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

Mon Nov 06 22:57:56 2017 +0000
Update to FSG test program used in the LASR pool

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danstrider 10:085ab7328054 1 /*
danstrider 10:085ab7328054 2 Starting from Trent's Linear Actuator code from 2017-10-19, these modifications
danstrider 10:085ab7328054 3 by Dan add an outer loop controller for depth and pitch to command the inner
danstrider 10:085ab7328054 4 linear actuator loops.
danstrider 10:085ab7328054 5 Modified 2017-10-20 revA by Dan
danstrider 10:085ab7328054 6 - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update)
danstrider 10:085ab7328054 7 Modified 2017-10-22 revA by Dan
danstrider 10:085ab7328054 8 - outer loop now works with a call to outerloop.update() in main loop(), not with an attached ticker
danstrider 10:085ab7328054 9 Modified 2017-10-22 revB by Dan
danstrider 10:085ab7328054 10 - enabled both depth and pitch outer loop controllers
danstrider 10:085ab7328054 11 - added ability to keyboard reset
danstrider 10:085ab7328054 12 Modified 2017-10-22 revC by Dan
danstrider 10:085ab7328054 13 - major update to the IMU library processing to make a state machine that doesn't hang
danstrider 10:085ab7328054 14 - added lat/lon/alt and GNSS fix information to the IMU library
danstrider 10:085ab7328054 15 - brought out the pin names into the constructors of IMU, omega, SpiADC
danstrider 10:085ab7328054 16 Modified 2017-10-22 revD by Dan
danstrider 10:085ab7328054 17 - everything seems to be working, shy of re-checking on the hardware
danstrider 10:085ab7328054 18 - Depth sensor call done inside the OuterLoop, but should somehow be set as a callback instead
danstrider 10:085ab7328054 19 - IMU sensor call done inside the OuterLoop, but should somehow be set as a callback instead
danstrider 10:085ab7328054 20 Modified 2017-10-23 revA by Dan/Matt
danstrider 10:085ab7328054 21 - linear actuator hardware works great, limit switches, sensing, etc.
danstrider 10:085ab7328054 22 - outer loops run, but move the BCE in the wrong direction.
danstrider 10:085ab7328054 23 - new IMU code doesn't read from the sensor correctly, but doesn't hang up either.
danstrider 10:085ab7328054 24 - depth sensor worked fine, just needs zero bias adjustment.
danstrider 11:3b241ecb75ed 25 Modified 2017-10-24 by Troy
danstrider 11:3b241ecb75ed 26 - added offset to outerloop
danstrider 11:3b241ecb75ed 27 Modified 2017-10-26 by Dan
danstrider 11:3b241ecb75ed 28 - brought over a state machine and new keyboard controls ... currently just dumped into main.
danstrider 11:3b241ecb75ed 29 Modified 2017-10-26 by Matt
danstrider 11:3b241ecb75ed 30 - new IMU code imported and working well with the hardware.
danstrider 11:3b241ecb75ed 31 Modified 2017-10-26 revB by Dan
danstrider 11:3b241ecb75ed 32 - This version has been in the pool.
danstrider 11:3b241ecb75ed 33 - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions.
danstrider 11:3b241ecb75ed 34 But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why.
danstrider 11:3b241ecb75ed 35 - Repeatedly got stuck in RISE with a +60s timeout. Battery hit end bell and stalled out.
danstrider 11:3b241ecb75ed 36 - keyboard and state machine are in main, probably shouldn't be, but easier to debug.
danstrider 11:3b241ecb75ed 37 - Really happy with the logic and flow of the state machine. Timeouts work.
danstrider 11:3b241ecb75ed 38 - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE.
danstrider 11:3b241ecb75ed 39 - Need to add keyboard commands to modify the zeroOffset positions.
danstrider 14:85b64a4d08e8 40 Modified 2017-10-30 by Dan, Trent, Matt, Troy
danstrider 14:85b64a4d08e8 41 - changed .stop() to .pause() and many .start() to .unpause() ... fixed the negative ADC and lets
danstrider 14:85b64a4d08e8 42 the PVF's keep running even though the motor isn't moving.
danstrider 14:85b64a4d08e8 43 - changed exit conditions to use filtered depth from the outer loop. less noisy.
danstrider 14:85b64a4d08e8 44 Modified 2017-10-31 by Dan, Matt
danstrider 14:85b64a4d08e8 45 - added oversampling and a tare function to the depth sensor.
danstrider 14:85b64a4d08e8 46 - updated main and keyboard to include tare in setup() and a keyboard tare option.
danstrider 14:85b64a4d08e8 47 - looks like the piston isn't zeroing correctly, unclear why, should be unrelated to depth sensor.
danstrider 15:2a8cfd3f1cf5 48 Modified 2017-10-31 (again) by Dan, Matt, and Troy
danstrider 15:2a8cfd3f1cf5 49 - POOL TESTED!
danstrider 15:2a8cfd3f1cf5 50 - Tuned the PID gains with magic. Works to hold mostly level during BCE runs. Dive is awesome.
danstrider 15:2a8cfd3f1cf5 51 - Neutral won't do what we want ... without large depth P, it won't get to depth.
