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

main.cpp@14:85b64a4d08e8, 2017-10-31 (annotated)

Committer:
danstrider
Date:
Tue Oct 31 17:06:52 2017 +0000
Revision:
14:85b64a4d08e8
Parent:
13:84fcbe1dcd62
Child:
15:2a8cfd3f1cf5
New depth sensor class with tare and oversampling.

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 10:085ab7328054 48 */
danstrider 10:085ab7328054 49
tzyoung 0:ea293bbf9717 50 #include "mbed.h"
tzyoung 0:ea293bbf9717 51 #include "StaticDefs.hpp"
tzyoung 2:892b58e56712 52 #include "config_functions.h"
tzyoung 2:892b58e56712 53
danstrider 11:3b241ecb75ed 54
danstrider 10:085ab7328054 55 extern "C" void mbed_reset(); // utilized to reset the mbed
tzyoung 4:66f13fbb035d 56
danstrider 11:3b241ecb75ed 57 // state enumerations
danstrider 11:3b241ecb75ed 58 enum {
danstrider 11:3b241ecb75ed 59 SIT_IDLE, // stops both motors, exits after a keyboard input
danstrider 11:3b241ecb75ed 60 KEYBOARD, // handles an individual keypress, exits to state by a keyboard menu
danstrider 11:3b241ecb75ed 61 FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable
danstrider 11:3b241ecb75ed 62 DIVE, // dives to depth at negative pitch, exits when crossing a defined depth
danstrider 11:3b241ecb75ed 63 RISE, // rises to surface at positive pitch, exits when near surface
danstrider 11:3b241ecb75ed 64 FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch
danstrider 11:3b241ecb75ed 65 FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done
danstrider 11:3b241ecb75ed 66 EMERGENCY_CLIMB // bce position to full rise, batt position to full aft, exits when at surface
danstrider 11:3b241ecb75ed 67 };
danstrider 11:3b241ecb75ed 68
danstrider 11:3b241ecb75ed 69 // timer for the state machine
danstrider 11:3b241ecb75ed 70 Timer timer;
danstrider 11:3b241ecb75ed 71
danstrider 11:3b241ecb75ed 72 // these are all the parameters needed for the state machine
danstrider 11:3b241ecb75ed 73 int timeout = 60; // generic timeout for every state, seconds
danstrider 11:3b241ecb75ed 74 float depthTolerance = 0.25; // depth tolerance for neutral finding exit critera
danstrider 11:3b241ecb75ed 75 float pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria
danstrider 11:3b241ecb75ed 76 float bceFloatPosition = 300; // bce position for "float" states
danstrider 11:3b241ecb75ed 77 float battFloatPosition = 50; // batt position for "broadcast" state
danstrider 11:3b241ecb75ed 78 float depthCommand = 3.5; // user keyboard depth
danstrider 14:85b64a4d08e8 79 float pitchCommand = 0.0; // user keyboard depth
danstrider 11:3b241ecb75ed 80
danstrider 11:3b241ecb75ed 81
danstrider 10:085ab7328054 82 void setup() {
danstrider 11:3b241ecb75ed 83 pc().printf("\n\n\r\rFSG 2017-10-26 revA\n\r");
danstrider 11:3b241ecb75ed 84 pc().baud(57600);
tzyoung 4:66f13fbb035d 85
danstrider 10:085ab7328054 86 // start up the system timer
tzyoung 0:ea293bbf9717 87 systemTime().start();
tzyoung 0:ea293bbf9717 88
danstrider 10:085ab7328054 89 // set up and start the adc. This runs on a fixed interval and is interrupt driven
tzyoung 0:ea293bbf9717 90 adc().initialize();
tzyoung 0:ea293bbf9717 91 adc().start();
danstrider 10:085ab7328054 92
danstrider 10:085ab7328054 93 // set up and start the imu. This polls in the background
danstrider 10:085ab7328054 94 imu().initialize();
danstrider 10:085ab7328054 95 imu().start();
danstrider 10:085ab7328054 96
danstrider 10:085ab7328054 97 // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
danstrider 14:85b64a4d08e8 98 depth().init();
danstrider 14:85b64a4d08e8 99 depth().tare();
danstrider 10:085ab7328054 100
danstrider 10:085ab7328054 101 // construct a local file system
danstrider 10:085ab7328054 102 local();
tzyoung 0:ea293bbf9717 103
danstrider 10:085ab7328054 104 // load config data from files
danstrider 10:085ab7328054 105 load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt"
danstrider 10:085ab7328054 106 load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt"
danstrider 10:085ab7328054 107 load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt"
danstrider 10:085ab7328054 108 load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt"
tzyoung 4:66f13fbb035d 109
danstrider 10:085ab7328054 110 // set up the linear actuators. adc has to be running first.
