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
StateMachine/StateMachine.cpp@20:8987a9ae2bc7, 2017-11-22 (annotated)
- Committer:
- tnhnrl
- Date:
- Wed Nov 22 14:32:06 2017 +0000
- Revision:
- 20:8987a9ae2bc7
- Parent:
- 19:aaa0f4f29d50
- Child:
- 21:38c8544db6f4
Re-Publish of Dan's mods
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tnhnrl | 16:3363b9f14913 | 1 | #include "StateMachine.hpp" |
tnhnrl | 16:3363b9f14913 | 2 | #include "StaticDefs.hpp" |
tnhnrl | 20:8987a9ae2bc7 | 3 | |
tnhnrl | 16:3363b9f14913 | 4 | StateMachine::StateMachine() { |
tnhnrl | 20:8987a9ae2bc7 | 5 | _timeout = 20; // generic timeout for every state, seconds |
tnhnrl | 20:8987a9ae2bc7 | 6 | |
tnhnrl | 16:3363b9f14913 | 7 | depthTolerance = 0.25; // depth tolerance for neutral finding exit critera |
tnhnrl | 16:3363b9f14913 | 8 | pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria |
tnhnrl | 20:8987a9ae2bc7 | 9 | |
tnhnrl | 16:3363b9f14913 | 10 | bceFloatPosition = 300; // bce position for "float" states |
tnhnrl | 16:3363b9f14913 | 11 | battFloatPosition = 50; // batt position for "broadcast" state |
tnhnrl | 20:8987a9ae2bc7 | 12 | |
tnhnrl | 16:3363b9f14913 | 13 | depthCommand = 3.5; // user keyboard depth |
tnhnrl | 16:3363b9f14913 | 14 | pitchCommand = -20.0; // user keyboard depth |
tnhnrl | 17:7c16b5671d0e | 15 | |
tnhnrl | 20:8987a9ae2bc7 | 16 | _neutral_sink_timer = 0; |
tnhnrl | 20:8987a9ae2bc7 | 17 | _neutral_rise_timer = 0; |
tnhnrl | 17:7c16b5671d0e | 18 | |
tnhnrl | 20:8987a9ae2bc7 | 19 | previousPosition_mm = 220; // Troy: centered, overwritten by the state machine (LOAD THIS FROM CONFIG?) |
tnhnrl | 20:8987a9ae2bc7 | 20 | // Dan: no, think - where do you Want the bce to start from? Full extend limt probably. |
tnhnrl | 20:8987a9ae2bc7 | 21 | |
tnhnrl | 20:8987a9ae2bc7 | 22 | _state = SIT_IDLE; // select starting state here |
tnhnrl | 17:7c16b5671d0e | 23 | isTimeoutRunning = false; // default timer to not running |
tnhnrl | 20:8987a9ae2bc7 | 24 | isSubStateTimerRunning = false; // default timer to not running |
tnhnrl | 17:7c16b5671d0e | 25 | |
tnhnrl | 17:7c16b5671d0e | 26 | _neutral_buoyancy_bce_pos_mm = 0; |
tnhnrl | 17:7c16b5671d0e | 27 | _neutral_buoyancy_batt_pos_mm = 0; |
tnhnrl | 17:7c16b5671d0e | 28 | |
tnhnrl | 17:7c16b5671d0e | 29 | //new |
tnhnrl | 17:7c16b5671d0e | 30 | _next_state = -1; //next state is used to prevent states from changing as the FSM executes |
tnhnrl | 17:7c16b5671d0e | 31 | _state_counter = 0; |
tnhnrl | 16:3363b9f14913 | 32 | } |
tnhnrl | 20:8987a9ae2bc7 | 33 | |
tnhnrl | 17:7c16b5671d0e | 34 | //Finite State Machine (FSM) |
tnhnrl | 17:7c16b5671d0e | 35 | void StateMachine::runStateMachine() { |
tnhnrl | 20:8987a9ae2bc7 | 36 | |
tnhnrl | 17:7c16b5671d0e | 37 | static bool runFirstNeutral = false; |
tnhnrl | 17:7c16b5671d0e | 38 | |
tnhnrl | 17:7c16b5671d0e | 39 | //use the _next_state when the state machine is run again (so that it cannot change states while the FSM executes) |
tnhnrl | 17:7c16b5671d0e | 40 | if (_next_state > -1) |
tnhnrl | 17:7c16b5671d0e | 41 | _state = _next_state; //current state comes from the state at the completion of the FSM |
tnhnrl | 17:7c16b5671d0e | 42 | |
tnhnrl | 16:3363b9f14913 | 43 | // finite state machine ... each state has at least one exit criteria |
tnhnrl | 17:7c16b5671d0e | 44 | switch (_state) { |
tnhnrl | 16:3363b9f14913 | 45 | case SIT_IDLE : |
tnhnrl | 16:3363b9f14913 | 46 | // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions |
tnhnrl | 16:3363b9f14913 | 47 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 48 | showMenu(); |
tnhnrl | 16:3363b9f14913 | 49 | pc().printf("\r\n\nstate: SIT_IDLE\r\n"); |
tnhnrl | 17:7c16b5671d0e | 50 | isTimeoutRunning = true; |
tnhnrl | 20:8987a9ae2bc7 | 51 | |
tnhnrl | 16:3363b9f14913 | 52 | // what is active? |
tnhnrl | 16:3363b9f14913 | 53 | bce().pause(); |
tnhnrl | 16:3363b9f14913 | 54 | batt().pause(); |
tnhnrl | 17:7c16b5671d0e | 55 | |
tnhnrl | 17:7c16b5671d0e | 56 | //reset sub FSM |
tnhnrl | 20:8987a9ae2bc7 | 57 | isSubStateTimerRunning = false; |
tnhnrl | 16:3363b9f14913 | 58 | } |
tnhnrl | 20:8987a9ae2bc7 | 59 | |
tnhnrl | 16:3363b9f14913 | 60 | // how exit? |
tnhnrl | 20:8987a9ae2bc7 | 61 | keyboard(); // keyboard function will change the state if needed |
tnhnrl | 16:3363b9f14913 | 62 | break; |
tnhnrl | 20:8987a9ae2bc7 | 63 | |
tnhnrl | 16:3363b9f14913 | 64 | case EMERGENCY_CLIMB : |
tnhnrl | 16:3363b9f14913 | 65 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 66 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 67 | pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n"); |
tnhnrl | 16:3363b9f14913 | 68 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 69 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 70 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 71 | |
tnhnrl | 16:3363b9f14913 | 72 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 73 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 74 | batt().unpause(); |
tnhnrl | 20:8987a9ae2bc7 | 75 | |
tnhnrl | 20:8987a9ae2bc7 | 76 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 77 | bce().setPosition_mm(bce().getTravelLimit()); |
tnhnrl | 16:3363b9f14913 | 78 | batt().setPosition_mm(0.0); |
tnhnrl | 16:3363b9f14913 | 79 | } |
tnhnrl | 20:8987a9ae2bc7 | 80 | |
tnhnrl | 16:3363b9f14913 | 81 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 82 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 83 | pc().printf("EC: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 84 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 85 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 86 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 87 | } |
tnhnrl | 17:7c16b5671d0e | 88 | else if (depthLoop().getPosition() < 0.2) { //if the depth is greater than 0.2 feet, go to float broadcast |
tnhnrl | 16:3363b9f14913 | 89 | pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read()); |
tnhnrl | 17:7c16b5671d0e | 90 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 91 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 92 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 93 | } |
tnhnrl | 16:3363b9f14913 | 94 | break; |
tnhnrl | 20:8987a9ae2bc7 | 95 | |
tnhnrl | 16:3363b9f14913 | 96 | case FIND_NEUTRAL : |
tnhnrl | 20:8987a9ae2bc7 | 97 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 98 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 99 | pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n"); |
tnhnrl | 16:3363b9f14913 | 100 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 101 | timer.start(); // background timer starts running |
tnhnrl | 20:8987a9ae2bc7 | 102 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 103 | |
tnhnrl | 16:3363b9f14913 | 104 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 105 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 106 | batt().unpause(); |
tnhnrl | 17:7c16b5671d0e | 107 | |
tnhnrl | 17:7c16b5671d0e | 108 | //first iteration sends SINKING sub-state |
tnhnrl | 20:8987a9ae2bc7 | 109 | runFirstNeutral = true; |
tnhnrl | 16:3363b9f14913 | 110 | } |
tnhnrl | 20:8987a9ae2bc7 | 111 | |
tnhnrl | 20:8987a9ae2bc7 | 112 | // how exit? (exit with the timer, if timer still running continue processing sub FSM) |
tnhnrl | 17:7c16b5671d0e | 113 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 114 | pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read()); |
tnhnrl | 17:7c16b5671d0e | 115 | _next_state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces) |
tnhnrl | 16:3363b9f14913 | 116 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 117 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 118 | } |
tnhnrl | 20:8987a9ae2bc7 | 119 | |
tnhnrl | 17:7c16b5671d0e | 120 | // what is active? (call neutral finding sub-function every iteration) |
tnhnrl | 17:7c16b5671d0e | 121 | if (runFirstNeutral) { |
tnhnrl | 17:7c16b5671d0e | 122 | //pc().printf("First iteration of find neutral\n\r"); // debug (confirmed working) |
tnhnrl | 17:7c16b5671d0e | 123 | _sub_state = findNeutralSubState(NEUTRAL_SINKING); |
tnhnrl | 20:8987a9ae2bc7 | 124 | _previous_sub_state = _sub_state; //save previous sub-state |
