mm);
tnhnrl 56:48a8a5a65b82 1642 batt().setPosition_mm(_tuning_batt_pos_mm);
tnhnrl 56:48a8a5a65b82 1643 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 49:47ffa4feb6db 1644
tnhnrl 49:47ffa4feb6db 1645 // what needs to be started?
tnhnrl 49:47ffa4feb6db 1646 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 1647 batt().unpause(); //this is now active
tnhnrl 56:48a8a5a65b82 1648 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1649
tnhnrl 69:919ac8d7e023 1650 while (1) {
tnhnrl 69:919ac8d7e023 1651 wait(0.1);
tnhnrl 69:919ac8d7e023 1652
tnhnrl 49:47ffa4feb6db 1653 if (pc().readable()) {
tnhnrl 49:47ffa4feb6db 1654 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 49:47ffa4feb6db 1655 }
tnhnrl 49:47ffa4feb6db 1656
tnhnrl 58:94b7fd55185e 1657 else {
tnhnrl 67:c86a4b464682 1658 pc().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getPosition_deg(), rudder().getPosition_pwm(),imu().getPitch(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1659 continue; // didn't get a user input, so keep waiting for it
tnhnrl 49:47ffa4feb6db 1660 }
tnhnrl 49:47ffa4feb6db 1661
tnhnrl 49:47ffa4feb6db 1662 // process the keys
tnhnrl 49:47ffa4feb6db 1663 if (TUNING_key == 'X') {
tnhnrl 49:47ffa4feb6db 1664 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 49:47ffa4feb6db 1665 bce().pause();
tnhnrl 49:47ffa4feb6db 1666 batt().pause();
tnhnrl 56:48a8a5a65b82 1667 rudder().pause();
tnhnrl 56:48a8a5a65b82 1668
tnhnrl 56:48a8a5a65b82 1669 //right now the rudder is always active................................................hmm
tnhnrl 56:48a8a5a65b82 1670 //deactivate the pin? new/delete?
tnhnrl 49:47ffa4feb6db 1671
tnhnrl 49:47ffa4feb6db 1672 break; //exit the while loop
tnhnrl 49:47ffa4feb6db 1673 }
tnhnrl 56:48a8a5a65b82 1674
tnhnrl 56:48a8a5a65b82 1675 //Buoyancy Engine
tnhnrl 52:f207567d3ea4 1676 else if (TUNING_key == 'A') {
tnhnrl 56:48a8a5a65b82 1677 _tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1678 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1679 pc().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 52:f207567d3ea4 1680 }
tnhnrl 52:f207567d3ea4 1681
tnhnrl 49:47ffa4feb6db 1682 else if (TUNING_key == 'S') {
tnhnrl 56:48a8a5a65b82 1683 _tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1684 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1685 pc().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 49:47ffa4feb6db 1686 }
tnhnrl 49:47ffa4feb6db 1687
tnhnrl 56:48a8a5a65b82 1688 //BATTERY
tnhnrl 49:47ffa4feb6db 1689 else if (TUNING_key == 'Q') {
tnhnrl 56:48a8a5a65b82 1690 _tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1691 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1692 pc().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 49:47ffa4feb6db 1693 }
tnhnrl 49:47ffa4feb6db 1694
tnhnrl 49:47ffa4feb6db 1695 else if (TUNING_key == 'W') {
tnhnrl 56:48a8a5a65b82 1696 _tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1697 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 58:94b7fd55185e 1698 pc().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 56:48a8a5a65b82 1699 }
tnhnrl 56:48a8a5a65b82 1700
tnhnrl 56:48a8a5a65b82 1701 else if (TUNING_key == 'c' or TUNING_key == 'C') {
tnhnrl 56:48a8a5a65b82 1702 pc().printf("MANUAL_TUNING: (current stats) BCE pos: %3.1f mm (cmd: %3.1f mm), BATT pos: %3.1f mm (cmd: %3.1f mm) SERVO: %0.1f deg, %f pwm\r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getPosition_deg(), rudder().getPosition_pwm());
tnhnrl 56:48a8a5a65b82 1703 }
tnhnrl 56:48a8a5a65b82 1704
tnhnrl 56:48a8a5a65b82 1705 //RUDER