danstrider 10:085ab7328054 111 bce().init();
danstrider 10:085ab7328054 112 bce().start();
mkelly10 12:a0519d11d2b6 113 bce().pause(); // start by not moving
tzyoung 4:66f13fbb035d 114
danstrider 10:085ab7328054 115 batt().init();
tzyoung 2:892b58e56712 116 batt().start();
mkelly10 12:a0519d11d2b6 117 batt().pause(); // start by not moving
danstrider 10:085ab7328054 118
danstrider 10:085ab7328054 119 // set up the depth and pitch outer loop controllers
danstrider 10:085ab7328054 120 depthLoop().init();
tnhnrl 13:84fcbe1dcd62 121 depthLoop().start();
danstrider 14:85b64a4d08e8 122 depthLoop().setCommand(depthCommand);
mkelly10 5:15bd96205bb2 123
danstrider 10:085ab7328054 124 pitchLoop().init();
tnhnrl 13:84fcbe1dcd62 125 pitchLoop().start();
danstrider 14:85b64a4d08e8 126 pitchLoop().setCommand(pitchCommand);
danstrider 10:085ab7328054 127
danstrider 10:085ab7328054 128 // do not leave this in. Check that PID gains are loading
danstrider 11:3b241ecb75ed 129 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 130 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 131 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 132 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 133 pc().printf("\n\r");
danstrider 10:085ab7328054 134 }
mkelly10 5:15bd96205bb2 135
danstrider 11:3b241ecb75ed 136
danstrider 11:3b241ecb75ed 137
danstrider 11:3b241ecb75ed 138 void keyboard_menu_BCE_PID_settings() {
danstrider 11:3b241ecb75ed 139 char PID_key;
danstrider 11:3b241ecb75ed 140 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 141 float KP = bce().getControllerP(); // load current value
danstrider 11:3b241ecb75ed 142 float KI = bce().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 143 float KD = bce().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 144
danstrider 11:3b241ecb75ed 145 // show the menu
danstrider 11:3b241ecb75ed 146 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 147 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 148 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
danstrider 11:3b241ecb75ed 149 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 150
danstrider 11:3b241ecb75ed 151 // handle the key presses
danstrider 11:3b241ecb75ed 152 while(1) {
danstrider 11:3b241ecb75ed 153 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 154 if (pc().readable()) {
danstrider 11:3b241ecb75ed 155 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 156 }
danstrider 11:3b241ecb75ed 157 else {
danstrider 11:3b241ecb75ed 158 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 159 }
danstrider 11:3b241ecb75ed 160
danstrider 11:3b241ecb75ed 161 // handle the user's key input
danstrider 11:3b241ecb75ed 162 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 163 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 164 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 165 }
danstrider 11:3b241ecb75ed 166 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 167 KP += gain_step_size;
danstrider 11:3b241ecb75ed 168 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 169 }
danstrider 11:3b241ecb75ed 170 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 171 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 172 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 173 }
danstrider 11:3b241ecb75ed 174 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 175 KI += gain_step_size;
danstrider 11:3b241ecb75ed 176 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 177 }
danstrider 11:3b241ecb75ed 178 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 179 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 180 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 181 }
danstrider 11:3b241ecb75ed 182 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 183 KD += gain_step_size;
danstrider 11:3b241ecb75ed 184 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 185 }
danstrider 11:3b241ecb75ed 186 else if (PID_key == 'S') { // user wants to save these modified values
danstrider 11:3b241ecb75ed 187 // set values
danstrider 11:3b241ecb75ed 188 bce().setControllerP(KP);
danstrider 11:3b241ecb75ed 189 bce().setControllerI(KI);
danstrider 11:3b241ecb75ed 190 bce().setControllerD(KD);
danstrider 11:3b241ecb75ed 191
danstrider 11:3b241ecb75ed 192 // save into "PID.cfg"
danstrider 11:3b241ecb75ed 193 //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
danstrider 11:3b241ecb75ed 194 break; //exit the while loop
danstrider 11:3b241ecb75ed 195 }
danstrider 11:3b241ecb75ed 196 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 197 break; //exit the while loop
danstrider 11:3b241ecb75ed 198 }
danstrider 11:3b241ecb75ed 199 else {
danstrider 11:3b241ecb75ed 200 pc().printf("\n\rThis key does nothing here. ");
danstrider 11:3b241ecb75ed 201 }
danstrider 11:3b241ecb75ed 202 }
danstrider 11:3b241ecb75ed 203 }
danstrider 11:3b241ecb75ed 204
danstrider 11:3b241ecb75ed 205 void keyboard_menu_DEPTH_PID_settings() {
danstrider 11:3b241ecb75ed 206 char PID_key;
danstrider 11:3b241ecb75ed 207 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 208 float KP = depthLoop().getControllerP(); // load current global value
danstrider 11:3b241ecb75ed 209 float KI = depthLoop().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 210 float KD = depthLoop().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 211