tnhnrl | 17:7c16b5671d0e | 125 | runFirstNeutral = false; |
tnhnrl | 16:3363b9f14913 | 126 | } |
tnhnrl | 20:8987a9ae2bc7 | 127 | else { //second and further iterations, this is running |
tnhnrl | 17:7c16b5671d0e | 128 | _sub_state = findNeutralSubState(_previous_sub_state); |
tnhnrl | 17:7c16b5671d0e | 129 | _previous_sub_state = _sub_state; //save previous sub-state |
tnhnrl | 17:7c16b5671d0e | 130 | |
tnhnrl | 17:7c16b5671d0e | 131 | //if sub-FSM has completed its state machine |
tnhnrl | 17:7c16b5671d0e | 132 | if (_sub_state == NEUTRAL_EXIT) { |
tnhnrl | 17:7c16b5671d0e | 133 | pc().printf("DEBUG: FIND_NEUTRAL sub FSM completed!\n\r"); |
tnhnrl | 17:7c16b5671d0e | 134 | _next_state = RISE; //your next state will be RISE in the FSM |
tnhnrl | 17:7c16b5671d0e | 135 | } |
tnhnrl | 17:7c16b5671d0e | 136 | } |
tnhnrl | 17:7c16b5671d0e | 137 | break; |
tnhnrl | 17:7c16b5671d0e | 138 | |
tnhnrl | 16:3363b9f14913 | 139 | case DIVE : |
tnhnrl | 16:3363b9f14913 | 140 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 141 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 142 | pc().printf("\r\n\nstate: DIVE\r\n"); |
tnhnrl | 16:3363b9f14913 | 143 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 144 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 145 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 146 | |
tnhnrl | 16:3363b9f14913 | 147 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 148 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 149 | batt().unpause(); |
tnhnrl | 20:8987a9ae2bc7 | 150 | |
tnhnrl | 16:3363b9f14913 | 151 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 152 | depthLoop().setCommand(depthCommand); |
tnhnrl | 16:3363b9f14913 | 153 | pitchLoop().setCommand(pitchCommand); |
tnhnrl | 16:3363b9f14913 | 154 | pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 155 | pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 156 | } |
tnhnrl | 20:8987a9ae2bc7 | 157 | |
tnhnrl | 16:3363b9f14913 | 158 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 159 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 160 | pc().printf("DIVE: timed out\n\n\r"); |
tnhnrl | 17:7c16b5671d0e | 161 | _next_state = RISE; //new behavior 11/17/2017 |
tnhnrl | 16:3363b9f14913 | 162 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 163 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 164 | } |
tnhnrl | 16:3363b9f14913 | 165 | else if (depthLoop().getPosition() > depthLoop().getCommand()) { |
tnhnrl | 16:3363b9f14913 | 166 | pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 167 | _next_state = RISE; |
tnhnrl | 16:3363b9f14913 | 168 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 169 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 170 | } |
tnhnrl | 20:8987a9ae2bc7 | 171 | |
tnhnrl | 16:3363b9f14913 | 172 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 173 | pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.2f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 16:3363b9f14913 | 174 | bce().setPosition_mm(depthLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 175 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 176 | break; |
tnhnrl | 16:3363b9f14913 | 177 | |
tnhnrl | 16:3363b9f14913 | 178 | case RISE : |
tnhnrl | 16:3363b9f14913 | 179 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 180 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 181 | pc().printf("\r\n\nstate: RISE\r\n"); |
tnhnrl | 16:3363b9f14913 | 182 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 183 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 184 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 185 | |
tnhnrl | 16:3363b9f14913 | 186 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 187 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 188 | batt().unpause(); |
tnhnrl | 16:3363b9f14913 | 189 | |
tnhnrl | 16:3363b9f14913 | 190 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 191 | depthLoop().setCommand(0.0); |
tnhnrl | 16:3363b9f14913 | 192 | pitchLoop().setCommand(-pitchCommand); |
tnhnrl | 16:3363b9f14913 | 193 | pc().printf("RISE: depth cmd: 0.0\r\n"); |
tnhnrl | 16:3363b9f14913 | 194 | pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 195 | } |
tnhnrl | 20:8987a9ae2bc7 | 196 | |
tnhnrl | 16:3363b9f14913 | 197 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 198 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 199 | pc().printf("RISE: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 200 | _next_state = EMERGENCY_CLIMB; |
tnhnrl | 16:3363b9f14913 | 201 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 202 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 203 | } |
tnhnrl | 16:3363b9f14913 | 204 | else if (depthLoop().getPosition() < depthLoop().getCommand()) { |
tnhnrl | 16:3363b9f14913 | 205 | pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 206 | _next_state = FLOAT_LEVEL; |
tnhnrl | 16:3363b9f14913 | 207 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 208 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 209 | } |
tnhnrl | 20:8987a9ae2bc7 | 210 | |
tnhnrl | 20:8987a9ae2bc7 | 211 | // what is active? |
tnhnrl | 16:3363b9f14913 | 212 | pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 17:7c16b5671d0e | 213 | bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors |
tnhnrl | 17:7c16b5671d0e | 214 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 215 | break; |
tnhnrl | 16:3363b9f14913 | 216 | |
tnhnrl | 16:3363b9f14913 | 217 | case FLOAT_LEVEL : |
tnhnrl | 16:3363b9f14913 | 218 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 219 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 220 | pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n"); |
tnhnrl | 16:3363b9f14913 | 221 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 222 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 223 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 224 | |
tnhnrl | 16:3363b9f14913 | 225 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 226 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 227 | batt().unpause(); |
tnhnrl | 16:3363b9f14913 | 228 | |
tnhnrl | 20:8987a9ae2bc7 | 229 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 230 | bce().setPosition_mm(bceFloatPosition); |
tnhnrl | 16:3363b9f14913 | 231 | pitchLoop().setCommand(0.0); |
tnhnrl | 16:3363b9f14913 | 232 | } |
tnhnrl | 20:8987a9ae2bc7 | 233 | |
tnhnrl | 16:3363b9f14913 | 234 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 235 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 236 | pc().printf("FL: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 237 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 238 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 239 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 240 | } |
tnhnrl | 17:7c16b5671d0e | 241 | else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(pitchTolerance)) { |
tnhnrl | 16:3363b9f14913 | 242 | pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance); |
tnhnrl | 17:7c16b5671d0e | 243 | _next_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 244 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 245 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 246 | } |
tnhnrl | 20:8987a9ae2bc7 | 247 | |
tnhnrl | 16:3363b9f14913 | 248 | // what is active? |
tnhnrl | 16:3363b9f14913 | 249 | pc().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), timer.read()); |
tnhnrl | 16:3363b9f14913 | 250 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 16:3363b9f14913 | 251 | break; |
tnhnrl | 16:3363b9f14913 | 252 | |
tnhnrl | 16:3363b9f14913 | 253 | case FLOAT_BROADCAST : |
tnhnrl | 16:3363b9f14913 | 254 | // start local state timer and init any other one-shot actions |
tnhnrl | 16:3363b9f14913 | 255 | if (!isTimeoutRunning) { |
tnhnrl | 16:3363b9f14913 | 256 | pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n"); |
tnhnrl | 16:3363b9f14913 | 257 | timer.reset(); // timer goes back to zero |
tnhnrl | 16:3363b9f14913 | 258 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 259 | isTimeoutRunning = true; |
tnhnrl | 16:3363b9f14913 | 260 | |