danstrider 15:2a8cfd3f1cf5 52 - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg. Timeout should probably be RISE.
danstrider 15:2a8cfd3f1cf5 53 - Files depth/pitch updated with tuned defaults.
tnhnrl 16:3363b9f14913 54 Modified 2017-11-06 by Troy
tnhnrl 16:3363b9f14913 55 - Added acronyms to print statements (when running this with XBee you don't know what mode the
tnhnrl 16:3363b9f14913 56 hardware is in because of signal dropping out)
tnhnrl 16:3363b9f14913 57 - Fixed print error with setpoints by printing out the setpoint variable, not the outerloop getCommand
tnhnrl 16:3363b9f14913 58 (command is sent every time hardware dives, finds neutral, etc.)
tnhnrl 16:3363b9f14913 59 - Set the pitchCommand input to 0 on the "find neutral" command, it was sending a non-zero pitch command
tnhnrl 16:3363b9f14913 60 - Created a class for the StateMachine
danstrider 10:085ab7328054 61 */
danstrider 10:085ab7328054 62
tzyoung 0:ea293bbf9717 63 #include "mbed.h"
tzyoung 0:ea293bbf9717 64 #include "StaticDefs.hpp"
tzyoung 2:892b58e56712 65 #include "config_functions.h"
tzyoung 2:892b58e56712 66
danstrider 10:085ab7328054 67 void setup() {
tnhnrl 16:3363b9f14913 68 pc().printf("\n\n\r\rFSG 2017-11-06\n\r");
danstrider 11:3b241ecb75ed 69 pc().baud(57600);
tzyoung 4:66f13fbb035d 70
danstrider 10:085ab7328054 71 // start up the system timer
tzyoung 0:ea293bbf9717 72 systemTime().start();
tzyoung 0:ea293bbf9717 73
danstrider 10:085ab7328054 74 // set up and start the adc. This runs on a fixed interval and is interrupt driven
tzyoung 0:ea293bbf9717 75 adc().initialize();
tzyoung 0:ea293bbf9717 76 adc().start();
danstrider 10:085ab7328054 77
danstrider 10:085ab7328054 78 // set up and start the imu. This polls in the background
danstrider 10:085ab7328054 79 imu().initialize();
danstrider 10:085ab7328054 80 imu().start();
danstrider 10:085ab7328054 81
danstrider 10:085ab7328054 82 // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
danstrider 14:85b64a4d08e8 83 depth().init();
danstrider 14:85b64a4d08e8 84 depth().tare();
danstrider 10:085ab7328054 85
danstrider 10:085ab7328054 86 // construct a local file system
danstrider 10:085ab7328054 87 local();
tzyoung 0:ea293bbf9717 88
danstrider 10:085ab7328054 89 // load config data from files
danstrider 10:085ab7328054 90 load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt"
danstrider 10:085ab7328054 91 load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt"
danstrider 10:085ab7328054 92 load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt"
danstrider 10:085ab7328054 93 load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt"
tzyoung 4:66f13fbb035d 94
danstrider 10:085ab7328054 95 // set up the linear actuators. adc has to be running first.
danstrider 10:085ab7328054 96 bce().init();
danstrider 10:085ab7328054 97 bce().start();
mkelly10 12:a0519d11d2b6 98 bce().pause(); // start by not moving
tzyoung 4:66f13fbb035d 99
danstrider 10:085ab7328054 100 batt().init();
tzyoung 2:892b58e56712 101 batt().start();
mkelly10 12:a0519d11d2b6 102 batt().pause(); // start by not moving
danstrider 10:085ab7328054 103
danstrider 10:085ab7328054 104 // set up the depth and pitch outer loop controllers
danstrider 10:085ab7328054 105 depthLoop().init();
tnhnrl 13:84fcbe1dcd62 106 depthLoop().start();
tnhnrl 16:3363b9f14913 107 depthLoop().setCommand(stateMachine().getDepthCommand());
mkelly10 5:15bd96205bb2 108
danstrider 10:085ab7328054 109 pitchLoop().init();
tnhnrl 13:84fcbe1dcd62 110 pitchLoop().start();
tnhnrl 16:3363b9f14913 111 pitchLoop().setCommand(stateMachine().getPitchCommand());
danstrider 10:085ab7328054 112
danstrider 10:085ab7328054 113 // do not leave this in. Check that PID gains are loading
danstrider 11:3b241ecb75ed 114 pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
danstrider 11:3b241ecb75ed 115 pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
danstrider 11:3b241ecb75ed 116 pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
danstrider 11:3b241ecb75ed 117 pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
danstrider 10:085ab7328054 118 pc().printf("\n\r");
danstrider 10:085ab7328054 119 }
mkelly10 5:15bd96205bb2 120
danstrider 10:085ab7328054 121 int main() {
danstrider 10:085ab7328054 122 setup();
tnhnrl 16:3363b9f14913 123
danstrider 10:085ab7328054 124 while(1) {
danstrider 11:3b241ecb75ed 125 led1() = !led1(); // blink
tnhnrl 16:3363b9f14913 126
tnhnrl 16:3363b9f14913 127 stateMachine().runStateMachine();
danstrider 10:085ab7328054 128 }
danstrider 10:085ab7328054 129 }