danstrider 11:3b241ecb75ed 212 // show the menu
danstrider 11:3b241ecb75ed 213 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 214 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 215 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r");
danstrider 11:3b241ecb75ed 216 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 217
danstrider 11:3b241ecb75ed 218 // handle the key presses
danstrider 11:3b241ecb75ed 219 while(1) {
danstrider 11:3b241ecb75ed 220 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 221 if (pc().readable()) {
danstrider 11:3b241ecb75ed 222 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 223 }
danstrider 11:3b241ecb75ed 224 else {
danstrider 11:3b241ecb75ed 225 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 226 }
danstrider 11:3b241ecb75ed 227
danstrider 11:3b241ecb75ed 228 // handle the user's key input
danstrider 11:3b241ecb75ed 229 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 230 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 231 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 232 }
danstrider 11:3b241ecb75ed 233 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 234 KP += gain_step_size;
danstrider 11:3b241ecb75ed 235 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 236 }
danstrider 11:3b241ecb75ed 237 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 238 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 239 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 240 }
danstrider 11:3b241ecb75ed 241 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 242 KI += gain_step_size;
danstrider 11:3b241ecb75ed 243 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 244 }
danstrider 11:3b241ecb75ed 245 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 246 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 247 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 248 }
danstrider 11:3b241ecb75ed 249 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 250 KD += gain_step_size;
danstrider 11:3b241ecb75ed 251 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 252 }
danstrider 11:3b241ecb75ed 253 else if (PID_key == 'S') { // user wants to save these settings
danstrider 11:3b241ecb75ed 254 // set global values
danstrider 11:3b241ecb75ed 255 depthLoop().setControllerP(KP);
danstrider 11:3b241ecb75ed 256 depthLoop().setControllerI(KI);
danstrider 11:3b241ecb75ed 257 depthLoop().setControllerD(KD);
danstrider 11:3b241ecb75ed 258
danstrider 11:3b241ecb75ed 259 // save into "PID.cfg"
danstrider 11:3b241ecb75ed 260 //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
danstrider 11:3b241ecb75ed 261 break; //exit the while loop
danstrider 11:3b241ecb75ed 262 }
danstrider 11:3b241ecb75ed 263 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 264 break; //exit the while loop
danstrider 11:3b241ecb75ed 265 }
danstrider 11:3b241ecb75ed 266 else {
danstrider 11:3b241ecb75ed 267 pc().printf("\n\rThis key does nothing here. ");
danstrider 11:3b241ecb75ed 268 }
danstrider 11:3b241ecb75ed 269 }
danstrider 11:3b241ecb75ed 270 }
danstrider 11:3b241ecb75ed 271
danstrider 11:3b241ecb75ed 272 void keyboard_menu_BATT_PID_settings() {
danstrider 11:3b241ecb75ed 273 char PID_key;
danstrider 11:3b241ecb75ed 274 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 275 float KP = batt().getControllerP(); // load current global value
danstrider 11:3b241ecb75ed 276 float KI = batt().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 277 float KD = batt().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 278
danstrider 11:3b241ecb75ed 279 // print the menu
danstrider 11:3b241ecb75ed 280 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 281 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 282 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
danstrider 11:3b241ecb75ed 283 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 284
danstrider 11:3b241ecb75ed 285 // handle the key presses
danstrider 11:3b241ecb75ed 286 while(1) {
danstrider 11:3b241ecb75ed 287 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 288 if (pc().readable()) {
danstrider 11:3b241ecb75ed 289 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 290 }
danstrider 11:3b241ecb75ed 291 else {
danstrider 11:3b241ecb75ed 292 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 293 }
danstrider 11:3b241ecb75ed 294
danstrider 11:3b241ecb75ed 295 // handle the user's key input
danstrider 11:3b241ecb75ed 296 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 297 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 298 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 299 }
danstrider 11:3b241ecb75ed 300 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 301 KP += gain_step_size;
danstrider 11:3b241ecb75ed 302 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 303 }
danstrider 11:3b241ecb75ed 304 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 305 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 306 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 307 }
danstrider 11:3b241ecb75ed 308 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 309 KI += gain_step_size;
danstrider 11:3b241ecb75ed 310 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 311 }