tnhnrl | 16:3363b9f14913 | 261 | // what needs to be started? |
tnhnrl | 16:3363b9f14913 | 262 | bce().unpause(); |
tnhnrl | 16:3363b9f14913 | 263 | batt().unpause(); |
tnhnrl | 20:8987a9ae2bc7 | 264 | |
tnhnrl | 16:3363b9f14913 | 265 | // what are the commands? |
tnhnrl | 16:3363b9f14913 | 266 | bce().setPosition_mm(bceFloatPosition); |
tnhnrl | 16:3363b9f14913 | 267 | batt().setPosition_mm(battFloatPosition); |
tnhnrl | 16:3363b9f14913 | 268 | } |
tnhnrl | 20:8987a9ae2bc7 | 269 | |
tnhnrl | 16:3363b9f14913 | 270 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 271 | if (timer > _timeout) { |
tnhnrl | 16:3363b9f14913 | 272 | pc().printf("FB: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 273 | _next_state = SIT_IDLE; |
tnhnrl | 16:3363b9f14913 | 274 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 275 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 276 | } |
tnhnrl | 20:8987a9ae2bc7 | 277 | else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and |
tnhnrl | 20:8987a9ae2bc7 | 278 | (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) { |
tnhnrl | 16:3363b9f14913 | 279 | pc().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband()); |
tnhnrl | 17:7c16b5671d0e | 280 | _next_state = SIT_IDLE; |
tnhnrl | 16:3363b9f14913 | 281 | timer.reset(); |
tnhnrl | 16:3363b9f14913 | 282 | isTimeoutRunning = false; |
tnhnrl | 16:3363b9f14913 | 283 | } |
tnhnrl | 20:8987a9ae2bc7 | 284 | |
tnhnrl | 20:8987a9ae2bc7 | 285 | // what is active? |
tnhnrl | 16:3363b9f14913 | 286 | pc().printf("FB: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 16:3363b9f14913 | 287 | break; |
tnhnrl | 17:7c16b5671d0e | 288 | |
tnhnrl | 17:7c16b5671d0e | 289 | case MULTI_DIVE : |
tnhnrl | 17:7c16b5671d0e | 290 | // start local state timer and init any other one-shot actions |
tnhnrl | 17:7c16b5671d0e | 291 | if (!isTimeoutRunning) { |
tnhnrl | 17:7c16b5671d0e | 292 | pc().printf("\r\n\nstate: MULTI-DIVE\r\n"); |
tnhnrl | 17:7c16b5671d0e | 293 | timer.reset(); // timer goes back to zero |
tnhnrl | 17:7c16b5671d0e | 294 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 295 | isTimeoutRunning = true; |
tnhnrl | 17:7c16b5671d0e | 296 | |
tnhnrl | 17:7c16b5671d0e | 297 | // what needs to be started? |
tnhnrl | 17:7c16b5671d0e | 298 | bce().unpause(); |
tnhnrl | 17:7c16b5671d0e | 299 | batt().unpause(); |
tnhnrl | 20:8987a9ae2bc7 | 300 | |
tnhnrl | 17:7c16b5671d0e | 301 | //NEW: retrieve depth and pitch commands from config file struct |
tnhnrl | 17:7c16b5671d0e | 302 | // concept is to load this each time the multi-dive restarts |
tnhnrl | 17:7c16b5671d0e | 303 | |
tnhnrl | 17:7c16b5671d0e | 304 | //keyboard starts sequence at 0 from keyboard function |
tnhnrl | 17:7c16b5671d0e | 305 | //stateMachine().getDiveSequence(); |
tnhnrl | 17:7c16b5671d0e | 306 | |
tnhnrl | 17:7c16b5671d0e | 307 | //retrieve commands from structs |
tnhnrl | 17:7c16b5671d0e | 308 | float sequenceDepthCommand = currentStateStruct.depth; |
tnhnrl | 17:7c16b5671d0e | 309 | float sequencePitchCommand = currentStateStruct.pitch; |
tnhnrl | 17:7c16b5671d0e | 310 | |
tnhnrl | 17:7c16b5671d0e | 311 | // what are the commands? |
tnhnrl | 17:7c16b5671d0e | 312 | depthLoop().setCommand(sequenceDepthCommand); |
tnhnrl | 17:7c16b5671d0e | 313 | pitchLoop().setCommand(sequencePitchCommand); |
tnhnrl | 17:7c16b5671d0e | 314 | pc().printf("MULTI-DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 315 | pc().printf("MULTI-DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 316 | } |
tnhnrl | 20:8987a9ae2bc7 | 317 | |
tnhnrl | 17:7c16b5671d0e | 318 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 319 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 320 | pc().printf("MULTI-DIVE: timed out\n\n\r"); |
tnhnrl | 17:7c16b5671d0e | 321 | _next_state = MULTI_RISE; //new behavior 11/17/2017 |
tnhnrl | 17:7c16b5671d0e | 322 | timer.reset(); |
tnhnrl | 17:7c16b5671d0e | 323 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 324 | } |
tnhnrl | 17:7c16b5671d0e | 325 | else if (depthLoop().getPosition() > depthLoop().getCommand()) { |
tnhnrl | 17:7c16b5671d0e | 326 | pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 327 | _next_state = MULTI_RISE; |
tnhnrl | 17:7c16b5671d0e | 328 | timer.reset(); |
tnhnrl | 17:7c16b5671d0e | 329 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 330 | } |
tnhnrl | 20:8987a9ae2bc7 | 331 | |
tnhnrl | 17:7c16b5671d0e | 332 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 333 | pc().printf("MULTI-DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 17:7c16b5671d0e | 334 | bce().setPosition_mm(depthLoop().getOutput()); |
tnhnrl | 17:7c16b5671d0e | 335 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 17:7c16b5671d0e | 336 | break; |
tnhnrl | 17:7c16b5671d0e | 337 | |
tnhnrl | 17:7c16b5671d0e | 338 | case MULTI_RISE : |
tnhnrl | 17:7c16b5671d0e | 339 | // start local state timer and init any other one-shot actions |
tnhnrl | 17:7c16b5671d0e | 340 | if (!isTimeoutRunning) { |
tnhnrl | 17:7c16b5671d0e | 341 | pc().printf("\r\n\nstate: MULTI-RISE\r\n"); |
tnhnrl | 17:7c16b5671d0e | 342 | timer.reset(); // timer goes back to zero |
tnhnrl | 17:7c16b5671d0e | 343 | timer.start(); // background timer starts running |
tnhnrl | 17:7c16b5671d0e | 344 | isTimeoutRunning = true; |
tnhnrl | 17:7c16b5671d0e | 345 | |
tnhnrl | 17:7c16b5671d0e | 346 | // what needs to be started? |
tnhnrl | 17:7c16b5671d0e | 347 | bce().unpause(); |
tnhnrl | 17:7c16b5671d0e | 348 | batt().unpause(); |
tnhnrl | 17:7c16b5671d0e | 349 | |
tnhnrl | 17:7c16b5671d0e | 350 | //NEW: retrieve depth and pitch commands from config file struct |
tnhnrl | 17:7c16b5671d0e | 351 | // concept is to load this each time the multi-dive restarts |
tnhnrl | 17:7c16b5671d0e | 352 | stateMachine().getDiveSequence(); |
tnhnrl | 17:7c16b5671d0e | 353 | |
tnhnrl | 17:7c16b5671d0e | 354 | //retrieve just pitch command from struct |
tnhnrl | 17:7c16b5671d0e | 355 | float sequencePitchCommand = currentStateStruct.pitch; |
tnhnrl | 17:7c16b5671d0e | 356 | |
tnhnrl | 17:7c16b5671d0e | 357 | // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017 |
tnhnrl | 17:7c16b5671d0e | 358 | depthLoop().setCommand(0.5); |
tnhnrl | 17:7c16b5671d0e | 359 | pitchLoop().setCommand(-sequencePitchCommand); |
tnhnrl | 17:7c16b5671d0e | 360 | pc().printf("MULTI-RISE: depth cmd: 0.0\r\n"); |
tnhnrl | 17:7c16b5671d0e | 361 | pc().printf("MULTI-RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 362 | } |
tnhnrl | 20:8987a9ae2bc7 | 363 | |
tnhnrl | 17:7c16b5671d0e | 364 | // how exit? |
tnhnrl | 17:7c16b5671d0e | 365 | if (timer > _timeout) { |
tnhnrl | 17:7c16b5671d0e | 366 | pc().printf("MULTI-RISE: timed out\r\n"); |
tnhnrl | 17:7c16b5671d0e | 367 | _next_state = EMERGENCY_CLIMB; |
tnhnrl | 17:7c16b5671d0e | 368 | timer.reset(); |
tnhnrl | 17:7c16b5671d0e | 369 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 370 | |
tnhnrl | 17:7c16b5671d0e | 371 | //reset multi-dive sequence to start |
tnhnrl | 17:7c16b5671d0e | 372 | _state_counter = 0; |
tnhnrl | 17:7c16b5671d0e | 373 | } |
tnhnrl | 20:8987a9ae2bc7 | 374 | else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level) |
tnhnrl | 17:7c16b5671d0e | 375 | pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); |
tnhnrl | 17:7c16b5671d0e | 376 | |
tnhnrl | 17:7c16b5671d0e | 377 | //going to next state |
tnhnrl | 17:7c16b5671d0e | 378 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 379 | |
tnhnrl | 17:7c16b5671d0e | 380 | //successful dive-rise sequence CONTINUES the multi-dive sequence |
tnhnrl | 17:7c16b5671d0e | 381 | _state_counter++; |
tnhnrl | 17:7c16b5671d0e | 382 | |
tnhnrl | 17:7c16b5671d0e | 383 | //UPDATE THE SEQUENCE DATA HERE |
tnhnrl | 17:7c16b5671d0e | 384 | stateMachine().getDiveSequence(); |
tnhnrl | 17:7c16b5671d0e | 385 | |
tnhnrl | 17:7c16b5671d0e | 386 | //check if this is the end of the dive sequence |
tnhnrl | 17:7c16b5671d0e | 387 | //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (Float_Level) |
tnhnrl | 17:7c16b5671d0e | 388 | if (currentStateStruct.state == FLOAT_LEVEL) { |
tnhnrl | 17:7c16b5671d0e | 389 | _next_state = FLOAT_LEVEL; |