tnhnrl 56:48a8a5a65b82 1706 else if (TUNING_key == 'E') {
tnhnrl 56:48a8a5a65b82 1707 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
tnhnrl 56:48a8a5a65b82 1708 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 58:94b7fd55185e 1709 pc().printf("MANUAL_TUNING: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getPosition_pwm(), rudder().getPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 56:48a8a5a65b82 1710 }
tnhnrl 56:48a8a5a65b82 1711
tnhnrl 56:48a8a5a65b82 1712 else if (TUNING_key == 'R') {
tnhnrl 56:48a8a5a65b82 1713 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
tnhnrl 56:48a8a5a65b82 1714 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 58:94b7fd55185e 1715 pc().printf("MANUAL_TUNING: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getPosition_pwm(), rudder().getPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 56:48a8a5a65b82 1716 }
tnhnrl 56:48a8a5a65b82 1717
tnhnrl 56:48a8a5a65b82 1718 else if (TUNING_key == 'P') {
tnhnrl 56:48a8a5a65b82 1719 rudder().pause();
tnhnrl 56:48a8a5a65b82 1720 }
tnhnrl 56:48a8a5a65b82 1721
tnhnrl 56:48a8a5a65b82 1722 else if (TUNING_key == 'U') {
tnhnrl 56:48a8a5a65b82 1723 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1724 }
tnhnrl 49:47ffa4feb6db 1725
tnhnrl 49:47ffa4feb6db 1726 else {
tnhnrl 58:94b7fd55185e 1727 pc().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
tnhnrl 56:48a8a5a65b82 1728 }
tnhnrl 49:47ffa4feb6db 1729 }
tnhnrl 49:47ffa4feb6db 1730 }
tnhnrl 52:f207567d3ea4 1731
tnhnrl 52:f207567d3ea4 1732 void StateMachine::keyboard_menu_CHANNEL_READINGS() {
tnhnrl 52:f207567d3ea4 1733 char TUNING_key;
tnhnrl 52:f207567d3ea4 1734
tnhnrl 52:f207567d3ea4 1735 // show the menu
tnhnrl 58:94b7fd55185e 1736 pc().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
tnhnrl 55:f4ec445c42fe 1737
tnhnrl 55:f4ec445c42fe 1738 while (1) {
tnhnrl 55:f4ec445c42fe 1739 if (pc().readable()) {
tnhnrl 55:f4ec445c42fe 1740 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 55:f4ec445c42fe 1741 }
tnhnrl 55:f4ec445c42fe 1742
tnhnrl 55:f4ec445c42fe 1743 // process the keys
tnhnrl 55:f4ec445c42fe 1744 if (TUNING_key == 'X') {
tnhnrl 55:f4ec445c42fe 1745 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 55:f4ec445c42fe 1746 bce().pause();
tnhnrl 55:f4ec445c42fe 1747 batt().pause();
tnhnrl 55:f4ec445c42fe 1748
tnhnrl 55:f4ec445c42fe 1749 break; //exit the while loop
tnhnrl 55:f4ec445c42fe 1750 }
tnhnrl 55:f4ec445c42fe 1751
tnhnrl 55:f4ec445c42fe 1752 else {
tnhnrl 55:f4ec445c42fe 1753 wait(0.5);
tnhnrl 55:f4ec445c42fe 1754 pc().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
tnhnrl 55:f4ec445c42fe 1755 continue; // didn't get a user input, so keep waiting for it
tnhnrl 55:f4ec445c42fe 1756 }
tnhnrl 55:f4ec445c42fe 1757 }
tnhnrl 55:f4ec445c42fe 1758 }
tnhnrl 55:f4ec445c42fe 1759
tnhnrl 55:f4ec445c42fe 1760 void StateMachine::keyboard_menu_POSITION_READINGS() {
tnhnrl 55:f4ec445c42fe 1761 char TUNING_key;
tnhnrl 55:f4ec445c42fe 1762
tnhnrl 55:f4ec445c42fe 1763 // show the menu
tnhnrl 58:94b7fd55185e 1764 pc().printf("\r\n9: BCE and BMM POSITION READINGS (EXIT WITH 'X' !)");
tnhnrl 52:f207567d3ea4 1765
tnhnrl 52:f207567d3ea4 1766 while (1) {
tnhnrl 52:f207567d3ea4 1767 if (pc().readable()) {
tnhnrl 52:f207567d3ea4 1768 TUNING_key = pc().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1769 }
tnhnrl 52:f207567d3ea4 1770
tnhnrl 54:d4990fb68404 1771 // process the keys
tnhnrl 54:d4990fb68404 1772 if (TUNING_key == 'X') {
tnhnrl 54:d4990fb68404 1773 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 54:d4990fb68404 1774 bce().pause();
