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
main.cpp@37:357e98a929cc, 2017-12-21 (annotated)
- Committer:
- tnhnrl
- Date:
- Thu Dec 21 16:07:47 2017 +0000
- Revision:
- 37:357e98a929cc
- Parent:
- 36:966a86937e17
- Child:
- 38:83d06c294807
RevA working without batt and BCE
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danstrider | 10:085ab7328054 | 1 | /* |
tnhnrl | 24:c7d9b5bf3829 | 2 | Modified 2017-11-29 revA by Troy |
tnhnrl | 24:c7d9b5bf3829 | 3 | - changelog.txt carries previous changes |
tnhnrl | 24:c7d9b5bf3829 | 4 | - Incorporated email changes and did quick bench test |
tnhnrl | 28:16c83a2fdefa | 5 | 1) In FIND_NEUTRAL, add bce().setPosition_mm(bceFloatPosition) to the one-shot actions after the unpause(). |
tnhnrl | 28:16c83a2fdefa | 6 | 2) NEUTRAL_FIRST_PITCH, changed batt position by half from 1.0 to 0.5. |
tnhnrl | 28:16c83a2fdefa | 7 | 3) NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE are using getSetPosition now |
tnhnrl | 28:16c83a2fdefa | 8 | 4) previousPosition_mm deleted (and print statements changed) |
tnhnrl | 28:16c83a2fdefa | 9 | 5) NEUTRAL_SLOWLY_RISE check is using bce().getSetPosition_mm() |
tnhnrl | 28:16c83a2fdefa | 10 | 6) Timers replaced with _neutral_timer variable |
tnhnrl | 28:16c83a2fdefa | 11 | 7) Default timeout is 8 minutes = 480 seconds |
tnhnrl | 24:c7d9b5bf3829 | 12 | - Redid the sub-state recording method to only update on state changes |
tnhnrl | 27:0a5b90cd65d6 | 13 | Modified 2017-11-29 revB by Troy |
tnhnrl | 27:0a5b90cd65d6 | 14 | - minor print fixes |
tnhnrl | 28:16c83a2fdefa | 15 | Modified 2017-11-29 revC by Troy |
tnhnrl | 28:16c83a2fdefa | 16 | - removed depthTolerance variable that was not being used. |
tnhnrl | 28:16c83a2fdefa | 17 | Modified 2017-11-30 revA by Troy/Dan |
tnhnrl | 28:16c83a2fdefa | 18 | - Modified state RISE to setCommand to -1.0 feet (force out of water) and go to next state (float level) when above 0.5 feet |
tnhnrl | 28:16c83a2fdefa | 19 | - Modified sub-state NEUTRAL_SINKING to only move 2.5 mm per cycle instead of 5 mm |
tnhnrl | 28:16c83a2fdefa | 20 | - Commented out home function (accidentally hit home and got stuck while at LASR) |
tnhnrl | 28:16c83a2fdefa | 21 | - Added max depth neutral and dive variables |
tnhnrl | 28:16c83a2fdefa | 22 | - Print max recorded depths and current neutral buoyancy positions |
tnhnrl | 28:16c83a2fdefa | 23 | Modified 2017-11-30 revB by Troy/Dan |
tnhnrl | 28:16c83a2fdefa | 24 | - Dive and Multi-Dive cycles now exit to FLOAT_BROADCAST state |
tnhnrl | 28:16c83a2fdefa | 25 | - FLOAT_LEVEL pitchTolerance variable increased from 1.0 degree to 5.0 degrees (PV was difficult to level in LASR pool) |
tnhnrl | 28:16c83a2fdefa | 26 | - Added the ability to record the states of the FSM and print to user using keyboard "Z" |
tnhnrl | 28:16c83a2fdefa | 27 | Modified 2017-12-01 revA by Troy |
tnhnrl | 28:16c83a2fdefa | 28 | - Minor update to 2017-11-30 revB |
tnhnrl | 28:16c83a2fdefa | 29 | - Now printing current neutral battery and BCE setpoints and max depth in neutral and dive cycle with "C" (and current sensor data) |
tnhnrl | 28:16c83a2fdefa | 30 | - Pool-tested with successful dives. |
tnhnrl | 28:16c83a2fdefa | 31 | 1) Dive working correctly. (And max dive tracker shows that it is reaching the correct commanded depth.) |