tnhnrl | 17:7c16b5671d0e | 390 | return; |
tnhnrl | 17:7c16b5671d0e | 391 | } |
tnhnrl | 17:7c16b5671d0e | 392 | |
tnhnrl | 17:7c16b5671d0e | 393 | else |
tnhnrl | 17:7c16b5671d0e | 394 | _next_state = MULTI_DIVE; |
tnhnrl | 17:7c16b5671d0e | 395 | |
tnhnrl | 17:7c16b5671d0e | 396 | //have to stop this with the _state_counter variable! |
tnhnrl | 17:7c16b5671d0e | 397 | } |
tnhnrl | 20:8987a9ae2bc7 | 398 | |
tnhnrl | 20:8987a9ae2bc7 | 399 | // what is active? |
tnhnrl | 17:7c16b5671d0e | 400 | pc().printf("MULTI-RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); |
tnhnrl | 17:7c16b5671d0e | 401 | bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors |
tnhnrl | 17:7c16b5671d0e | 402 | batt().setPosition_mm(pitchLoop().getOutput()); |
tnhnrl | 17:7c16b5671d0e | 403 | break; |
tnhnrl | 16:3363b9f14913 | 404 | |
tnhnrl | 16:3363b9f14913 | 405 | default : |
tnhnrl | 17:7c16b5671d0e | 406 | pc().printf("DEBUG: SIT_IDLE\n\r"); |
tnhnrl | 17:7c16b5671d0e | 407 | _next_state = SIT_IDLE; |
tnhnrl | 17:7c16b5671d0e | 408 | } |
tnhnrl | 16:3363b9f14913 | 409 | } |
tnhnrl | 20:8987a9ae2bc7 | 410 | |
tnhnrl | 16:3363b9f14913 | 411 | // output the keyboard menu for user's reference |
tnhnrl | 16:3363b9f14913 | 412 | void StateMachine::showMenu() { |
tnhnrl | 16:3363b9f14913 | 413 | pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n"); |
tnhnrl | 16:3363b9f14913 | 414 | pc().printf(" N to find neutral\r\n"); |
tnhnrl | 17:7c16b5671d0e | 415 | pc().printf(" M to initiate multi-dive cycle\r\n"); |
tnhnrl | 16:3363b9f14913 | 416 | pc().printf(" D to initiate dive cycle\r\n"); |
tnhnrl | 16:3363b9f14913 | 417 | pc().printf(" R to initiate rise\r\n"); |
tnhnrl | 16:3363b9f14913 | 418 | pc().printf(" L to float level\r\n"); |
tnhnrl | 16:3363b9f14913 | 419 | pc().printf(" B to float at broadcast pitch\r\n"); |
tnhnrl | 16:3363b9f14913 | 420 | pc().printf(" E to initiate emergency climb\r\n"); |
tnhnrl | 16:3363b9f14913 | 421 | pc().printf(" H to run homing sequence on both BCE and Batt\r\n"); |
tnhnrl | 16:3363b9f14913 | 422 | pc().printf(" T to tare the depth sensor\r\n"); |
tnhnrl | 16:3363b9f14913 | 423 | pc().printf("[/] to change bce neutral position\r\n"); |
tnhnrl | 16:3363b9f14913 | 424 | pc().printf("</> to change batt neutral position\r\n"); |
tnhnrl | 16:3363b9f14913 | 425 | pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchCommand); |
tnhnrl | 16:3363b9f14913 | 426 | pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthCommand); |
tnhnrl | 17:7c16b5671d0e | 427 | pc().printf("+/- to decrease/increase timeout: %d s\r\n",_timeout); |
tnhnrl | 16:3363b9f14913 | 428 | pc().printf(" 1 BCE PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 429 | pc().printf(" 2 BATT PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 430 | pc().printf(" 3 Depth PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 431 | pc().printf(" 4 Pitch PID sub-menu\r\n"); |
tnhnrl | 16:3363b9f14913 | 432 | pc().printf(" C See sensor readings\r\n"); |
tnhnrl | 16:3363b9f14913 | 433 | pc().printf(" ? to reset mbed\r\n"); |
tnhnrl | 16:3363b9f14913 | 434 | } |
tnhnrl | 20:8987a9ae2bc7 | 435 | |
tnhnrl | 17:7c16b5671d0e | 436 | //Find Neutral sub finite state machine |
tnhnrl | 17:7c16b5671d0e | 437 | // Note: the sub-fsm only moves the pistons once at the start of each timer loop |
tnhnrl | 17:7c16b5671d0e | 438 | // (timer completes, move piston, timer completes, move piston, etc) |
tnhnrl | 17:7c16b5671d0e | 439 | int StateMachine::findNeutralSubState(int input_substate) { |
tnhnrl | 20:8987a9ae2bc7 | 440 | |
tnhnrl | 17:7c16b5671d0e | 441 | //output substate is the input substate unless it is changed in the sub FSM |
tnhnrl | 17:7c16b5671d0e | 442 | static int output_substate = NEUTRAL_SINKING; //to start |
tnhnrl | 17:7c16b5671d0e | 443 | |
tnhnrl | 17:7c16b5671d0e | 444 | switch (input_substate) { |
tnhnrl | 20:8987a9ae2bc7 | 445 | case NEUTRAL_SINKING : |
tnhnrl | 17:7c16b5671d0e | 446 | //start the 10 second timer |
tnhnrl | 20:8987a9ae2bc7 | 447 | if (!isSubStateTimerRunning) { |
tnhnrl | 17:7c16b5671d0e | 448 | pc().printf(" input_substate: %d\n\r", input_substate); //debug |
tnhnrl | 20:8987a9ae2bc7 | 449 | _neutral_sink_timer = timer.read() + 10; //record the time when this block is first entered and add 10 seconds |
tnhnrl | 17:7c16b5671d0e | 450 | |
tnhnrl | 20:8987a9ae2bc7 | 451 | pc().printf("\r\n\n START NEUTRAL_SINKING (_neutral_sink_timer will go off at %0.1f sec) %3.1f\r\n", _neutral_sink_timer, timer.read()); |
tnhnrl | 20:8987a9ae2bc7 | 452 | |
tnhnrl | 20:8987a9ae2bc7 | 453 | // what are the commands? |
tnhnrl | 17:7c16b5671d0e | 454 | //move piston at start of sequence (retract 10 mm) |
tnhnrl | 17:7c16b5671d0e | 455 | pc().printf("Neutral Sinking: Retracting piston 10 mm\n\r"); |
tnhnrl | 17:7c16b5671d0e | 456 | previousPosition_mm -= 10; |
tnhnrl | 17:7c16b5671d0e | 457 | bce().setPosition_mm(previousPosition_mm); //no depth command |
tnhnrl | 17:7c16b5671d0e | 458 | |
tnhnrl | 20:8987a9ae2bc7 | 459 | isSubStateTimerRunning = true; //disable this block after one iteration |
tnhnrl | 17:7c16b5671d0e | 460 | } |
tnhnrl | 20:8987a9ae2bc7 | 461 | |
tnhnrl | 20:8987a9ae2bc7 | 462 | // how exit? |
tnhnrl | 20:8987a9ae2bc7 | 463 | //once reached the travel limit, no need to keep trying, so exit |
tnhnrl | 20:8987a9ae2bc7 | 464 | if (bce().getPosition_mm() <= 0) { |
tnhnrl | 20:8987a9ae2bc7 | 465 | output_substate = NEUTRAL_EXIT; |
tnhnrl | 17:7c16b5671d0e | 466 | } |
tnhnrl | 20:8987a9ae2bc7 | 467 | //once deeper than the commanded setpoint... |
tnhnrl | 20:8987a9ae2bc7 | 468 | else if (depthLoop().getPosition() > depthCommand) { |
tnhnrl | 20:8987a9ae2bc7 | 469 | output_substate = NEUTRAL_SLOWLY_RISE; // next state |
tnhnrl | 20:8987a9ae2bc7 | 470 | isSubStateTimerRunning = false; //reset the sub state timer |
tnhnrl | 20:8987a9ae2bc7 | 471 | } |
tnhnrl | 20:8987a9ae2bc7 | 472 | |
tnhnrl | 20:8987a9ae2bc7 | 473 | // what is active? |
tnhnrl | 20:8987a9ae2bc7 | 474 | //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint |
tnhnrl | 20:8987a9ae2bc7 | 475 | if (timer.read() >= _neutral_sink_timer) { |
tnhnrl | 20:8987a9ae2bc7 | 476 | pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! %3.1f\r\n", timer.read()); |
tnhnrl | 20:8987a9ae2bc7 | 477 | pc().printf("\r\n\n (BATT POS: %0.1f) retract 10 mm (time: %3.1f)\r\n", previousPosition_mm, timer.read()); |
tnhnrl | 17:7c16b5671d0e | 478 | |
tnhnrl | 20:8987a9ae2bc7 | 479 | isSubStateTimerRunning = false; //reset the sub state timer |
tnhnrl | 17:7c16b5671d0e | 480 | } |
tnhnrl | 17:7c16b5671d0e | 481 | break; |
tnhnrl | 17:7c16b5671d0e | 482 | |
tnhnrl | 17:7c16b5671d0e | 483 | case NEUTRAL_SLOWLY_RISE: |
tnhnrl | 20:8987a9ae2bc7 | 484 | if (!isSubStateTimerRunning) { |
tnhnrl | 17:7c16b5671d0e | 485 | pc().printf("\r\n\n(9) START NEUTRAL_SLOWLY_RISE (will go off at %0.1f sec)\r\n", timer.read()); |
tnhnrl | 20:8987a9ae2bc7 | 486 | _neutral_rise_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds |
tnhnrl | 17:7c16b5671d0e | 487 | |
tnhnrl | 20:8987a9ae2bc7 | 488 | isSubStateTimerRunning = true; //disable this block after one iteration |
tnhnrl | 17:7c16b5671d0e | 489 | |
tnhnrl | 20:8987a9ae2bc7 | 490 | // what are the commands? |
tnhnrl | 20:8987a9ae2bc7 | 491 | //move piston at start of sequence (extend) |
tnhnrl | 17:7c16b5671d0e | 492 | pc().printf("Neutral Slowly Rise: Extending piston 1 mm\n\r"); |
tnhnrl | 17:7c16b5671d0e | 493 | previousPosition_mm += 1; |
tnhnrl | 17:7c16b5671d0e | 494 | bce().setPosition_mm(previousPosition_mm); //no depth command |
tnhnrl | 17:7c16b5671d0e | 495 | } |
tnhnrl | 17:7c16b5671d0e | 496 | |
tnhnrl | 20:8987a9ae2bc7 | 497 | // how exit? |
tnhnrl | 20:8987a9ae2bc7 | 498 | //once at full travel limit and haven't yet risen, time to give up and exit |
tnhnrl | 20:8987a9ae2bc7 | 499 | if (bce().getPosition_mm() >= bce().getTravelLimit()) { |
tnhnrl | 20:8987a9ae2bc7 | 500 | output_substate = NEUTRAL_EXIT; |
tnhnrl | 17:7c16b5671d0e | 501 | } |
tnhnrl | 17:7c16b5671d0e | 502 | //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration |
tnhnrl | 20:8987a9ae2bc7 | 503 | else if (depthLoop().getVelocity() < 0) { //less than zero ft/s |
tnhnrl | 17:7c16b5671d0e | 504 | pc().printf("\r\n\n(9) NEUTRAL_SLOWLY_RISE: Sink Rate below 0 ft/s [time: %0.1f]\r\n", timer.read()); |
tnhnrl | 17:7c16b5671d0e | 505 | output_substate = NEUTRAL_CHECK_PITCH; |
tnhnrl | 17:7c16b5671d0e | 506 | } |
tnhnrl | 17:7c16b5671d0e | 507 | |
tnhnrl | 20:8987a9ae2bc7 | 508 | // what is active? |
tnhnrl | 20:8987a9ae2bc7 | 509 | //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint |
tnhnrl | 20:8987a9ae2bc7 | 510 | if (timer.read() >= _neutral_sink_timer) { |
tnhnrl | 20:8987a9ae2bc7 | 511 | pc().printf("\r\n\n(9)NEUTRAL_SLOWLY_RISE TIMER COMPLETE! (time: %3.1f)\r\n", timer.read()); |
tnhnrl | 20:8987a9ae2bc7 | 512 | pc().printf("\r\n\n (BATT POS: %0.1f) extend 1 mm %3.1f\r\n", previousPosition_mm, timer.read()); |
tnhnrl | 20:8987a9ae2bc7 | 513 | |
tnhnrl | 20:8987a9ae2bc7 | 514 | isSubStateTimerRunning = false; // reset the sub state timer |
tnhnrl | 17:7c16b5671d0e | 515 | } |
tnhnrl | 17:7c16b5671d0e | 516 | break; |
tnhnrl | 17:7c16b5671d0e | 517 | |
tnhnrl | 20:8987a9ae2bc7 | 518 | case NEUTRAL_CHECK_PITCH : |
tnhnrl | 20:8987a9ae2bc7 | 519 | pc().printf("NEUTRAL_CHECK_PITCH (time: %3.1f) [%0.1f deg, %0.1f deg/s] \r", timer.read(), pitchLoop().getPosition(), pitchLoop().getVelocity()); //debug |
tnhnrl | 20:8987a9ae2bc7 | 520 | //no timeout in this sub FSM state (find_neutral timer still running) |
tnhnrl | 20:8987a9ae2bc7 | 521 | |
tnhnrl | 20:8987a9ae2bc7 | 522 | //what are commands? |
tnhnrl | 17:7c16b5671d0e | 523 | //the BCE piston is maintaining its position |
tnhnrl | 17:7c16b5671d0e | 524 | //the battery is maintaining the pitch at zero degrees |
tnhnrl | 17:7c16b5671d0e | 525 | |
tnhnrl | 20:8987a9ae2bc7 | 526 | // how exit? |
tnhnrl | 20:8987a9ae2bc7 | 527 | //pitch angle and pitch rate within small tolerance |
tnhnrl | 20:8987a9ae2bc7 | 528 | //benchtop tests confirm angle needs to be around 2 degrees |
tnhnrl | 20:8987a9ae2bc7 | 529 | if ((fabs(pitchLoop().getPosition()) < 0.5) and (fabs(pitchLoop().getVelocity()) < 2.0)) { |
tnhnrl | 20:8987a9ae2bc7 | 530 | pc().printf("Saving Positions: BCE: %0.1f mm, BATT: %0.1f\n\r",bce().getPosition_mm(),batt().getPosition_mm()); |
tnhnrl | 20:8987a9ae2bc7 | 531 | |
tnhnrl | 20:8987a9ae2bc7 | 532 | //save positions locally |
tnhnrl | 20:8987a9ae2bc7 | 533 | depthLoop().setOutputOffset(bce().getPosition_mm()); |
tnhnrl | 20:8987a9ae2bc7 | 534 | pitchLoop().setOutputOffset(batt().getPosition_mm()); |
tnhnrl | 17:7c16b5671d0e | 535 | |
tnhnrl | 17:7c16b5671d0e | 536 | //save to neutral.cfg |
tnhnrl | 20:8987a9ae2bc7 | 537 | // Troy: save into the depth.txt and pitch.txt files, not a separate file. |
tnhnrl | 20:8987a9ae2bc7 | 538 | ConfigFileIO().saveNeutralPositions(bce().getPosition_mm(),batt().getPosition_mm()); //BCE, BATT |
tnhnrl | 17:7c16b5671d0e | 539 | |
tnhnrl | 17:7c16b5671d0e | 540 | output_substate = NEUTRAL_EXIT; //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed |
tnhnrl | 17:7c16b5671d0e | 541 | } |
tnhnrl | 17:7c16b5671d0e | 542 | break; |
tnhnrl | 20:8987a9ae2bc7 | 543 | |
tnhnrl | 20:8987a9ae2bc7 | 544 | case NEUTRAL_EXIT : |
tnhnrl | 20:8987a9ae2bc7 | 545 | //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed |
tnhnrl | 20:8987a9ae2bc7 | 546 | pc().printf("substate: NEUTRAL_EXIT\n\r"); |
tnhnrl | 20:8987a9ae2bc7 | 547 | break; |
tnhnrl | 20:8987a9ae2bc7 | 548 | |
tnhnrl | 20:8987a9ae2bc7 | 549 | default : |
tnhnrl | 20:8987a9ae2bc7 | 550 | pc().printf("how did we get to substate default?\n\r"); //debug |
tnhnrl | 20:8987a9ae2bc7 | 551 | output_substate = NEUTRAL_EXIT; //a default within the sub-state machine |
tnhnrl | 17:7c16b5671d0e | 552 | break; |
tnhnrl | 17:7c16b5671d0e | 553 | } |
tnhnrl | 20:8987a9ae2bc7 | 554 | |
tnhnrl | 17:7c16b5671d0e | 555 | return output_substate; |
tnhnrl | 17:7c16b5671d0e | 556 | } |
tnhnrl | 20:8987a9ae2bc7 | 557 | |
tnhnrl | 20:8987a9ae2bc7 | 558 | // keyboard runs independently of the state machine, handling one key at a time |
tnhnrl | 20:8987a9ae2bc7 | 559 | //keyboard updates the desired _keyboard_state that is used in the state machine |
tnhnrl | 20:8987a9ae2bc7 | 560 | //and only allows input when the state is "idle" |
tnhnrl | 17:7c16b5671d0e | 561 | void StateMachine::keyboard() { |
tnhnrl | 16:3363b9f14913 | 562 | char userInput; |
tnhnrl | 20:8987a9ae2bc7 | 563 | |
tnhnrl | 16:3363b9f14913 | 564 | // check keyboard and make settings changes as requested |
tnhnrl | 17:7c16b5671d0e | 565 | // states can be changed only at the start of a sequence (when the system is in SIT_IDLE) |
tnhnrl | 17:7c16b5671d0e | 566 | if (pc().readable() && (_state == SIT_IDLE)) { |
tnhnrl | 16:3363b9f14913 | 567 | // get the key |
tnhnrl | 17:7c16b5671d0e | 568 | userInput = pc().getc(); |
tnhnrl | 17:7c16b5671d0e | 569 | |
tnhnrl | 20:8987a9ae2bc7 | 570 | // keyboard resets timer each time it's used |
tnhnrl | 20:8987a9ae2bc7 | 571 | isTimeoutRunning = false; |
tnhnrl | 17:7c16b5671d0e | 572 | |
tnhnrl | 17:7c16b5671d0e | 573 | pc().printf("KEYBOARD isTimeoutRunning: %d\n\r", isTimeoutRunning); |
tnhnrl | 17:7c16b5671d0e | 574 | |
tnhnrl | 16:3363b9f14913 | 575 | // check command against desired control buttons |
tnhnrl | 16:3363b9f14913 | 576 | if (userInput == 'D' or userInput == 'd') { |
tnhnrl | 17:7c16b5671d0e | 577 | _keyboard_state = DIVE; |
tnhnrl | 16:3363b9f14913 | 578 | } |
tnhnrl | 16:3363b9f14913 | 579 | else if (userInput == 'N' or userInput == 'n') { |
tnhnrl | 17:7c16b5671d0e | 580 | _keyboard_state = FIND_NEUTRAL; |
tnhnrl | 17:7c16b5671d0e | 581 | } |
tnhnrl | 17:7c16b5671d0e | 582 | else if (userInput == 'M' or userInput == 'm') { |
tnhnrl | 17:7c16b5671d0e | 583 | //currently does not run if there is no file. |
tnhnrl | 17:7c16b5671d0e | 584 | |
tnhnrl | 17:7c16b5671d0e | 585 | //need to add method to Sequence Controller that returns -1 |
tnhnrl | 17:7c16b5671d0e | 586 | // or some check that insures you cannot run the dive sequence without a file |
tnhnrl | 17:7c16b5671d0e | 587 | |
tnhnrl | 17:7c16b5671d0e | 588 | stateMachine().getDiveSequence(); //get first sequence on keyboard press |
tnhnrl | 17:7c16b5671d0e | 589 | _keyboard_state = currentStateStruct.state; |
tnhnrl | 17:7c16b5671d0e | 590 | |
tnhnrl | 17:7c16b5671d0e | 591 | pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles |
tnhnrl | 16:3363b9f14913 | 592 | } |
tnhnrl | 16:3363b9f14913 | 593 | else if (userInput == 'R' or userInput == 'r') { |
tnhnrl | 17:7c16b5671d0e | 594 | _keyboard_state = RISE; |
tnhnrl | 16:3363b9f14913 | 595 | } |
tnhnrl | 16:3363b9f14913 | 596 | else if (userInput == 'L' or userInput == 'l') { |
tnhnrl | 17:7c16b5671d0e | 597 | _keyboard_state = FLOAT_LEVEL; |
tnhnrl | 16:3363b9f14913 | 598 | } |
tnhnrl | 16:3363b9f14913 | 599 | else if (userInput == 'B' or userInput == 'b') { |
tnhnrl | 17:7c16b5671d0e | 600 | _keyboard_state = FLOAT_BROADCAST; |
tnhnrl | 16:3363b9f14913 | 601 | } |
tnhnrl | 16:3363b9f14913 | 602 | else if (userInput == 'E' or userInput == 'e') { |
tnhnrl | 17:7c16b5671d0e | 603 | _keyboard_state = EMERGENCY_CLIMB; |
tnhnrl | 16:3363b9f14913 | 604 | } |
tnhnrl | 16:3363b9f14913 | 605 | else if (userInput == 'H' or userInput == 'h') { |
tnhnrl | 16:3363b9f14913 | 606 | pc().printf("running homing procedure\r\n"); |
tnhnrl | 16:3363b9f14913 | 607 | bce().unpause(); bce().homePiston(); bce().pause(); |
tnhnrl | 16:3363b9f14913 | 608 | batt().unpause(); batt().homePiston(); batt().pause(); |
tnhnrl | 16:3363b9f14913 | 609 | } |
tnhnrl | 16:3363b9f14913 | 610 | else if (userInput == 'T' or userInput == 't') { |
tnhnrl | 16:3363b9f14913 | 611 | pc().printf("taring depth sensor\r\n"); |
tnhnrl | 16:3363b9f14913 | 612 | pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); |
tnhnrl | 16:3363b9f14913 | 613 | wait(0.1); |
tnhnrl | 16:3363b9f14913 | 614 | depth().tare(); // tares to ambient (do on surface) |
tnhnrl | 16:3363b9f14913 | 615 | pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); |
tnhnrl | 16:3363b9f14913 | 616 | } |
tnhnrl | 16:3363b9f14913 | 617 | |
tnhnrl | 16:3363b9f14913 | 618 | else if (userInput == '[' or userInput == '{') { |