tnhnrl 54:d4990fb68404 1775 batt().pause();
tnhnrl 54:d4990fb68404 1776
tnhnrl 54:d4990fb68404 1777 break; //exit the while loop
tnhnrl 54:d4990fb68404 1778 }
tnhnrl 54:d4990fb68404 1779
tnhnrl 52:f207567d3ea4 1780 else {
tnhnrl 52:f207567d3ea4 1781 // Testing out ADC
tnhnrl 54:d4990fb68404 1782 wait(0.5);
tnhnrl 52:f207567d3ea4 1783 float vref = 5.6;
tnhnrl 52:f207567d3ea4 1784 float vmeasured = 0;
tnhnrl 52:f207567d3ea4 1785 unsigned int raw = adc().readCh5();
tnhnrl 52:f207567d3ea4 1786 vmeasured = ((float)raw)/4095.0*vref;
tnhnrl 52:f207567d3ea4 1787
tnhnrl 54:d4990fb68404 1788
tnhnrl 55:f4ec445c42fe 1789 //pc().printf("BCE POS(%d),BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) \r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4());
tnhnrl 55:f4ec445c42fe 1790
tnhnrl 55:f4ec445c42fe 1791 pc().printf("BCE POS(%d), BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) << POS: BCE %0.2f, BATT %0.2f >>\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),bce().getPosition_mm(),batt().getPosition_mm());
tnhnrl 54:d4990fb68404 1792
tnhnrl 54:d4990fb68404 1793 //pc().printf("vessel pressure(%d) batt voltage(%d) board current(%d) LIMIT: BCE(%d) BMM(%d) (HW reading limit: BCE(%d) BMM (%d) \r\n",adc().readCh5(),adc().readCh6(),adc().readCh7(),bce().getSwitch(), batt().getSwitch(),bce().getSwitchState(),batt().getSwitchState());
tnhnrl 54:d4990fb68404 1794 //pc().printf("LIMIT: BCE(%d) BMM(%d) << HW reading limit: BCE(%d) BMM (%d) >> \r\n",bce().getSwitch(), batt().getSwitch(),bce().getHWSwitchReading(),batt().getHWSwitchReading());
tnhnrl 54:d4990fb68404 1795 //pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
tnhnrl 52:f207567d3ea4 1796 // End of ADC Test
tnhnrl 52:f207567d3ea4 1797
tnhnrl 54:d4990fb68404 1798 // pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 54:d4990fb68404 1799 // pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 54:d4990fb68404 1800 // pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 54:d4990fb68404 1801 // pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 54:d4990fb68404 1802 // pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 54:d4990fb68404 1803 // pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 54:d4990fb68404 1804 // pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
tnhnrl 54:d4990fb68404 1805 // pc().printf("raw board current: %d \r\n",adc().readCh7());
tnhnrl 54:d4990fb68404 1806
tnhnrl 52:f207567d3ea4 1807 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1808 }
tnhnrl 52:f207567d3ea4 1809 }
tnhnrl 52:f207567d3ea4 1810 }
tnhnrl 49:47ffa4feb6db 1811
tnhnrl 16:3363b9f14913 1812 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 16:3363b9f14913 1813 char PID_key;
tnhnrl 63:6cb0405fc6e6 1814
tnhnrl 63:6cb0405fc6e6 1815 float bce_KP = bce().getControllerP(); // load current value
tnhnrl 63:6cb0405fc6e6 1816 float bce_KI = bce().getControllerI(); // load current global value
tnhnrl 63:6cb0405fc6e6 1817 float bce_KD = bce().getControllerD(); // load current global value
tnhnrl 16:3363b9f14913 1818
tnhnrl 16:3363b9f14913 1819 // show the menu
tnhnrl 63:6cb0405fc6e6 1820 pc().printf("\n\rBuoyancy Engine PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 1821 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 1822 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 1823 pc().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 63:6cb0405fc6e6 1824
tnhnrl 63:6cb0405fc6e6 1825 // handle the key presses
tnhnrl 63:6cb0405fc6e6 1826 while(1) {
tnhnrl 63:6cb0405fc6e6 1827 // get the user's keystroke from either of the two inputs