danstrider 11:3b241ecb75ed 312 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 313 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 314 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 315 }
danstrider 11:3b241ecb75ed 316 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 317 KD += gain_step_size;
danstrider 11:3b241ecb75ed 318 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 319 }
danstrider 11:3b241ecb75ed 320 else if (PID_key == 'S') { // user wants to save the modified values
danstrider 11:3b241ecb75ed 321 // set global values
danstrider 11:3b241ecb75ed 322 batt().setControllerP(KP);
danstrider 11:3b241ecb75ed 323 batt().setControllerI(KI);
danstrider 11:3b241ecb75ed 324 batt().setControllerD(KD);
danstrider 11:3b241ecb75ed 325
danstrider 11:3b241ecb75ed 326 // save to "PID.cfg" file
danstrider 11:3b241ecb75ed 327 //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
danstrider 11:3b241ecb75ed 328 break; //exit the while loop
danstrider 11:3b241ecb75ed 329 }
danstrider 11:3b241ecb75ed 330 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 331 break; //exit the while loop
danstrider 11:3b241ecb75ed 332 }
danstrider 11:3b241ecb75ed 333 else {
danstrider 11:3b241ecb75ed 334 pc().printf("This key does nothing here.\r");
danstrider 11:3b241ecb75ed 335 }
danstrider 11:3b241ecb75ed 336 }
danstrider 11:3b241ecb75ed 337 }
danstrider 11:3b241ecb75ed 338
danstrider 11:3b241ecb75ed 339 void keyboard_menu_PITCH_PID_settings() {
danstrider 11:3b241ecb75ed 340 char PID_key;
danstrider 11:3b241ecb75ed 341 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 342 float KP = pitchLoop().getControllerP(); // load current global value
danstrider 11:3b241ecb75ed 343 float KI = pitchLoop().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 344 float KD = pitchLoop().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 345
danstrider 11:3b241ecb75ed 346 // print the menu
danstrider 11:3b241ecb75ed 347 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 348 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 349 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
danstrider 11:3b241ecb75ed 350 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 11:3b241ecb75ed 351
danstrider 11:3b241ecb75ed 352 // handle the key presses
danstrider 11:3b241ecb75ed 353 while(1) {
danstrider 11:3b241ecb75ed 354 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 355 if (pc().readable()) {
danstrider 11:3b241ecb75ed 356 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 357 }
danstrider 11:3b241ecb75ed 358 else {
danstrider 11:3b241ecb75ed 359 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 360 }
danstrider 11:3b241ecb75ed 361
danstrider 11:3b241ecb75ed 362 // handle the user's key input
danstrider 11:3b241ecb75ed 363 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 364 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 365 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 366 }
danstrider 11:3b241ecb75ed 367 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 368 KP += gain_step_size;
danstrider 11:3b241ecb75ed 369 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 370 }
danstrider 11:3b241ecb75ed 371 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 372 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 373 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 374 }
danstrider 11:3b241ecb75ed 375 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 376 KI += gain_step_size;
danstrider 11:3b241ecb75ed 377 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 378 }
danstrider 11:3b241ecb75ed 379 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 380 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 381 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 382 }
danstrider 11:3b241ecb75ed 383 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 384 KD += gain_step_size;
danstrider 11:3b241ecb75ed 385 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 386 }
danstrider 11:3b241ecb75ed 387 else if (PID_key == 'S') { // user wants to save the modified values
danstrider 11:3b241ecb75ed 388 // set global values
danstrider 11:3b241ecb75ed 389 pitchLoop().setControllerP(KP);
danstrider 11:3b241ecb75ed 390 pitchLoop().setControllerI(KI);
danstrider 11:3b241ecb75ed 391 pitchLoop().setControllerD(KD);
danstrider 11:3b241ecb75ed 392
danstrider 11:3b241ecb75ed 393 //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
danstrider 11:3b241ecb75ed 394 break; //exit the while loop
danstrider 11:3b241ecb75ed 395 }
danstrider 11:3b241ecb75ed 396 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 397 break; //exit the while loop
danstrider 11:3b241ecb75ed 398 }
danstrider 11:3b241ecb75ed 399 else {
danstrider 11:3b241ecb75ed 400 pc().printf("This key does nothing here.\r");
danstrider 11:3b241ecb75ed 401 }
danstrider 11:3b241ecb75ed 402 }
danstrider 11:3b241ecb75ed 403 }
danstrider 11:3b241ecb75ed 404
danstrider 11:3b241ecb75ed 405
danstrider 11:3b241ecb75ed 406 // output the keyboard menu for user's reference
danstrider 11:3b241ecb75ed 407 void showMenu() {
danstrider 11:3b241ecb75ed 408 pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
danstrider 11:3b241ecb75ed 409 pc().printf(" N to find neutral\r\n");
danstrider 11:3b241ecb75ed 410 pc().printf(" D to initiate dive cycle\r\n");
