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

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

Committer:
joel_ssc
Date:
Mon May 13 19:25:26 2019 +0000
Revision:
92:52a91656458a
Parent:
87:6d95f853dab3 
version for first flight test, timeouts not yet set correctly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 17:7c16b5671d0e 1 #include "mbed.h"
tnhnrl 17:7c16b5671d0e 2 #include "ConfigFile.h"
tnhnrl 17:7c16b5671d0e 3 #include <string> //mbed doesn't use cstring
tnhnrl 17:7c16b5671d0e 4
tnhnrl 17:7c16b5671d0e 5 #ifndef SEQUENCECONTROLLER_HPP
tnhnrl 17:7c16b5671d0e 6 #define SEQUENCECONTROLLER_HPP
tnhnrl 17:7c16b5671d0e 7
tnhnrl 17:7c16b5671d0e 8 //struct for saving the data
tnhnrl 17:7c16b5671d0e 9 struct sequenceStruct {
tnhnrl 17:7c16b5671d0e 10 string title;
tnhnrl 17:7c16b5671d0e 11 int state; //for the current StateMachine, states are ID-ed with enumeration
tnhnrl 17:7c16b5671d0e 12 float timeout;
tnhnrl 17:7c16b5671d0e 13 float depth;
tnhnrl 17:7c16b5671d0e 14 float pitch;
tnhnrl 17:7c16b5671d0e 15 };
tnhnrl 17:7c16b5671d0e 16
joel_ssc 82:0981b9ada820 17 //struct for saving the leg data
joel_ssc 82:0981b9ada820 18 struct legStruct {
joel_ssc 82:0981b9ada820 19 int state; //for the current StateMachine, states are ID-ed with enumeration
joel_ssc 82:0981b9ada820 20 float timeout;
joel_ssc 82:0981b9ada820 21 float yo_time;
joel_ssc 82:0981b9ada820 22 float min_depth;
joel_ssc 82:0981b9ada820 23 float max_depth;
joel_ssc 82:0981b9ada820 24 float heading;
joel_ssc 82:0981b9ada820 25 string title;
joel_ssc 82:0981b9ada820 26 };
joel_ssc 82:0981b9ada820 27
tnhnrl 17:7c16b5671d0e 28 class SequenceController {
tnhnrl 17:7c16b5671d0e 29 public:
tnhnrl 17:7c16b5671d0e 30 SequenceController();
tnhnrl 17:7c16b5671d0e 31
tnhnrl 17:7c16b5671d0e 32 sequenceStruct sequenceStructLoaded[256];
tnhnrl 17:7c16b5671d0e 33
tnhnrl 17:7c16b5671d0e 34 void loadSequence();
tnhnrl 17:7c16b5671d0e 35
tnhnrl 17:7c16b5671d0e 36 sequenceStruct process(string input_string);
tnhnrl 17:7c16b5671d0e 37
tnhnrl 17:7c16b5671d0e 38 void sequenceFunction(); //process the sequence
tnhnrl 17:7c16b5671d0e 39
tnhnrl 17:7c16b5671d0e 40 void setState(int input_state); //manually set the state of the system
tnhnrl 17:7c16b5671d0e 41 int getState();
tnhnrl 17:7c16b5671d0e 42 void setTimeout(float input_timeout);
tnhnrl 17:7c16b5671d0e 43 void setDepthCommand(float input_depth_command);
tnhnrl 17:7c16b5671d0e 44 void setPitchCommand(float input_pitch_command);
tnhnrl 17:7c16b5671d0e 45
tnhnrl 17:7c16b5671d0e 46 int getSequenceState();
tnhnrl 17:7c16b5671d0e 47
tnhnrl 17:7c16b5671d0e 48 private:
tnhnrl 17:7c16b5671d0e 49 char _neutral_sequence;
tnhnrl 17:7c16b5671d0e 50 char _dive_cycle;
tnhnrl 17:7c16b5671d0e 51 char _exit;
tnhnrl 17:7c16b5671d0e 52
tnhnrl 17:7c16b5671d0e 53 int _number_of_sequences;
tnhnrl 17:7c16b5671d0e 54 int _sequence_counter;
tnhnrl 17:7c16b5671d0e 55
tnhnrl 17:7c16b5671d0e 56 Ticker sequenceTicker; //Ticker for the sequenceFunction
tnhnrl 17:7c16b5671d0e 57
tnhnrl 17:7c16b5671d0e 58 int _current_state;
tnhnrl 17:7c16b5671d0e 59 };
joel_ssc 82:0981b9ada820 60 class LegController {
joel_ssc 82:0981b9ada820 61 public:
joel_ssc 82:0981b9ada820 62 LegController();
joel_ssc 82:0981b9ada820 63
joel_ssc 87:6d95f853dab3 64 legStruct legStructLoaded[32];
joel_ssc 82:0981b9ada820 65
joel_ssc 82:0981b9ada820 66 int loadLeg();
joel_ssc 82:0981b9ada820 67
joel_ssc 82:0981b9ada820 68 legStruct process(string input_string);
joel_ssc 82:0981b9ada820 69 legStruct load_def_leg(); //make sure defaults are in the leg structure
joel_ssc 82:0981b9ada820 70
joel_ssc 82:0981b9ada820 71 void legFunction(); //process the sequence
joel_ssc 82:0981b9ada820 72
joel_ssc 82:0981b9ada820 73 void setState(int input_state); //manually set the state of the system
joel_ssc 82:0981b9ada820 74 int getState();
joel_ssc 82:0981b9ada820 75 void setTimeout(float input_timeout);
joel_ssc 82:0981b9ada820 76 void setDepthCommand(float input_depth_command);
joel_ssc 82:0981b9ada820 77 void setPitchCommand(float input_pitch_command);
joel_ssc 82:0981b9ada820 78
joel_ssc 82:0981b9ada820 79 int getLegState();
joel_ssc 82:0981b9ada820 80
joel_ssc 82:0981b9ada820 81 private:
joel_ssc 82:0981b9ada820 82 char _neutral_sequence;
joel_ssc 82:0981b9ada820 83 char _dive_cycle;
joel_ssc 82:0981b9ada820 84 char _exit;
joel_ssc 82:0981b9ada820 85
joel_ssc 82:0981b9ada820 86 int _number_of_legs;
joel_ssc 82:0981b9ada820 87 int _leg_counter;
joel_ssc 82:0981b9ada820 88
joel_ssc 82:0981b9ada820 89 Ticker sequenceTicker; //Ticker for the sequenceFunction
joel_ssc 82:0981b9ada820 90
joel_ssc 82:0981b9ada820 91 int _current_state;
joel_ssc 82:0981b9ada820 92 };
tnhnrl 17:7c16b5671d0e 93 #endif