tnhnrl 63:6cb0405fc6e6 1828 if (pc().readable()) {
tnhnrl 63:6cb0405fc6e6 1829 PID_key = pc().getc();
tnhnrl 63:6cb0405fc6e6 1830 }
tnhnrl 63:6cb0405fc6e6 1831 else {
tnhnrl 63:6cb0405fc6e6 1832 continue; // didn't get a user input, so keep waiting for it
tnhnrl 63:6cb0405fc6e6 1833 }
tnhnrl 63:6cb0405fc6e6 1834
tnhnrl 63:6cb0405fc6e6 1835 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 1836 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 1837 // set values
tnhnrl 63:6cb0405fc6e6 1838 bce().setControllerP(bce_KP);
tnhnrl 63:6cb0405fc6e6 1839 bce().setControllerI(bce_KI);
tnhnrl 63:6cb0405fc6e6 1840 bce().setControllerD(bce_KD);
tnhnrl 63:6cb0405fc6e6 1841
tnhnrl 63:6cb0405fc6e6 1842 // save to "BATT.TXT" file
tnhnrl 63:6cb0405fc6e6 1843 configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD);
tnhnrl 63:6cb0405fc6e6 1844 pc().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 63:6cb0405fc6e6 1845 }
tnhnrl 63:6cb0405fc6e6 1846 else if (PID_key == 'X') {
tnhnrl 63:6cb0405fc6e6 1847 break; //exit the while loop
tnhnrl 63:6cb0405fc6e6 1848 }
tnhnrl 63:6cb0405fc6e6 1849 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 1850 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1851 bce_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1852 }
tnhnrl 63:6cb0405fc6e6 1853 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 1854 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1855 bce_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1856 }
tnhnrl 63:6cb0405fc6e6 1857 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 1858 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1859 bce_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1860 }
tnhnrl 63:6cb0405fc6e6 1861 else {
tnhnrl 63:6cb0405fc6e6 1862 pc().printf("\n\rBCE: [%c] This key does nothing here. \r", PID_key);
tnhnrl 63:6cb0405fc6e6 1863 }
tnhnrl 63:6cb0405fc6e6 1864 }
tnhnrl 63:6cb0405fc6e6 1865 }
tnhnrl 63:6cb0405fc6e6 1866
tnhnrl 63:6cb0405fc6e6 1867 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 63:6cb0405fc6e6 1868 char PID_key;
tnhnrl 63:6cb0405fc6e6 1869
tnhnrl 63:6cb0405fc6e6 1870 float batt_KP = batt().getControllerP(); // load current global value
tnhnrl 63:6cb0405fc6e6 1871 float batt_KI = batt().getControllerI(); // load current global value
tnhnrl 63:6cb0405fc6e6 1872 float batt_KD = batt().getControllerD(); // load current global value
tnhnrl 63:6cb0405fc6e6 1873
tnhnrl 63:6cb0405fc6e6 1874 // print the menu
tnhnrl 63:6cb0405fc6e6 1875 pc().printf("\n\rBattery Motor PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 1876 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 1877 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 1878 pc().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 16:3363b9f14913 1879
tnhnrl 16:3363b9f14913 1880 // handle the key presses
tnhnrl 16:3363b9f14913 1881 while(1) {
tnhnrl 16:3363b9f14913 1882 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 1883 if (pc().readable()) {
tnhnrl 16:3363b9f14913 1884 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 1885 }
tnhnrl 16:3363b9f14913 1886 else {
tnhnrl 16:3363b9f14913 1887 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 1888 }
tnhnrl 16:3363b9f14913 1889
tnhnrl 16:3363b9f14913 1890 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 1891 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 1892 // set values
tnhnrl 63:6cb0405fc6e6 1893 batt().setControllerP(batt_KP);
tnhnrl 63:6cb0405fc6e6 1894 batt().setControllerI(batt_KI);
