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

OuterLoop/OuterLoop.hpp@92:52a91656458a, 2019-05-13 (annotated)

Committer:
joel_ssc
Date:
Mon May 13 19:25:26 2019 +0000
Revision:
92:52a91656458a
Parent:
73:f6f378311c8d 
version for first flight test, timeouts not yet set correctly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 62:d502889e74f1 1 #ifndef OUTERLOOP_HPP
tnhnrl 62:d502889e74f1 2 #define OUTERLOOP_HPP
tnhnrl 62:d502889e74f1 3
tnhnrl 62:d502889e74f1 4 #include "mbed.h"
tnhnrl 62:d502889e74f1 5 #include "PidController.hpp"
tnhnrl 62:d502889e74f1 6 #include "PosVelFilter.hpp"
tnhnrl 62:d502889e74f1 7
tnhnrl 62:d502889e74f1 8 // This class is an outer loop controller with its own instance of a position velocity filter.
tnhnrl 62:d502889e74f1 9
tnhnrl 62:d502889e74f1 10 class OuterLoop {
tnhnrl 62:d502889e74f1 11 public:
tnhnrl 62:d502889e74f1 12 OuterLoop(float interval, int sensor);
tnhnrl 62:d502889e74f1 13
tnhnrl 62:d502889e74f1 14 // functions for setting up
tnhnrl 62:d502889e74f1 15 void init();
tnhnrl 62:d502889e74f1 16 void update();
tnhnrl 62:d502889e74f1 17 void start();
tnhnrl 62:d502889e74f1 18 void stop();
tnhnrl 62:d502889e74f1 19
tnhnrl 62:d502889e74f1 20 void runOuterLoop();
tnhnrl 62:d502889e74f1 21
tnhnrl 62:d502889e74f1 22 // setting and getting variables
tnhnrl 62:d502889e74f1 23 void setCommand(float cmd);
tnhnrl 62:d502889e74f1 24 float getCommand();
tnhnrl 62:d502889e74f1 25
tnhnrl 62:d502889e74f1 26 float getOutput();
tnhnrl 62:d502889e74f1 27
tnhnrl 62:d502889e74f1 28 float getPosition();
tnhnrl 62:d502889e74f1 29 float getVelocity();
tnhnrl 62:d502889e74f1 30
tnhnrl 62:d502889e74f1 31 void setControllerP(float P);
tnhnrl 62:d502889e74f1 32 float getControllerP();
tnhnrl 62:d502889e74f1 33
tnhnrl 62:d502889e74f1 34 void setControllerI(float I);
tnhnrl 62:d502889e74f1 35 float getControllerI();
tnhnrl 62:d502889e74f1 36
tnhnrl 62:d502889e74f1 37 void setControllerD(float D);
tnhnrl 62:d502889e74f1 38 float getControllerD();
tnhnrl 62:d502889e74f1 39
tnhnrl 62:d502889e74f1 40 void setTravelLimit(float limit);
tnhnrl 62:d502889e74f1 41 float getTravelLimit();
tnhnrl 62:d502889e74f1 42
tnhnrl 62:d502889e74f1 43 void setFilterFrequency(float frequency);
tnhnrl 73:f6f378311c8d 44 float getFilterFrequency();
tnhnrl 62:d502889e74f1 45
tnhnrl 62:d502889e74f1 46 void setDeadband(float deadband);
tnhnrl 62:d502889e74f1 47 float getDeadband();
tnhnrl 62:d502889e74f1 48 bool toggleDeadband(bool toggle);
tnhnrl 62:d502889e74f1 49
tnhnrl 62:d502889e74f1 50 void setOutputOffset(float offset);
tnhnrl 62:d502889e74f1 51 float getOutputOffset();
tnhnrl 62:d502889e74f1 52
tnhnrl 62:d502889e74f1 53 void setIHiLimit (float limit); // TZY, 3/1/18 Set saturation limit on controller integral
tnhnrl 62:d502889e74f1 54 void setILoLimit (float limit); // TZY, 3/1/18 Set saturation limit on controller integral
tnhnrl 62:d502889e74f1 55
tnhnrl 62:d502889e74f1 56 protected:
tnhnrl 62:d502889e74f1 57 PosVelFilter _filter;
tnhnrl 62:d502889e74f1 58 PIDController _pid;
tnhnrl 62:d502889e74f1 59 Ticker _pulse;
tnhnrl 62:d502889e74f1 60
tnhnrl 62:d502889e74f1 61 void refreshPVState();
tnhnrl 62:d502889e74f1 62
tnhnrl 62:d502889e74f1 63 float _SetPoint;
tnhnrl 62:d502889e74f1 64 float _sensorVal;
tnhnrl 62:d502889e74f1 65
tnhnrl 62:d502889e74f1 66 // position and velocity in raw units
tnhnrl 62:d502889e74f1 67 float _position;
tnhnrl 62:d502889e74f1 68 float _velocity;
tnhnrl 62:d502889e74f1 69
tnhnrl 62:d502889e74f1 70 // setup parameters
tnhnrl 62:d502889e74f1 71 float _Pgain;
tnhnrl 62:d502889e74f1 72 float _Igain;
tnhnrl 62:d502889e74f1 73 float _Dgain;
tnhnrl 62:d502889e74f1 74 float _dt;
tnhnrl 62:d502889e74f1 75 float _filterFrequency;
tnhnrl 62:d502889e74f1 76 float _deadband;
tnhnrl 62:d502889e74f1 77 char _sensor;
tnhnrl 62:d502889e74f1 78 float _offset;
tnhnrl 62:d502889e74f1 79 };
tnhnrl 62:d502889e74f1 80
tnhnrl 62:d502889e74f1 81 #endif