tnhnrl | 28:16c83a2fdefa | 32 | 2) Float broadcast working correctly. (And we are now going directly from dive and rise to float broadcast.) |
tnhnrl | 28:16c83a2fdefa | 33 | 3) Neutral sequence has PV diving with -10 to -20 degrees of pitch, battery command seems to be slow or inactive. |
tnhnrl | 28:16c83a2fdefa | 34 | 3) Float broadcast working correctly. |
tnhnrl | 28:16c83a2fdefa | 35 | 4) FSM tracker and sub-FSM tracker working. |
tnhnrl | 28:16c83a2fdefa | 36 | 5) Antenna working until tail just under water (last depth recorded varies between 1.0 and 1.5 feet) |
tnhnrl | 30:2964617e7676 | 37 | Modified 2017-12-06 revA by Troy |
tnhnrl | 30:2964617e7676 | 38 | - Added "_isTimeoutRunning = false;" to the FIND_NEUTRAL successful exit case ("else if (runNeutralStateMachine() == NEUTRAL_EXIT)" |
tnhnrl | 30:2964617e7676 | 39 | 1) This will reset the timeout when the PV has successfully found and saved the neutral BCE and battery positions |
tnhnrl | 30:2964617e7676 | 40 | - Successful dive and multi-dive sequences exit to FLOAT_BROADCAST state (fix was implemented in code that did not respond, reimplemented here) |
tnhnrl | 30:2964617e7676 | 41 | 1) Also made the change to the SequenceController (which loads a file that has multiple sequences) |
tnhnrl | 31:8616e397c22d | 42 | - FIND_NEUTRAL starts in NEUTRAL_SINKING with fix on sub-FSM to start with NEUTRAL_SINKING (verified via mbed on bench) |
tnhnrl | 32:f2f8ae34aadc | 43 | Modified 2017-12-07 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 44 | - Using new neutral finding sequence, dive slowly, rise slowly, then check pitch (pitch is not active at all until final state) |
tnhnrl | 32:f2f8ae34aadc | 45 | - Added additional print information (showing neutral parameters with "C") |
tnhnrl | 32:f2f8ae34aadc | 46 | Modified 2017-12-07 revB by Troy |
tnhnrl | 32:f2f8ae34aadc | 47 | - Momentum offsets reintroduced: |
tnhnrl | 32:f2f8ae34aadc | 48 | 1) CASE DIVE uses "else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches" |
tnhnrl | 32:f2f8ae34aadc | 49 | 2) CASE RISE uses "else if (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) { // including offset for low momentum approaches" |
tnhnrl | 32:f2f8ae34aadc | 50 | - Momentum on rise command does not exit properly, removed |
tnhnrl | 32:f2f8ae34aadc | 51 | Modified 2017-12-11 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 52 | - Added a logger function the main while loop |
tnhnrl | 32:f2f8ae34aadc | 53 | - Added vectors (essentially resizable arrays) to hold the data in the State Machine because of memory limitations |
tnhnrl | 32:f2f8ae34aadc | 54 | Modified 2017-12-12 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 55 | - Logger directly implemented in StateMachine (records every 5 seconds) |
tnhnrl | 32:f2f8ae34aadc | 56 | Modified 2017-12-12 revB by Troy |
tnhnrl | 32:f2f8ae34aadc | 57 | - Logger fixes implemented in StateMachine, was not logging each state, fixed the reset |
tnhnrl | 32:f2f8ae34aadc | 58 | - Made logger into a function call |
tnhnrl | 32:f2f8ae34aadc | 59 | Modified 2017-12-13 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 60 | - Added function to print log file to screen (tested on bench with multiple dives and timers) |