tnhnrl 63:6cb0405fc6e6 1895 batt().setControllerD(batt_KD);
tnhnrl 16:3363b9f14913 1896
tnhnrl 38:83d06c294807 1897 // save to "BATT.TXT" file
tnhnrl 63:6cb0405fc6e6 1898 configFileIO().saveBattData(batt_KP, batt_KI, batt_KD);
tnhnrl 63:6cb0405fc6e6 1899 pc().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 16:3363b9f14913 1900 }
tnhnrl 16:3363b9f14913 1901 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 1902 break; //exit the while loop
tnhnrl 16:3363b9f14913 1903 }
tnhnrl 63:6cb0405fc6e6 1904 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 1905 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1906 batt_KP = getFloatUserInput();
tnhnrl 16:3363b9f14913 1907 }
tnhnrl 63:6cb0405fc6e6 1908 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 1909 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1910 batt_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1911 }
tnhnrl 63:6cb0405fc6e6 1912 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 1913 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1914 batt_KD = getFloatUserInput();
tnhnrl 16:3363b9f14913 1915 }
tnhnrl 16:3363b9f14913 1916 else {
tnhnrl 63:6cb0405fc6e6 1917 pc().printf("\n\rBATT: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 1918 }
tnhnrl 16:3363b9f14913 1919 }
tnhnrl 16:3363b9f14913 1920 }
tnhnrl 20:8987a9ae2bc7 1921
tnhnrl 16:3363b9f14913 1922 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 16:3363b9f14913 1923 char PID_key;
tnhnrl 63:6cb0405fc6e6 1924
tnhnrl 63:6cb0405fc6e6 1925 float depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 1926 float depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 1927 float depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 1928
tnhnrl 63:6cb0405fc6e6 1929 // print the menu
tnhnrl 63:6cb0405fc6e6 1930 pc().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 1931 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 1932 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 1933 pc().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 1934
tnhnrl 16:3363b9f14913 1935 // handle the key presses
tnhnrl 16:3363b9f14913 1936 while(1) {
tnhnrl 16:3363b9f14913 1937 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 1938 if (pc().readable()) {
tnhnrl 16:3363b9f14913 1939 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 1940 }
tnhnrl 16:3363b9f14913 1941 else {
tnhnrl 16:3363b9f14913 1942 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 1943 }
tnhnrl 16:3363b9f14913 1944
tnhnrl 16:3363b9f14913 1945 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 1946 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 1947 // set values
tnhnrl 63:6cb0405fc6e6 1948 depthLoop().setControllerP(depth_KP);
tnhnrl 63:6cb0405fc6e6 1949 depthLoop().setControllerI(depth_KI);
tnhnrl 63:6cb0405fc6e6 1950 depthLoop().setControllerD(depth_KD);
tnhnrl 63:6cb0405fc6e6 1951
tnhnrl 63:6cb0405fc6e6 1952 // save to "DEPTH.TXT" file
tnhnrl 63:6cb0405fc6e6 1953 configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm);
tnhnrl 63:6cb0405fc6e6 1954 pc().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 16:3363b9f14913 1955
tnhnrl 63:6cb0405fc6e6 1956 //set class variables that will be used in find neutral sequence
tnhnrl 63:6cb0405fc6e6 1957 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 1958 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 1959 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 1960 }
tnhnrl 16:3363b9f14913 1961 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 1962 break; //exit the while loop
tnhnrl 16:3363b9f14913 1963 }