tnhnrl | 16:3363b9f14913 | 619 | depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint |
tnhnrl | 16:3363b9f14913 | 620 | pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 621 | } |
tnhnrl | 16:3363b9f14913 | 622 | else if (userInput == ']' or userInput == '}') { |
tnhnrl | 16:3363b9f14913 | 623 | depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint |
tnhnrl | 16:3363b9f14913 | 624 | pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 625 | } |
tnhnrl | 16:3363b9f14913 | 626 | else if (userInput == '<' or userInput == ',') { |
tnhnrl | 16:3363b9f14913 | 627 | pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint |
tnhnrl | 16:3363b9f14913 | 628 | pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 629 | } |
tnhnrl | 16:3363b9f14913 | 630 | else if (userInput == '>' or userInput == '.') { |
tnhnrl | 16:3363b9f14913 | 631 | pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint |
tnhnrl | 16:3363b9f14913 | 632 | pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); |
tnhnrl | 16:3363b9f14913 | 633 | } |
tnhnrl | 16:3363b9f14913 | 634 | |
tnhnrl | 16:3363b9f14913 | 635 | else if (userInput == '?') { |
tnhnrl | 16:3363b9f14913 | 636 | pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n"); |
tnhnrl | 16:3363b9f14913 | 637 | wait(0.5); |
tnhnrl | 16:3363b9f14913 | 638 | mbed_reset(); |
tnhnrl | 16:3363b9f14913 | 639 | } |
tnhnrl | 20:8987a9ae2bc7 | 640 | |
tnhnrl | 16:3363b9f14913 | 641 | // change settings |
tnhnrl | 16:3363b9f14913 | 642 | else if (userInput == 'Q' or userInput == 'q') { |
tnhnrl | 16:3363b9f14913 | 643 | pitchCommand -= 0.5; //decrement the pitch setpoint |
tnhnrl | 16:3363b9f14913 | 644 | pitchLoop().setCommand(pitchCommand); |
tnhnrl | 16:3363b9f14913 | 645 | pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 646 | } |
tnhnrl | 16:3363b9f14913 | 647 | else if (userInput == 'W' or userInput == 'w') { |
tnhnrl | 16:3363b9f14913 | 648 | pitchCommand += 0.5; //increment the pitch setpoint |
tnhnrl | 16:3363b9f14913 | 649 | pitchLoop().setCommand(pitchCommand); |
tnhnrl | 16:3363b9f14913 | 650 | pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 651 | } |
tnhnrl | 16:3363b9f14913 | 652 | else if (userInput == 'A' or userInput == 'a') { |
tnhnrl | 16:3363b9f14913 | 653 | depthCommand -= 0.5; //decrement the depth setpoint |
tnhnrl | 16:3363b9f14913 | 654 | depthLoop().setCommand(depthCommand); |
tnhnrl | 16:3363b9f14913 | 655 | pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 656 | } |
tnhnrl | 16:3363b9f14913 | 657 | else if (userInput == 'S' or userInput == 's') { |
tnhnrl | 16:3363b9f14913 | 658 | depthCommand += 0.5; //increment the depth setpoint |
tnhnrl | 16:3363b9f14913 | 659 | depthLoop().setCommand(depthCommand); |
tnhnrl | 16:3363b9f14913 | 660 | pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 661 | } |
tnhnrl | 20:8987a9ae2bc7 | 662 | |
tnhnrl | 16:3363b9f14913 | 663 | else if (userInput == '-') { |
tnhnrl | 17:7c16b5671d0e | 664 | _timeout -= 10.0; //decrement the timeout |
tnhnrl | 17:7c16b5671d0e | 665 | pc().printf(">>> timeout decreased: %d\r\n", _timeout); |
tnhnrl | 16:3363b9f14913 | 666 | } |
tnhnrl | 16:3363b9f14913 | 667 | else if (userInput == '=' or userInput == '+') { |
tnhnrl | 17:7c16b5671d0e | 668 | _timeout += 10.0; //increment the timeout |
tnhnrl | 17:7c16b5671d0e | 669 | pc().printf(">>> timeout increased: %d\r\n", _timeout); |
tnhnrl | 16:3363b9f14913 | 670 | } |
tnhnrl | 16:3363b9f14913 | 671 | |
tnhnrl | 16:3363b9f14913 | 672 | // go to sub-menus for the PID gains (this is blocking) |
tnhnrl | 16:3363b9f14913 | 673 | else if (userInput == '1') { |
tnhnrl | 16:3363b9f14913 | 674 | keyboard_menu_BCE_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 675 | } |
tnhnrl | 16:3363b9f14913 | 676 | else if (userInput == '2') { |
tnhnrl | 16:3363b9f14913 | 677 | keyboard_menu_BATT_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 678 | } |
tnhnrl | 16:3363b9f14913 | 679 | else if (userInput == '3') { |
tnhnrl | 16:3363b9f14913 | 680 | keyboard_menu_DEPTH_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 681 | } |
tnhnrl | 16:3363b9f14913 | 682 | else if (userInput == '4') { |
tnhnrl | 16:3363b9f14913 | 683 | keyboard_menu_PITCH_PID_settings(); |
tnhnrl | 16:3363b9f14913 | 684 | } |
tnhnrl | 16:3363b9f14913 | 685 | |
tnhnrl | 16:3363b9f14913 | 686 | else if (userInput == 'C' or userInput == 'c') { |
tnhnrl | 16:3363b9f14913 | 687 | pc().printf("depth: %3.1f\r\n",depthLoop().getPosition()); |
tnhnrl | 16:3363b9f14913 | 688 | pc().printf("pitch: %3.1f\r\n",imu().getPitch()); |
tnhnrl | 16:3363b9f14913 | 689 | pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 690 | pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 691 | pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 692 | pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm()); |
tnhnrl | 16:3363b9f14913 | 693 | pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 694 | pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand()); |
tnhnrl | 16:3363b9f14913 | 695 | } |
tnhnrl | 16:3363b9f14913 | 696 | else { |
tnhnrl | 17:7c16b5671d0e | 697 | _keyboard_state = -1; |
tnhnrl | 16:3363b9f14913 | 698 | } |
tnhnrl | 17:7c16b5671d0e | 699 | |
tnhnrl | 17:7c16b5671d0e | 700 | //when you read the keyboard successfully, change the state |
tnhnrl | 17:7c16b5671d0e | 701 | _next_state = _keyboard_state; //set state at the end of this function |
tnhnrl | 16:3363b9f14913 | 702 | } |
tnhnrl | 16:3363b9f14913 | 703 | } |
tnhnrl | 20:8987a9ae2bc7 | 704 | |
tnhnrl | 20:8987a9ae2bc7 | 705 | |
tnhnrl | 16:3363b9f14913 | 706 | void StateMachine::keyboard_menu_BCE_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 707 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 708 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 709 | float KP = bce().getControllerP(); // load current value |
tnhnrl | 16:3363b9f14913 | 710 | float KI = bce().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 711 | float KD = bce().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 712 | |
tnhnrl | 16:3363b9f14913 | 713 | // show the menu |
tnhnrl | 16:3363b9f14913 | 714 | pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 715 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 716 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); |
tnhnrl | 16:3363b9f14913 | 717 | 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()); |
tnhnrl | 16:3363b9f14913 | 718 | |
tnhnrl | 16:3363b9f14913 | 719 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 720 | while(1) { |
tnhnrl | 16:3363b9f14913 | 721 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 722 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 723 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 724 | } |
tnhnrl | 16:3363b9f14913 | 725 | else { |
tnhnrl | 16:3363b9f14913 | 726 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 727 | } |
tnhnrl | 16:3363b9f14913 | 728 | |
tnhnrl | 16:3363b9f14913 | 729 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 730 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 731 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 732 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 733 | } |
tnhnrl | 16:3363b9f14913 | 734 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 735 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 736 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 737 | } |
tnhnrl | 16:3363b9f14913 | 738 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 739 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 740 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 741 | } |
tnhnrl | 16:3363b9f14913 | 742 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 743 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 744 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 745 | } |
tnhnrl | 16:3363b9f14913 | 746 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 747 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 748 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 749 | } |