danstrider 11:3b241ecb75ed 411 pc().printf(" R to initiate rise\r\n");
danstrider 11:3b241ecb75ed 412 pc().printf(" L to float level\r\n");
danstrider 11:3b241ecb75ed 413 pc().printf(" B to float at broadcast pitch\r\n");
danstrider 11:3b241ecb75ed 414 pc().printf(" E to initiate emergency climb\r\n");
mkelly10 12:a0519d11d2b6 415 pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
danstrider 14:85b64a4d08e8 416 pc().printf(" T to tare the depth sensor\r\n");
danstrider 11:3b241ecb75ed 417 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 418 pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand());
danstrider 11:3b241ecb75ed 419 pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout);
danstrider 11:3b241ecb75ed 420 pc().printf(" 1 BCE PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 421 pc().printf(" 2 BATT PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 422 pc().printf(" 3 Depth PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 423 pc().printf(" 4 Pitch PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 424 pc().printf(" C See sensor readings\r\n");
danstrider 11:3b241ecb75ed 425 pc().printf(" ? to reset mbed\r\n");
danstrider 11:3b241ecb75ed 426 }
danstrider 11:3b241ecb75ed 427
danstrider 11:3b241ecb75ed 428 // keyboard currently handles a key at a time
danstrider 11:3b241ecb75ed 429 // returns -1 if not a state command
danstrider 11:3b241ecb75ed 430 // returns a positive number to command a new state
danstrider 11:3b241ecb75ed 431 int keyboard() {
danstrider 10:085ab7328054 432 char userInput;
danstrider 10:085ab7328054 433
danstrider 10:085ab7328054 434 // check keyboard and make settings changes as requested
danstrider 10:085ab7328054 435 if (pc().readable()) {
danstrider 10:085ab7328054 436 // get the key
danstrider 10:085ab7328054 437 userInput = pc().getc();
mkelly10 5:15bd96205bb2 438
danstrider 10:085ab7328054 439 // check command against desired control buttons
danstrider 11:3b241ecb75ed 440 // change state
danstrider 11:3b241ecb75ed 441 if (userInput == 'D' or userInput == 'd') {
danstrider 11:3b241ecb75ed 442 return DIVE;
danstrider 10:085ab7328054 443 }
danstrider 11:3b241ecb75ed 444 else if (userInput == 'N' or userInput == 'n') {
danstrider 11:3b241ecb75ed 445 return FIND_NEUTRAL;
danstrider 11:3b241ecb75ed 446 }
danstrider 11:3b241ecb75ed 447 else if (userInput == 'R' or userInput == 'r') {
danstrider 11:3b241ecb75ed 448 return RISE;
danstrider 11:3b241ecb75ed 449 }
danstrider 11:3b241ecb75ed 450 else if (userInput == 'L' or userInput == 'l') {
danstrider 11:3b241ecb75ed 451 return FLOAT_LEVEL;
danstrider 10:085ab7328054 452 }
danstrider 11:3b241ecb75ed 453 else if (userInput == 'B' or userInput == 'b') {
danstrider 11:3b241ecb75ed 454 return FLOAT_BROADCAST;
danstrider 11:3b241ecb75ed 455 }
danstrider 11:3b241ecb75ed 456 else if (userInput == 'E' or userInput == 'e') {
danstrider 11:3b241ecb75ed 457 return EMERGENCY_CLIMB;
mkelly10 5:15bd96205bb2 458 }
mkelly10 12:a0519d11d2b6 459 else if (userInput == 'H' or userInput == 'h') {
mkelly10 12:a0519d11d2b6 460 pc().printf("running homing procedure\r\n");
mkelly10 12:a0519d11d2b6 461 bce().unpause(); bce().homePiston(); bce().pause();
mkelly10 12:a0519d11d2b6 462 batt().unpause(); batt().homePiston(); batt().pause();
mkelly10 12:a0519d11d2b6 463 return SIT_IDLE;
mkelly10 12:a0519d11d2b6 464 }
danstrider 14:85b64a4d08e8 465 else if (userInput == 'T' or userInput == 't') {
danstrider 14:85b64a4d08e8 466 pc().printf("taring depth sensor\r\n");
danstrider 14:85b64a4d08e8 467 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
danstrider 14:85b64a4d08e8 468 wait(0.1);
danstrider 14:85b64a4d08e8 469 depth().tare(); // tares to ambient (do on surface)
danstrider 14:85b64a4d08e8 470 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
danstrider 14:85b64a4d08e8 471 }
danstrider 10:085ab7328054 472 else if (userInput == '?') {
danstrider 10:085ab7328054 473 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
danstrider 11:3b241ecb75ed 474 wait(0.5);
danstrider 10:085ab7328054 475 mbed_reset();
danstrider 10:085ab7328054 476 }
danstrider 11:3b241ecb75ed 477
danstrider 11:3b241ecb75ed 478 // change settings
danstrider 11:3b241ecb75ed 479 else if (userInput == 'Q' or userInput == 'q') {
danstrider 11:3b241ecb75ed 480 pitchCommand -= 0.5; //decrement the pitch setpoint
danstrider 11:3b241ecb75ed 481 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 482 pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 483 }
danstrider 11:3b241ecb75ed 484 else if (userInput == 'W' or userInput == 'w') {
danstrider 11:3b241ecb75ed 485 pitchCommand += 0.5; //increment the pitch setpoint
danstrider 11:3b241ecb75ed 486 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 487 pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 488 }
danstrider 11:3b241ecb75ed 489 else if (userInput == 'A' or userInput == 'a') {
danstrider 11:3b241ecb75ed 490 depthCommand -= 0.5; //decrement the depth setpoint
danstrider 11:3b241ecb75ed 491 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 492 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
danstrider 11:3b241ecb75ed 493 }
danstrider 11:3b241ecb75ed 494 else if (userInput == 'S' or userInput == 's') {
danstrider 11:3b241ecb75ed 495 depthCommand += 0.5; //increment the depth setpoint