tnhnrl | 32:f2f8ae34aadc | 61 | Modified 2017-12-18 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 62 | - Redo of the code to stop opening and closing files each time |
tnhnrl | 32:f2f8ae34aadc | 63 | - This should allow you to write to the open file, then close it once you exit the sequence back to SIT_IDLE |
tnhnrl | 32:f2f8ae34aadc | 64 | - Start record in dive, end when you exit float broadcast... |
tnhnrl | 32:f2f8ae34aadc | 65 | Modified 2017-12-19 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 66 | - Fixed OpenLog printing to include states and variable names. Currently logs to LOG#####.TXT files |
tnhnrl | 32:f2f8ae34aadc | 67 | 1) Note: The OpenLog only starts a new log when it is power-cycled (with the MBED) |
tnhnrl | 34:9b66c5188051 | 68 | Modified 2017-12-20 revA by Troy |
tnhnrl | 32:f2f8ae34aadc | 69 | - Modified code to log every 1 second in current iteration |
tnhnrl | 34:9b66c5188051 | 70 | Modified 2017-12-20 revB by Troy |
tnhnrl | 34:9b66c5188051 | 71 | - Fixed bug where Dive depth was resetting to rise depth |
tnhnrl | 37:357e98a929cc | 72 | Modified 2017-12-21 revA by Troy |
tnhnrl | 37:357e98a929cc | 73 | - 2 minute timeout default |
tnhnrl | 37:357e98a929cc | 74 | - add system time to MBED logger |
tnhnrl | 37:357e98a929cc | 75 | - Fixed bug where it was recording random keyboard presses (other FSM states) |
tnhnrl | 37:357e98a929cc | 76 | - WORK IN PROGRESS to fix the batt and BCE PID saving |
danstrider | 10:085ab7328054 | 77 | */ |
tnhnrl | 20:8987a9ae2bc7 | 78 | |
tzyoung | 0:ea293bbf9717 | 79 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 80 | #include "StaticDefs.hpp" |
tnhnrl | 20:8987a9ae2bc7 | 81 | |
tnhnrl | 32:f2f8ae34aadc | 82 | // loop rate used to determine how fast events trigger in the while loop |
tnhnrl | 20:8987a9ae2bc7 | 83 | Ticker loop_rate_ticker; |
tnhnrl | 34:9b66c5188051 | 84 | Ticker log_loop_rate_ticker; |
tnhnrl | 32:f2f8ae34aadc | 85 | |
tnhnrl | 32:f2f8ae34aadc | 86 | volatile bool loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 34:9b66c5188051 | 87 | volatile bool log_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 32:f2f8ae34aadc | 88 | |
tnhnrl | 32:f2f8ae34aadc | 89 | void loop_trigger() { loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 90 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 91 | |
danstrider | 10:085ab7328054 | 92 | void setup() { |
danstrider | 11:3b241ecb75ed | 93 | pc().baud(57600); |
tnhnrl | 34:9b66c5188051 | 94 | pc().printf("\n\n\rFSG POOL TEST 2017-12-20 revB (DESKTOP SAVE TEST)\n\n\r"); |
tnhnrl | 32:f2f8ae34aadc | 95 | |
tnhnrl | 32:f2f8ae34aadc | 96 | //setup data logger baud rate and write the start of the program (every time you reset) |
tnhnrl | 32:f2f8ae34aadc | 97 | datalogger().baud(57600); |
tnhnrl | 32:f2f8ae34aadc | 98 | datalogger().printf("DATA, LOGGER, START\n"); |
tnhnrl | 20:8987a9ae2bc7 | 99 | |
danstrider | 10:085ab7328054 | 100 | // start up the system timer |
tzyoung | 0:ea293bbf9717 | 101 | systemTime().start(); |
tnhnrl | 20:8987a9ae2bc7 | 102 | |
danstrider | 10:085ab7328054 | 103 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tzyoung | 0:ea293bbf9717 | 104 | adc().initialize(); |
tzyoung | 0:ea293bbf9717 | 105 | adc().start(); |
danstrider | 10:085ab7328054 | 106 | |
danstrider | 10:085ab7328054 | 107 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 108 | imu().initialize(); |