tnhnrl | 16:3363b9f14913 | 750 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 751 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 752 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 753 | } |
tnhnrl | 16:3363b9f14913 | 754 | else if (PID_key == 'S') { // user wants to save these modified values |
tnhnrl | 16:3363b9f14913 | 755 | // set values |
tnhnrl | 16:3363b9f14913 | 756 | bce().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 757 | bce().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 758 | bce().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 759 | |
tnhnrl | 16:3363b9f14913 | 760 | // save into "PID.cfg" |
tnhnrl | 16:3363b9f14913 | 761 | //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); |
tnhnrl | 16:3363b9f14913 | 762 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 763 | } |
tnhnrl | 16:3363b9f14913 | 764 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 765 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 766 | } |
tnhnrl | 16:3363b9f14913 | 767 | else { |
tnhnrl | 16:3363b9f14913 | 768 | pc().printf("\n\rThis key does nothing here. "); |
tnhnrl | 16:3363b9f14913 | 769 | } |
tnhnrl | 16:3363b9f14913 | 770 | } |
tnhnrl | 16:3363b9f14913 | 771 | } |
tnhnrl | 20:8987a9ae2bc7 | 772 | |
tnhnrl | 16:3363b9f14913 | 773 | void StateMachine::keyboard_menu_BATT_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 774 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 775 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 776 | float KP = batt().getControllerP(); // load current global value |
tnhnrl | 16:3363b9f14913 | 777 | float KI = batt().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 778 | float KD = batt().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 779 | |
tnhnrl | 16:3363b9f14913 | 780 | // print the menu |
tnhnrl | 16:3363b9f14913 | 781 | pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 782 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 783 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); |
tnhnrl | 16:3363b9f14913 | 784 | 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()); |
tnhnrl | 20:8987a9ae2bc7 | 785 | |
tnhnrl | 16:3363b9f14913 | 786 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 787 | while(1) { |
tnhnrl | 16:3363b9f14913 | 788 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 789 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 790 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 791 | } |
tnhnrl | 16:3363b9f14913 | 792 | else { |
tnhnrl | 16:3363b9f14913 | 793 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 794 | } |
tnhnrl | 16:3363b9f14913 | 795 | |
tnhnrl | 16:3363b9f14913 | 796 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 797 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 798 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 799 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 800 | } |
tnhnrl | 16:3363b9f14913 | 801 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 802 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 803 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 804 | } |
tnhnrl | 16:3363b9f14913 | 805 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 806 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 807 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 808 | } |
tnhnrl | 16:3363b9f14913 | 809 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 810 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 811 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 812 | } |
tnhnrl | 16:3363b9f14913 | 813 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 814 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 815 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 816 | } |
tnhnrl | 16:3363b9f14913 | 817 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 818 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 819 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 820 | } |
tnhnrl | 16:3363b9f14913 | 821 | else if (PID_key == 'S') { // user wants to save the modified values |
tnhnrl | 16:3363b9f14913 | 822 | // set global values |
tnhnrl | 16:3363b9f14913 | 823 | batt().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 824 | batt().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 825 | batt().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 826 | |
tnhnrl | 16:3363b9f14913 | 827 | // save to "PID.cfg" file |
tnhnrl | 16:3363b9f14913 | 828 | //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); |
tnhnrl | 16:3363b9f14913 | 829 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 830 | } |
tnhnrl | 16:3363b9f14913 | 831 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 832 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 833 | } |
tnhnrl | 16:3363b9f14913 | 834 | else { |
tnhnrl | 16:3363b9f14913 | 835 | pc().printf("This key does nothing here.\r"); |
tnhnrl | 16:3363b9f14913 | 836 | } |
tnhnrl | 16:3363b9f14913 | 837 | } |
tnhnrl | 16:3363b9f14913 | 838 | } |
tnhnrl | 20:8987a9ae2bc7 | 839 | |
tnhnrl | 16:3363b9f14913 | 840 | void StateMachine::keyboard_menu_DEPTH_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 841 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 842 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 843 | float KP = depthLoop().getControllerP(); // load current global value |
tnhnrl | 16:3363b9f14913 | 844 | float KI = depthLoop().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 845 | float KD = depthLoop().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 846 | |
tnhnrl | 16:3363b9f14913 | 847 | // show the menu |
tnhnrl | 16:3363b9f14913 | 848 | pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 849 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 850 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r"); |
tnhnrl | 16:3363b9f14913 | 851 | 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()); |
tnhnrl | 16:3363b9f14913 | 852 | |
tnhnrl | 16:3363b9f14913 | 853 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 854 | while(1) { |
tnhnrl | 16:3363b9f14913 | 855 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 856 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 857 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 858 | } |
tnhnrl | 16:3363b9f14913 | 859 | else { |
tnhnrl | 16:3363b9f14913 | 860 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 861 | } |
tnhnrl | 16:3363b9f14913 | 862 | |
tnhnrl | 16:3363b9f14913 | 863 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 864 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 865 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 866 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 867 | } |
tnhnrl | 16:3363b9f14913 | 868 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 869 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 870 | pc().printf("P gain: %0.5f \r\n", KP); |
tnhnrl | 16:3363b9f14913 | 871 | } |
tnhnrl | 16:3363b9f14913 | 872 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 873 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 874 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 875 | } |
tnhnrl | 16:3363b9f14913 | 876 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 877 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 878 | pc().printf("I gain: %0.5f \r\n", KI); |
tnhnrl | 16:3363b9f14913 | 879 | } |
tnhnrl | 16:3363b9f14913 | 880 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 881 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 882 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 883 | } |
tnhnrl | 16:3363b9f14913 | 884 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 885 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 886 | pc().printf("D gain: %0.5f \r\n", KD); |
tnhnrl | 16:3363b9f14913 | 887 | } |
tnhnrl | 16:3363b9f14913 | 888 | else if (PID_key == 'S') { // user wants to save these settings |
tnhnrl | 16:3363b9f14913 | 889 | // set global values |
tnhnrl | 16:3363b9f14913 | 890 | depthLoop().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 891 | depthLoop().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 892 | depthLoop().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 893 | |