danstrider 11:3b241ecb75ed 496 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 497 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
danstrider 11:3b241ecb75ed 498 }
danstrider 11:3b241ecb75ed 499 else if (userInput == '-') {
danstrider 11:3b241ecb75ed 500 timeout -= 10.0; //decrement the timeout
danstrider 11:3b241ecb75ed 501 pc().printf(">>> timeout decreased: %d\r\n", timeout);
danstrider 11:3b241ecb75ed 502 }
danstrider 11:3b241ecb75ed 503 else if (userInput == '=' or userInput == '+') {
danstrider 11:3b241ecb75ed 504 timeout += 10.0; //increment the timeout
danstrider 11:3b241ecb75ed 505 pc().printf(">>> timeout increased: %d\r\n", timeout);
danstrider 11:3b241ecb75ed 506 }
danstrider 11:3b241ecb75ed 507
danstrider 11:3b241ecb75ed 508 // add keyboard commands to move the neutral zero offsets, both bce and batt
danstrider 11:3b241ecb75ed 509
danstrider 11:3b241ecb75ed 510 // go to sub-menus for the PID gains (this is blocking)
danstrider 11:3b241ecb75ed 511 else if (userInput == '1') {
danstrider 11:3b241ecb75ed 512 keyboard_menu_BCE_PID_settings();
danstrider 11:3b241ecb75ed 513 }
danstrider 11:3b241ecb75ed 514 else if (userInput == '2') {
danstrider 11:3b241ecb75ed 515 keyboard_menu_BATT_PID_settings();
danstrider 11:3b241ecb75ed 516 }
danstrider 11:3b241ecb75ed 517 else if (userInput == '3') {
danstrider 11:3b241ecb75ed 518 keyboard_menu_DEPTH_PID_settings();
danstrider 11:3b241ecb75ed 519 }
danstrider 11:3b241ecb75ed 520 else if (userInput == '4') {
danstrider 11:3b241ecb75ed 521 keyboard_menu_PITCH_PID_settings();
danstrider 11:3b241ecb75ed 522 }
danstrider 11:3b241ecb75ed 523
danstrider 11:3b241ecb75ed 524 else if (userInput == 'C' or userInput == 'c') {
tnhnrl 13:84fcbe1dcd62 525 pc().printf("depth: %3.1f\r\n",depthLoop().getPosition());
danstrider 11:3b241ecb75ed 526 pc().printf("pitch: %3.1f\r\n",imu().getPitch());
danstrider 11:3b241ecb75ed 527 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
danstrider 11:3b241ecb75ed 528 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
danstrider 11:3b241ecb75ed 529 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
danstrider 11:3b241ecb75ed 530 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
danstrider 11:3b241ecb75ed 531 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
danstrider 11:3b241ecb75ed 532 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 533 }
danstrider 11:3b241ecb75ed 534 else {
danstrider 11:3b241ecb75ed 535 return (-1);
danstrider 11:3b241ecb75ed 536 }
mkelly10 5:15bd96205bb2 537 }
danstrider 11:3b241ecb75ed 538 return (-1);
mkelly10 5:15bd96205bb2 539 }
mkelly10 5:15bd96205bb2 540
danstrider 11:3b241ecb75ed 541 void stateMachine() {
danstrider 11:3b241ecb75ed 542 static int state = SIT_IDLE; // select starting state here
danstrider 11:3b241ecb75ed 543 static bool isTimeoutRunning = false; // default timer to not running
danstrider 11:3b241ecb75ed 544
danstrider 11:3b241ecb75ed 545 // finite state machine ... each state has at least one exit criteria
danstrider 11:3b241ecb75ed 546 switch (state) {
danstrider 11:3b241ecb75ed 547 case SIT_IDLE :
danstrider 11:3b241ecb75ed 548 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
danstrider 11:3b241ecb75ed 549 if (!isTimeoutRunning) {
danstrider 11:3b241ecb75ed 550 showMenu();
danstrider 14:85b64a4d08e8 551 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
danstrider 11:3b241ecb75ed 552 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 553
danstrider 11:3b241ecb75ed 554 // what is active?
mkelly10 12:a0519d11d2b6 555 bce().pause();
mkelly10 12:a0519d11d2b6 556 batt().pause();
danstrider 11:3b241ecb75ed 557 }
danstrider 11:3b241ecb75ed 558 // how exit?
danstrider 11:3b241ecb75ed 559 if (pc().readable()) {
danstrider 11:3b241ecb75ed 560 state = KEYBOARD;
danstrider 11:3b241ecb75ed 561 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 562 }
danstrider 11:3b241ecb75ed 563 break;
danstrider 11:3b241ecb75ed 564
danstrider 11:3b241ecb75ed 565 case KEYBOARD :
danstrider 14:85b64a4d08e8 566 pc().printf("\r\n\nstate: KEYBOARD\r\n");
danstrider 11:3b241ecb75ed 567 if (pc().readable()) {
danstrider 11:3b241ecb75ed 568 state = keyboard(); // get new state command
danstrider 11:3b241ecb75ed 569 if (state == -1) { // error, that wasn't a new state command
danstrider 11:3b241ecb75ed 570 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 571 }
danstrider 11:3b241ecb75ed 572 //pc().printf("new state is: %d \r\n",state);
danstrider 11:3b241ecb75ed 573 }
danstrider 11:3b241ecb75ed 574 break;
danstrider 10:085ab7328054 575
danstrider 11:3b241ecb75ed 576 case EMERGENCY_CLIMB :
danstrider 11:3b241ecb75ed 577 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 578 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 579 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
danstrider 11:3b241ecb75ed 580 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 581 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 582 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 583
danstrider 11:3b241ecb75ed 584 // what needs to be started?
mkelly10 12:a0519d11d2b6 585 bce().unpause();
mkelly10 12:a0519d11d2b6 586 batt().unpause();
danstrider 11:3b241ecb75ed 587
danstrider 11:3b241ecb75ed 588 // what is active?