danstrider | 10:085ab7328054 | 109 | imu().start(); |
danstrider | 10:085ab7328054 | 110 | |
danstrider | 10:085ab7328054 | 111 | // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 |
danstrider | 14:85b64a4d08e8 | 112 | depth().init(); |
danstrider | 14:85b64a4d08e8 | 113 | depth().tare(); |
danstrider | 10:085ab7328054 | 114 | |
danstrider | 10:085ab7328054 | 115 | // construct a local file system |
danstrider | 10:085ab7328054 | 116 | local(); |
tnhnrl | 20:8987a9ae2bc7 | 117 | |
danstrider | 10:085ab7328054 | 118 | // load config data from files |
tnhnrl | 21:38c8544db6f4 | 119 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 21:38c8544db6f4 | 120 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 21:38c8544db6f4 | 121 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 21:38c8544db6f4 | 122 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 20:8987a9ae2bc7 | 123 | |
danstrider | 10:085ab7328054 | 124 | // set up the linear actuators. adc has to be running first. |
danstrider | 10:085ab7328054 | 125 | bce().init(); |
danstrider | 10:085ab7328054 | 126 | bce().start(); |
mkelly10 | 12:a0519d11d2b6 | 127 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 128 | |
danstrider | 10:085ab7328054 | 129 | batt().init(); |
tzyoung | 2:892b58e56712 | 130 | batt().start(); |
mkelly10 | 12:a0519d11d2b6 | 131 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 132 | |
danstrider | 10:085ab7328054 | 133 | // set up the depth and pitch outer loop controllers |
danstrider | 10:085ab7328054 | 134 | depthLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 135 | depthLoop().start(); |
tnhnrl | 16:3363b9f14913 | 136 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 137 | |
danstrider | 10:085ab7328054 | 138 | pitchLoop().init(); |
tnhnrl | 13:84fcbe1dcd62 | 139 | pitchLoop().start(); |
tnhnrl | 16:3363b9f14913 | 140 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 141 | |
tnhnrl | 20:8987a9ae2bc7 | 142 | // show that the PID gains are loading from the file |
tnhnrl | 21:38c8544db6f4 | 143 | pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
tnhnrl | 21:38c8544db6f4 | 144 | pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
tnhnrl | 21:38c8544db6f4 | 145 | 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 | 21:38c8544db6f4 | 146 | 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()); |
danstrider | 10:085ab7328054 | 147 | pc().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 148 | |
tnhnrl | 17:7c16b5671d0e | 149 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 150 | sequenceController().loadSequence(); |
tnhnrl | 20:8987a9ae2bc7 | 151 | |
tnhnrl | 20:8987a9ae2bc7 | 152 | // establish the main loop rate |
tnhnrl | 20:8987a9ae2bc7 | 153 | loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate |
tnhnrl | 32:f2f8ae34aadc | 154 | |
tnhnrl | 32:f2f8ae34aadc | 155 | // setup the data logger rate |
tnhnrl | 34:9b66c5188051 | 156 | log_loop_rate_ticker.attach(&log_loop_trigger, 1.0); // fires the ticker at 1 Hz rate (every second) |
tnhnrl | 32:f2f8ae34aadc | 157 | |
tnhnrl | 35:2f66ea4863d5 | 158 | //create the MBED log file (current log file) |
tnhnrl | 36:966a86937e17 | 159 | //mbedLogger().openFile(); |
tnhnrl | 21:38c8544db6f4 | 160 | } |
tnhnrl | 20:8987a9ae2bc7 | 161 | |