tnhnrl | 16:3363b9f14913 | 894 | // save into "PID.cfg" |
tnhnrl | 16:3363b9f14913 | 895 | //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); |
tnhnrl | 16:3363b9f14913 | 896 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 897 | } |
tnhnrl | 16:3363b9f14913 | 898 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 899 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 900 | } |
tnhnrl | 16:3363b9f14913 | 901 | else { |
tnhnrl | 16:3363b9f14913 | 902 | pc().printf("\n\rThis key does nothing here. "); |
tnhnrl | 16:3363b9f14913 | 903 | } |
tnhnrl | 16:3363b9f14913 | 904 | } |
tnhnrl | 16:3363b9f14913 | 905 | } |
tnhnrl | 16:3363b9f14913 | 906 | |
tnhnrl | 16:3363b9f14913 | 907 | void StateMachine::keyboard_menu_PITCH_PID_settings() { |
tnhnrl | 16:3363b9f14913 | 908 | char PID_key; |
tnhnrl | 16:3363b9f14913 | 909 | float gain_step_size = 0.01; // modify this to change gain step size |
tnhnrl | 16:3363b9f14913 | 910 | float KP = pitchLoop().getControllerP(); // load current global value |
tnhnrl | 16:3363b9f14913 | 911 | float KI = pitchLoop().getControllerI(); // load current global value |
tnhnrl | 16:3363b9f14913 | 912 | float KD = pitchLoop().getControllerD(); // load current global value |
tnhnrl | 16:3363b9f14913 | 913 | |
tnhnrl | 16:3363b9f14913 | 914 | // print the menu |
tnhnrl | 16:3363b9f14913 | 915 | pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); |
tnhnrl | 16:3363b9f14913 | 916 | pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); |
tnhnrl | 16:3363b9f14913 | 917 | pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); |
tnhnrl | 16:3363b9f14913 | 918 | 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()); |
tnhnrl | 20:8987a9ae2bc7 | 919 | |
tnhnrl | 16:3363b9f14913 | 920 | // handle the key presses |
tnhnrl | 16:3363b9f14913 | 921 | while(1) { |
tnhnrl | 16:3363b9f14913 | 922 | // get the user's keystroke from either of the two inputs |
tnhnrl | 16:3363b9f14913 | 923 | if (pc().readable()) { |
tnhnrl | 16:3363b9f14913 | 924 | PID_key = pc().getc(); |
tnhnrl | 16:3363b9f14913 | 925 | } |
tnhnrl | 16:3363b9f14913 | 926 | else { |
tnhnrl | 16:3363b9f14913 | 927 | continue; // didn't get a user input, so keep waiting for it |
tnhnrl | 16:3363b9f14913 | 928 | } |
tnhnrl | 16:3363b9f14913 | 929 | |
tnhnrl | 16:3363b9f14913 | 930 | // handle the user's key input |
tnhnrl | 16:3363b9f14913 | 931 | if (PID_key == '-') { |
tnhnrl | 16:3363b9f14913 | 932 | KP -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 933 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 934 | } |
tnhnrl | 16:3363b9f14913 | 935 | else if (PID_key == '=') { |
tnhnrl | 16:3363b9f14913 | 936 | KP += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 937 | pc().printf("\rP gain: %0.5f ", KP); |
tnhnrl | 16:3363b9f14913 | 938 | } |
tnhnrl | 16:3363b9f14913 | 939 | else if (PID_key == '[') { |
tnhnrl | 16:3363b9f14913 | 940 | KI -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 941 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 942 | } |
tnhnrl | 16:3363b9f14913 | 943 | else if (PID_key == ']') { |
tnhnrl | 16:3363b9f14913 | 944 | KI += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 945 | pc().printf("\rI gain: %0.5f ", KI); |
tnhnrl | 16:3363b9f14913 | 946 | } |
tnhnrl | 16:3363b9f14913 | 947 | else if (PID_key == ';') { |
tnhnrl | 16:3363b9f14913 | 948 | KD -= gain_step_size; |
tnhnrl | 16:3363b9f14913 | 949 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 950 | } |
tnhnrl | 16:3363b9f14913 | 951 | else if (PID_key == '\'') { |
tnhnrl | 16:3363b9f14913 | 952 | KD += gain_step_size; |
tnhnrl | 16:3363b9f14913 | 953 | pc().printf("\rD gain: %0.5f ", KD); |
tnhnrl | 16:3363b9f14913 | 954 | } |
tnhnrl | 16:3363b9f14913 | 955 | else if (PID_key == 'S') { // user wants to save the modified values |
tnhnrl | 16:3363b9f14913 | 956 | // set global values |
tnhnrl | 16:3363b9f14913 | 957 | pitchLoop().setControllerP(KP); |
tnhnrl | 16:3363b9f14913 | 958 | pitchLoop().setControllerI(KI); |
tnhnrl | 16:3363b9f14913 | 959 | pitchLoop().setControllerD(KD); |
tnhnrl | 16:3363b9f14913 | 960 | |
tnhnrl | 16:3363b9f14913 | 961 | //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); |
tnhnrl | 16:3363b9f14913 | 962 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 963 | } |
tnhnrl | 16:3363b9f14913 | 964 | else if (PID_key == 'X') { |
tnhnrl | 16:3363b9f14913 | 965 | break; //exit the while loop |
tnhnrl | 16:3363b9f14913 | 966 | } |
tnhnrl | 16:3363b9f14913 | 967 | else { |
tnhnrl | 16:3363b9f14913 | 968 | pc().printf("This key does nothing here.\r"); |
tnhnrl | 16:3363b9f14913 | 969 | } |
tnhnrl | 16:3363b9f14913 | 970 | } |
tnhnrl | 16:3363b9f14913 | 971 | } |
tnhnrl | 20:8987a9ae2bc7 | 972 | |
tnhnrl | 16:3363b9f14913 | 973 | float StateMachine::getDepthCommand() { |
tnhnrl | 16:3363b9f14913 | 974 | return depthCommand; |
tnhnrl | 16:3363b9f14913 | 975 | } |
tnhnrl | 20:8987a9ae2bc7 | 976 | |
tnhnrl | 16:3363b9f14913 | 977 | float StateMachine::getPitchCommand() { |
tnhnrl | 16:3363b9f14913 | 978 | return pitchCommand; |
tnhnrl | 17:7c16b5671d0e | 979 | } |
tnhnrl | 20:8987a9ae2bc7 | 980 | |
tnhnrl | 17:7c16b5671d0e | 981 | void StateMachine::setState(int input_state) { |
tnhnrl | 17:7c16b5671d0e | 982 | //pc().printf("input_state: %d\n\r", input_state); //debug |
tnhnrl | 17:7c16b5671d0e | 983 | //_state = input_state; //changing wrong variable |
tnhnrl | 17:7c16b5671d0e | 984 | _next_state = input_state; |
tnhnrl | 17:7c16b5671d0e | 985 | } |
tnhnrl | 20:8987a9ae2bc7 | 986 | |
tnhnrl | 17:7c16b5671d0e | 987 | int StateMachine::getState() { |
tnhnrl | 17:7c16b5671d0e | 988 | return _state; //return the current state of the system |
tnhnrl | 17:7c16b5671d0e | 989 | } |
tnhnrl | 20:8987a9ae2bc7 | 990 | |
tnhnrl | 17:7c16b5671d0e | 991 | void StateMachine::setTimeout(float input_timeout) { |
tnhnrl | 17:7c16b5671d0e | 992 | _timeout = input_timeout; |
tnhnrl | 17:7c16b5671d0e | 993 | } |
tnhnrl | 20:8987a9ae2bc7 | 994 | |
tnhnrl | 17:7c16b5671d0e | 995 | void StateMachine::setDepthCommand(float input_depth_command) { |
tnhnrl | 17:7c16b5671d0e | 996 | depthCommand = input_depth_command; |
tnhnrl | 17:7c16b5671d0e | 997 | } |
tnhnrl | 20:8987a9ae2bc7 | 998 | |
tnhnrl | 17:7c16b5671d0e | 999 | void StateMachine::setPitchCommand(float input_pitch_command) { |
tnhnrl | 17:7c16b5671d0e | 1000 | pitchCommand = input_pitch_command; |
tnhnrl | 17:7c16b5671d0e | 1001 | } |
tnhnrl | 20:8987a9ae2bc7 | 1002 | |
tnhnrl | 17:7c16b5671d0e | 1003 | void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) { |
tnhnrl | 17:7c16b5671d0e | 1004 | _neutral_buoyancy_batt_pos_mm = batt_pos_mm; |
tnhnrl | 17:7c16b5671d0e | 1005 | _neutral_buoyancy_bce_pos_mm = bce_pos_mm; |
tnhnrl | 17:7c16b5671d0e | 1006 | |
tnhnrl | 17:7c16b5671d0e | 1007 | pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_buoyancy_batt_pos_mm,_neutral_buoyancy_bce_pos_mm); |
tnhnrl | 17:7c16b5671d0e | 1008 | } |
tnhnrl | 20:8987a9ae2bc7 | 1009 | |
tnhnrl | 17:7c16b5671d0e | 1010 | int StateMachine::timeoutRunning() { |
tnhnrl | 17:7c16b5671d0e | 1011 | return isTimeoutRunning; |
tnhnrl | 17:7c16b5671d0e | 1012 | } |
tnhnrl | 20:8987a9ae2bc7 | 1013 | |
tnhnrl | 17:7c16b5671d0e | 1014 | //process one state at a time |
tnhnrl | 17:7c16b5671d0e | 1015 | void StateMachine::getDiveSequence() { |
tnhnrl | 17:7c16b5671d0e | 1016 | //iterate through this sequence using the FSM |
tnhnrl | 17:7c16b5671d0e | 1017 | currentStateStruct.state = sequenceController().sequenceStructLoaded[_state_counter].state; |
tnhnrl | 17:7c16b5671d0e | 1018 | currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_state_counter].timeout; |
tnhnrl | 17:7c16b5671d0e | 1019 | currentStateStruct.depth = sequenceController().sequenceStructLoaded[_state_counter].depth; |
tnhnrl | 17:7c16b5671d0e | 1020 | currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_state_counter].pitch; |
tnhnrl | 17:7c16b5671d0e | 1021 | |
tnhnrl | 17:7c16b5671d0e | 1022 | _timeout = currentStateStruct.timeout; //set timeout before exiting this function |
tnhnrl | 16:3363b9f14913 | 1023 | } |