tnhnrl 63:6cb0405fc6e6 1964 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 1965 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1966 depth_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1967 }
tnhnrl 63:6cb0405fc6e6 1968 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 1969 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1970 depth_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1971 }
tnhnrl 63:6cb0405fc6e6 1972 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 1973 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1974 depth_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1975 }
tnhnrl 16:3363b9f14913 1976 else {
tnhnrl 63:6cb0405fc6e6 1977 pc().printf("\n\rDEPTH: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 1978 }
tnhnrl 16:3363b9f14913 1979 }
tnhnrl 16:3363b9f14913 1980 }
tnhnrl 16:3363b9f14913 1981
tnhnrl 16:3363b9f14913 1982 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 16:3363b9f14913 1983 char PID_key;
tnhnrl 63:6cb0405fc6e6 1984
tnhnrl 63:6cb0405fc6e6 1985 float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 1986 float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 1987 float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 1988
tnhnrl 16:3363b9f14913 1989 // print the menu
tnhnrl 63:6cb0405fc6e6 1990 pc().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
tnhnrl 63:6cb0405fc6e6 1991 pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
tnhnrl 63:6cb0405fc6e6 1992 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 63:6cb0405fc6e6 1993 pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 63:6cb0405fc6e6 1994
tnhnrl 16:3363b9f14913 1995 // handle the key presses
tnhnrl 16:3363b9f14913 1996 while(1) {
tnhnrl 16:3363b9f14913 1997 // get the user's keystroke from either of the two inputs
tnhnrl 16:3363b9f14913 1998 if (pc().readable()) {
tnhnrl 16:3363b9f14913 1999 PID_key = pc().getc();
tnhnrl 16:3363b9f14913 2000 }
tnhnrl 16:3363b9f14913 2001 else {
tnhnrl 16:3363b9f14913 2002 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2003 }
tnhnrl 63:6cb0405fc6e6 2004
tnhnrl 16:3363b9f14913 2005 // handle the user's key input
tnhnrl 63:6cb0405fc6e6 2006 if (PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2007 // set values
tnhnrl 63:6cb0405fc6e6 2008 pitchLoop().setControllerP(pitch_KP);
tnhnrl 63:6cb0405fc6e6 2009 pitchLoop().setControllerI(pitch_KI);
tnhnrl 63:6cb0405fc6e6 2010 pitchLoop().setControllerD(pitch_KD);
tnhnrl 63:6cb0405fc6e6 2011
tnhnrl 63:6cb0405fc6e6 2012 // save to "PITCH.TXT" file
tnhnrl 63:6cb0405fc6e6 2013 configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm);
tnhnrl 63:6cb0405fc6e6 2014 pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
tnhnrl 63:6cb0405fc6e6 2015
tnhnrl 63:6cb0405fc6e6 2016 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2017 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2018 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 2019 }
tnhnrl 16:3363b9f14913 2020 else if (PID_key == 'X') {
tnhnrl 16:3363b9f14913 2021 break; //exit the while loop
tnhnrl 16:3363b9f14913 2022 }
tnhnrl 63:6cb0405fc6e6 2023 else if (PID_key == 'P') {
tnhnrl 63:6cb0405fc6e6 2024 pc().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2025 pitch_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2026 }
tnhnrl 63:6cb0405fc6e6 2027 else if (PID_key == 'I') {
tnhnrl 63:6cb0405fc6e6 2028 pc().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2029 pitch_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2030 }
tnhnrl 63:6cb0405fc6e6 2031 else if (PID_key == 'D') {