danstrider 11:3b241ecb75ed 589 bce().setPosition_mm(bce().getTravelLimit());
danstrider 11:3b241ecb75ed 590 batt().setPosition_mm(0.0);
danstrider 11:3b241ecb75ed 591 }
danstrider 11:3b241ecb75ed 592 // how exit?
danstrider 11:3b241ecb75ed 593 if (timer > timeout) {
danstrider 11:3b241ecb75ed 594 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 595 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 596 timer.reset();
danstrider 11:3b241ecb75ed 597 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 598 }
tnhnrl 13:84fcbe1dcd62 599 else if (depthLoop().getPosition() < 0.2) {
tnhnrl 13:84fcbe1dcd62 600 pc().printf("depth: %3.1f, cmd: 0.5\r\n",depthLoop().getPosition());
danstrider 11:3b241ecb75ed 601 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 602 timer.reset();
danstrider 11:3b241ecb75ed 603 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 604 }
danstrider 11:3b241ecb75ed 605 break;
danstrider 11:3b241ecb75ed 606
danstrider 11:3b241ecb75ed 607 case FIND_NEUTRAL :
danstrider 11:3b241ecb75ed 608 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 609 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 610 pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
danstrider 11:3b241ecb75ed 611 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 612 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 613 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 614
danstrider 11:3b241ecb75ed 615 // what needs to be started?
mkelly10 12:a0519d11d2b6 616 bce().unpause();
mkelly10 12:a0519d11d2b6 617 batt().unpause();
tnhnrl 13:84fcbe1dcd62 618
danstrider 11:3b241ecb75ed 619 // what is active?
danstrider 11:3b241ecb75ed 620 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 621 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 622 }
danstrider 11:3b241ecb75ed 623 // how exit?
danstrider 11:3b241ecb75ed 624 if (timer > timeout) {
danstrider 11:3b241ecb75ed 625 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 626 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 627 timer.reset();
danstrider 11:3b241ecb75ed 628 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 629 }
tnhnrl 13:84fcbe1dcd62 630 else if ((abs(depthLoop().getPosition() - depthLoop().getCommand()) < depthTolerance) and
danstrider 11:3b241ecb75ed 631 (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) {
danstrider 11:3b241ecb75ed 632 state = RISE;
danstrider 11:3b241ecb75ed 633 timer.reset();
danstrider 11:3b241ecb75ed 634 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 635 }
danstrider 11:3b241ecb75ed 636 // what is active?
tnhnrl 13:84fcbe1dcd62 637 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 638 bce().setPosition_mm(depthLoop().getOutput());
danstrider 11:3b241ecb75ed 639 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 640 break;
mkelly10 5:15bd96205bb2 641
danstrider 11:3b241ecb75ed 642 case DIVE :
danstrider 11:3b241ecb75ed 643 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 644 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 645 pc().printf("\r\n\nstate: DIVE\r\n");
danstrider 11:3b241ecb75ed 646 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 647 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 648 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 649
danstrider 11:3b241ecb75ed 650 // what needs to be started?
mkelly10 12:a0519d11d2b6 651 bce().unpause();
mkelly10 12:a0519d11d2b6 652 batt().unpause();
danstrider 11:3b241ecb75ed 653
danstrider 11:3b241ecb75ed 654 // what are the commands?
danstrider 11:3b241ecb75ed 655 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 656 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 657 pc().printf("depth cmd: %3.1f\r\n",depthLoop().getCommand());
danstrider 11:3b241ecb75ed 658 pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 659 }
danstrider 11:3b241ecb75ed 660 // how exit?
danstrider 11:3b241ecb75ed 661 if (timer > timeout) {
danstrider 11:3b241ecb75ed 662 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 663 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 664 timer.reset();
danstrider 11:3b241ecb75ed 665 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 666 }
tnhnrl 13:84fcbe1dcd62 667 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 13:84fcbe1dcd62 668 pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
danstrider 11:3b241ecb75ed 669 state = RISE;
danstrider 11:3b241ecb75ed 670 timer.reset();
danstrider 11:3b241ecb75ed 671 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 672 }
danstrider 11:3b241ecb75ed 673 // what is active?
tnhnrl 13:84fcbe1dcd62 674 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 675 bce().setPosition_mm(depthLoop().getOutput());
danstrider 11:3b241ecb75ed 676 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 677 break;
danstrider 11:3b241ecb75ed 678
danstrider 11:3b241ecb75ed 679 case RISE :
danstrider 11:3b241ecb75ed 680 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 681 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 682 pc().printf("\r\n\nstate: RISE\r\n");
danstrider 11:3b241ecb75ed 683 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 684 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 685 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 686
danstrider 11:3b241ecb75ed 687 // what needs to be started?
mkelly10 12:a0519d11d2b6 688 bce().unpause();
mkelly10 12:a0519d11d2b6 689 batt().unpause();
tnhnrl 13:84fcbe1dcd62 690
danstrider 11:3b241ecb75ed 691 // what are the commands?
danstrider 11:3b241ecb75ed 692 depthLoop().setCommand(0.0);
danstrider 11:3b241ecb75ed 693 pitchLoop().setCommand(-pitchCommand);
danstrider 11:3b241ecb75ed 694 pc().printf("depth cmd: 0.0\r\n");
danstrider 11:3b241ecb75ed 695 pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 696 }
danstrider 11:3b241ecb75ed 697 // how exit?