danstrider | 10:085ab7328054 | 162 | int main() { |
danstrider | 10:085ab7328054 | 163 | setup(); |
tnhnrl | 16:3363b9f14913 | 164 | |
danstrider | 10:085ab7328054 | 165 | while(1) { |
tnhnrl | 34:9b66c5188051 | 166 | static int current_state = 0; |
tnhnrl | 36:966a86937e17 | 167 | |
tnhnrl | 36:966a86937e17 | 168 | static bool file_opened = false; |
tnhnrl | 36:966a86937e17 | 169 | |
tnhnrl | 32:f2f8ae34aadc | 170 | // runs at 10 hz |
tnhnrl | 20:8987a9ae2bc7 | 171 | if(loop) { |
tnhnrl | 32:f2f8ae34aadc | 172 | led1() = !led1(); // blink led 1 |
tnhnrl | 34:9b66c5188051 | 173 | |
tnhnrl | 34:9b66c5188051 | 174 | //running State Machine. Returns 0 if sitting idle (SIT_IDLE state). |
tnhnrl | 34:9b66c5188051 | 175 | current_state = stateMachine().runStateMachine(); |
tnhnrl | 34:9b66c5188051 | 176 | |
tnhnrl | 20:8987a9ae2bc7 | 177 | loop = false; // wait until the loop rate timer fires again |
tnhnrl | 17:7c16b5671d0e | 178 | } |
tnhnrl | 32:f2f8ae34aadc | 179 | |
tnhnrl | 34:9b66c5188051 | 180 | //runs at 1 hz |
tnhnrl | 34:9b66c5188051 | 181 | if (log_loop) { |
tnhnrl | 34:9b66c5188051 | 182 | led3() = !led3(); // blink led 3 |
tnhnrl | 34:9b66c5188051 | 183 | |
tnhnrl | 36:966a86937e17 | 184 | //pc().printf("led 3 blinking once a second?\n\r"); //confirmed |
tnhnrl | 36:966a86937e17 | 185 | |
tnhnrl | 37:357e98a929cc | 186 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 37:357e98a929cc | 187 | // if(current_state != 0 or current_state != -1) { |
tnhnrl | 34:9b66c5188051 | 188 | if(current_state != 0) { |
tnhnrl | 36:966a86937e17 | 189 | //pc().printf("\n\rDEBUG: trying to record data \n\r"); |
tnhnrl | 36:966a86937e17 | 190 | |
tnhnrl | 37:357e98a929cc | 191 | //if the log file is not open, open it |
tnhnrl | 36:966a86937e17 | 192 | if (!file_opened) { |
tnhnrl | 36:966a86937e17 | 193 | mbedLogger().openFile(); //open MBED file once |
tnhnrl | 36:966a86937e17 | 194 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 37:357e98a929cc | 195 | |
tnhnrl | 36:966a86937e17 | 196 | pc().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 197 | } |
tnhnrl | 36:966a86937e17 | 198 | |
tnhnrl | 36:966a86937e17 | 199 | //record to OpenLog hardware |
tnhnrl | 36:966a86937e17 | 200 | OpenLog().recordData(current_state); //start recording |
tnhnrl | 36:966a86937e17 | 201 | |
tnhnrl | 36:966a86937e17 | 202 | //record to Mbed |
tnhnrl | 36:966a86937e17 | 203 | mbedLogger().saveDataToFile(current_state,stateMachine().dataArray()); |
tnhnrl | 36:966a86937e17 | 204 | } |
tnhnrl | 36:966a86937e17 | 205 | |
tnhnrl | 36:966a86937e17 | 206 | //when the current state is zero, reset the file |
tnhnrl | 36:966a86937e17 | 207 | else { |
tnhnrl | 36:966a86937e17 | 208 | //this can only happen once |
tnhnrl | 36:966a86937e17 | 209 | if (file_opened) { |
tnhnrl | 36:966a86937e17 | 210 | mbedLogger().closeFile(); |
tnhnrl | 36:966a86937e17 | 211 | file_opened = false; |
tnhnrl | 37:357e98a929cc | 212 | |
tnhnrl | 37:357e98a929cc | 213 | pc().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 36:966a86937e17 | 214 | } |
tnhnrl | 34:9b66c5188051 | 215 | } |
tnhnrl | 34:9b66c5188051 | 216 | |
tnhnrl | 34:9b66c5188051 | 217 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 34:9b66c5188051 | 218 | } |
danstrider | 10:085ab7328054 | 219 | } |
danstrider | 10:085ab7328054 | 220 | } |