tnhnrl 63:6cb0405fc6e6 2032 pc().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2033 pitch_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2034 }
tnhnrl 16:3363b9f14913 2035 else {
tnhnrl 63:6cb0405fc6e6 2036 pc().printf("\n\rPITCH: [%c] This key does nothing here. \r", PID_key);
tnhnrl 16:3363b9f14913 2037 }
tnhnrl 16:3363b9f14913 2038 }
tnhnrl 16:3363b9f14913 2039 }
tnhnrl 20:8987a9ae2bc7 2040
tnhnrl 16:3363b9f14913 2041 float StateMachine::getDepthCommand() {
tnhnrl 32:f2f8ae34aadc 2042 return _depth_command;
tnhnrl 16:3363b9f14913 2043 }
tnhnrl 20:8987a9ae2bc7 2044
tnhnrl 16:3363b9f14913 2045 float StateMachine::getPitchCommand() {
tnhnrl 32:f2f8ae34aadc 2046 return _pitch_command;
tnhnrl 32:f2f8ae34aadc 2047 }
tnhnrl 32:f2f8ae34aadc 2048
tnhnrl 32:f2f8ae34aadc 2049 float StateMachine::getDepthReading() {
tnhnrl 32:f2f8ae34aadc 2050 return _depth_reading;
tnhnrl 32:f2f8ae34aadc 2051 }
tnhnrl 32:f2f8ae34aadc 2052
tnhnrl 32:f2f8ae34aadc 2053 float StateMachine::getPitchReading() {
tnhnrl 32:f2f8ae34aadc 2054 return _pitch_reading;
tnhnrl 32:f2f8ae34aadc 2055 }
tnhnrl 32:f2f8ae34aadc 2056
tnhnrl 32:f2f8ae34aadc 2057 float StateMachine::getTimerReading() {
tnhnrl 32:f2f8ae34aadc 2058 return _timer_reading;
tnhnrl 17:7c16b5671d0e 2059 }
tnhnrl 28:16c83a2fdefa 2060
tnhnrl 17:7c16b5671d0e 2061 void StateMachine::setState(int input_state) {
tnhnrl 21:38c8544db6f4 2062 _state = input_state;
tnhnrl 17:7c16b5671d0e 2063 }
tnhnrl 20:8987a9ae2bc7 2064
tnhnrl 17:7c16b5671d0e 2065 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 2066 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 2067 }
tnhnrl 20:8987a9ae2bc7 2068
tnhnrl 17:7c16b5671d0e 2069 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 2070 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 2071 }
tnhnrl 20:8987a9ae2bc7 2072
tnhnrl 17:7c16b5671d0e 2073 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 32:f2f8ae34aadc 2074 _depth_command = input_depth_command;
tnhnrl 17:7c16b5671d0e 2075 }
tnhnrl 20:8987a9ae2bc7 2076
tnhnrl 17:7c16b5671d0e 2077 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 32:f2f8ae34aadc 2078 _pitch_command = input_pitch_command;
tnhnrl 17:7c16b5671d0e 2079 }
tnhnrl 20:8987a9ae2bc7 2080
tnhnrl 17:7c16b5671d0e 2081 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 2082 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 2083 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 2084
tnhnrl 58:94b7fd55185e 2085 pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 2086 }
tnhnrl 20:8987a9ae2bc7 2087
tnhnrl 17:7c16b5671d0e 2088 int StateMachine::timeoutRunning() {
tnhnrl 28:16c83a2fdefa 2089 return _isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 2090 }
tnhnrl 20:8987a9ae2bc7 2091
tnhnrl 17:7c16b5671d0e 2092 //process one state at a time
tnhnrl 17:7c16b5671d0e 2093 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 2094 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 2095 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 2096 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 2097 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 2098 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
tnhnrl 17:7c16b5671d0e 2099
tnhnrl 17:7c16b5671d0e 2100 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 32:f2f8ae34aadc 2101 }
tnhnrl 32:f2f8ae34aadc 2102
tnhnrl 32:f2f8ae34aadc 2103 void StateMachine::printCurrentSdLog() {
tnhnrl 58:94b7fd55185e 2104 pc().printf("SD card log work in progress\r\n");
tnhnrl 32:f2f8ae34aadc 2105 //might be worth saving the last few logs to the MBED...