danstrider 11:3b241ecb75ed 698 if (timer > timeout) {
danstrider 11:3b241ecb75ed 699 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 700 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 701 timer.reset();
danstrider 11:3b241ecb75ed 702 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 703 }
tnhnrl 13:84fcbe1dcd62 704 else if (depthLoop().getPosition() < depthLoop().getCommand()) {
tnhnrl 13:84fcbe1dcd62 705 pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
danstrider 11:3b241ecb75ed 706 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 707 timer.reset();
danstrider 11:3b241ecb75ed 708 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 709 }
tnhnrl 13:84fcbe1dcd62 710 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 711 // what is active?
danstrider 11:3b241ecb75ed 712 bce().setPosition_mm(depthLoop().getOutput());
danstrider 11:3b241ecb75ed 713 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 714 break;
danstrider 11:3b241ecb75ed 715
danstrider 11:3b241ecb75ed 716 case FLOAT_LEVEL :
danstrider 11:3b241ecb75ed 717 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 718 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 719 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
danstrider 11:3b241ecb75ed 720 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 721 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 722 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 723
danstrider 11:3b241ecb75ed 724 // what needs to be started?
mkelly10 12:a0519d11d2b6 725 bce().unpause();
mkelly10 12:a0519d11d2b6 726 batt().unpause();
tnhnrl 13:84fcbe1dcd62 727
danstrider 11:3b241ecb75ed 728 // what are the commands
danstrider 11:3b241ecb75ed 729 bce().setPosition_mm(bceFloatPosition);
danstrider 11:3b241ecb75ed 730 pitchLoop().setCommand(0.0);
danstrider 11:3b241ecb75ed 731 }
danstrider 11:3b241ecb75ed 732 // how exit?
danstrider 11:3b241ecb75ed 733 if (timer > timeout) {
danstrider 11:3b241ecb75ed 734 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 735 state = FLOAT_BROADCAST;
danstrider 11:3b241ecb75ed 736 timer.reset();
danstrider 11:3b241ecb75ed 737 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 738 }
danstrider 11:3b241ecb75ed 739 else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) {
danstrider 11:3b241ecb75ed 740 pc().printf("pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance);
danstrider 11:3b241ecb75ed 741 state = FLOAT_BROADCAST;
danstrider 11:3b241ecb75ed 742 timer.reset();
danstrider 11:3b241ecb75ed 743 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 744 }
danstrider 11:3b241ecb75ed 745 // what is active?
danstrider 11:3b241ecb75ed 746 pc().printf("pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm());
danstrider 11:3b241ecb75ed 747 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 748 break;
danstrider 11:3b241ecb75ed 749
danstrider 11:3b241ecb75ed 750 case FLOAT_BROADCAST :
danstrider 11:3b241ecb75ed 751 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 752 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 753 pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
danstrider 11:3b241ecb75ed 754 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 755 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 756 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 757
danstrider 11:3b241ecb75ed 758 // what needs to be started?
mkelly10 12:a0519d11d2b6 759 bce().unpause();
mkelly10 12:a0519d11d2b6 760 batt().unpause();
danstrider 11:3b241ecb75ed 761
danstrider 11:3b241ecb75ed 762 // what are the commands?
danstrider 11:3b241ecb75ed 763 bce().setPosition_mm(bceFloatPosition);
danstrider 11:3b241ecb75ed 764 batt().setPosition_mm(battFloatPosition);
danstrider 11:3b241ecb75ed 765 }
danstrider 11:3b241ecb75ed 766 // how exit?
danstrider 11:3b241ecb75ed 767 if (timer > timeout) {
danstrider 11:3b241ecb75ed 768 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 769 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 770 timer.reset();
danstrider 11:3b241ecb75ed 771 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 772 }
danstrider 11:3b241ecb75ed 773 if (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) {
danstrider 11:3b241ecb75ed 774 pc().printf("position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband());
danstrider 11:3b241ecb75ed 775 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 776 timer.reset();
danstrider 11:3b241ecb75ed 777 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 778 }
tnhnrl 13:84fcbe1dcd62 779 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 780 break;
danstrider 11:3b241ecb75ed 781
danstrider 11:3b241ecb75ed 782 default :
danstrider 11:3b241ecb75ed 783 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 784 }
danstrider 10:085ab7328054 785 }
tzyoung 0:ea293bbf9717 786
danstrider 11:3b241ecb75ed 787
danstrider 10:085ab7328054 788 int main() {
danstrider 10:085ab7328054 789 setup();
danstrider 10:085ab7328054 790 while(1) {
danstrider 11:3b241ecb75ed 791 led1() = !led1(); // blink
danstrider 11:3b241ecb75ed 792 //pc().printf("roll: %3.1f, pitch %3.1f, yaw: %3.1f\r", imu().getRoll(), imu().getPitch(), imu().getHeading());
danstrider 11:3b241ecb75ed 793 stateMachine();
danstrider 10:085ab7328054 794 }
danstrider 10:085ab7328054 795 }