tnhnrl 32:f2f8ae34aadc 2106 }
tnhnrl 32:f2f8ae34aadc 2107
tnhnrl 32:f2f8ae34aadc 2108 //check if the file is still opened
tnhnrl 32:f2f8ae34aadc 2109 void StateMachine::createNewFile() {
tnhnrl 32:f2f8ae34aadc 2110 if (_file_closed) {
tnhnrl 34:9b66c5188051 2111 //mbedLogger().createFile(); //create a new MBED file
tnhnrl 32:f2f8ae34aadc 2112
tnhnrl 32:f2f8ae34aadc 2113 _file_closed = false; //file is still open until you get to SIT_IDLE
tnhnrl 32:f2f8ae34aadc 2114 }
tnhnrl 32:f2f8ae34aadc 2115 }
tnhnrl 32:f2f8ae34aadc 2116
tnhnrl 52:f207567d3ea4 2117 // 06/06/2018
tnhnrl 52:f207567d3ea4 2118 float StateMachine::getFloatUserInput() {
tnhnrl 52:f207567d3ea4 2119 float float_conversion = 0.0;
tnhnrl 52:f207567d3ea4 2120
tnhnrl 52:f207567d3ea4 2121 while(1) {
tnhnrl 52:f207567d3ea4 2122 bool valid_input = false; //flag for valid or invalid input
tnhnrl 52:f207567d3ea4 2123
tnhnrl 58:94b7fd55185e 2124 pc().printf("\n\rPlease enter your number below and press ENTER:\r\n");
tnhnrl 52:f207567d3ea4 2125 char user_string [80]; //variable to store input as a character array
tnhnrl 52:f207567d3ea4 2126
tnhnrl 52:f207567d3ea4 2127 pc().scanf("%s", user_string); //read formatted data from stdin
tnhnrl 58:94b7fd55185e 2128 pc().printf("\n\n\ruser_string was <%s>\r\n", user_string);
tnhnrl 52:f207567d3ea4 2129
tnhnrl 52:f207567d3ea4 2130 //check through the string for invalid characters (decimal values 43 through 57)
tnhnrl 52:f207567d3ea4 2131 for (int c = 0; c < strlen(user_string); c++) {
tnhnrl 58:94b7fd55185e 2132 //pc().printf("character is [%c]\r\n", user_string[c]); //debug
tnhnrl 52:f207567d3ea4 2133 if (user_string[c] >= 43 and user_string[c] <= 57) {
tnhnrl 58:94b7fd55185e 2134 //pc().printf("VALID CHARACTER!\r\n"); //debug
tnhnrl 52:f207567d3ea4 2135 ;
tnhnrl 52:f207567d3ea4 2136 }
tnhnrl 52:f207567d3ea4 2137 else {
tnhnrl 58:94b7fd55185e 2138 pc().printf("INVALID INPUT!\r\n");
tnhnrl 52:f207567d3ea4 2139 break;
tnhnrl 52:f207567d3ea4 2140 }
tnhnrl 52:f207567d3ea4 2141
tnhnrl 52:f207567d3ea4 2142 if (c == (strlen(user_string) - 1)) {
tnhnrl 52:f207567d3ea4 2143 valid_input = true;
tnhnrl 52:f207567d3ea4 2144 }
tnhnrl 52:f207567d3ea4 2145 }
tnhnrl 52:f207567d3ea4 2146
tnhnrl 52:f207567d3ea4 2147 if (valid_input) {
tnhnrl 52:f207567d3ea4 2148 float_conversion = atof(user_string);
tnhnrl 63:6cb0405fc6e6 2149 pc().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
tnhnrl 52:f207567d3ea4 2150 break;
tnhnrl 52:f207567d3ea4 2151 }
tnhnrl 52:f207567d3ea4 2152 }
tnhnrl 52:f207567d3ea4 2153
tnhnrl 52:f207567d3ea4 2154 return float_conversion;
tnhnrl 67:c86a4b464682 2155 }
tnhnrl 67:c86a4b464682 2156
tnhnrl 67:c86a4b464682 2157 //added because channel readings failed multiple times (if they fail, motors could break parts)
tnhnrl 67:c86a4b464682 2158 void StateMachine::checkMotorPositions() {
tnhnrl 67:c86a4b464682 2159
tnhnrl 67:c86a4b464682 2160 /* 1. If channel readings fail, calculations will give negative positions
tnhnrl 67:c86a4b464682 2161 2. If the potentiometers are reporting negative positions, send the system into float broadcast
tnhnrl 67:c86a4b464682 2162 3. The motors will move in the correct direction and if something is wrong the will go to their full extension but be at the surface */
tnhnrl 67:c86a4b464682 2163
tnhnrl 67:c86a4b464682 2164 if (bce().getPosition_mm() < 0 or batt().getPosition_mm() < 0 ) {
tnhnrl 67:c86a4b464682 2165 //_state = FLOAT_BROADCAST;
tnhnrl 67:c86a4b464682 2166 }
tnhnrl 16:3363b9f14913 2167 }