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

StateMachine/StateMachine.hpp@22:a10ee088403b, 2017-11-23 (annotated)

Committer:
danstrider
Date:
Thu Nov 23 02:20:08 2017 +0000
Revision:
22:a10ee088403b
Parent:
21:38c8544db6f4
Child:
23:434f04ef1fad
Added ability for battery to move to find the pitch level.  Added a sub state (uses fall-thru) to find level before sinking.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 16:3363b9f14913 1 #ifndef STATEMACHINE_HPP
tnhnrl 16:3363b9f14913 2 #define STATEMACHINE_HPP
tnhnrl 20:8987a9ae2bc7 3
tnhnrl 16:3363b9f14913 4 #include "mbed.h"
tnhnrl 20:8987a9ae2bc7 5
tnhnrl 16:3363b9f14913 6 extern "C" void mbed_reset(); // utilized to reset the mbed
tnhnrl 20:8987a9ae2bc7 7
tnhnrl 20:8987a9ae2bc7 8 // main finite state enumerations
tnhnrl 16:3363b9f14913 9 enum {
tnhnrl 17:7c16b5671d0e 10 SIT_IDLE, // stops both motors, exits after a keyboard input
tnhnrl 17:7c16b5671d0e 11 FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable
tnhnrl 17:7c16b5671d0e 12 DIVE, // dives to depth at negative pitch, exits when crossing a defined depth
tnhnrl 17:7c16b5671d0e 13 RISE, // rises to surface at positive pitch, exits when near surface
tnhnrl 17:7c16b5671d0e 14 FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch
tnhnrl 17:7c16b5671d0e 15 FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done
tnhnrl 17:7c16b5671d0e 16 EMERGENCY_CLIMB, // bce position to full rise, batt position to full aft, exits when at surface
danstrider 22:a10ee088403b 17 MULTI_DIVE, // multi-dive sequence
danstrider 22:a10ee088403b 18 MULTI_RISE // multi-rise sequence
tnhnrl 20:8987a9ae2bc7 19 };
tnhnrl 20:8987a9ae2bc7 20
tnhnrl 20:8987a9ae2bc7 21 // find_neutral finite state machine enumerations
tnhnrl 20:8987a9ae2bc7 22 enum {
danstrider 22:a10ee088403b 23 NEUTRAL_FIRST_PITCH, // NEW first state: find level by moving the battery
danstrider 22:a10ee088403b 24 NEUTRAL_SINKING, // increment the bce until really start sinking
danstrider 22:a10ee088403b 25 NEUTRAL_SLOWLY_RISE, // once sinking, arrest the sink
danstrider 22:a10ee088403b 26 NEUTRAL_CHECK_PITCH, // find level again, then save the data and exit
danstrider 22:a10ee088403b 27 NEUTRAL_EXIT // sub-FSM has completed all checks
tnhnrl 17:7c16b5671d0e 28 };
tnhnrl 20:8987a9ae2bc7 29
tnhnrl 17:7c16b5671d0e 30 //struct for saving the data
tnhnrl 17:7c16b5671d0e 31 struct currentSequenceStruct {
tnhnrl 17:7c16b5671d0e 32 int state; //for the current StateMachine, states are ID-ed with enumeration
tnhnrl 17:7c16b5671d0e 33 float timeout;
tnhnrl 17:7c16b5671d0e 34 float depth;
tnhnrl 17:7c16b5671d0e 35 float pitch;
tnhnrl 16:3363b9f14913 36 };
tnhnrl 20:8987a9ae2bc7 37
tnhnrl 16:3363b9f14913 38 class StateMachine {
tnhnrl 16:3363b9f14913 39 public:
tnhnrl 16:3363b9f14913 40 StateMachine();
tnhnrl 16:3363b9f14913 41
tnhnrl 16:3363b9f14913 42 void runStateMachine();
tnhnrl 16:3363b9f14913 43
tnhnrl 16:3363b9f14913 44 void showMenu();
tnhnrl 16:3363b9f14913 45
tnhnrl 17:7c16b5671d0e 46 void keyboard();
tnhnrl 16:3363b9f14913 47
tnhnrl 16:3363b9f14913 48 void keyboard_menu_BCE_PID_settings();
tnhnrl 16:3363b9f14913 49 void keyboard_menu_BATT_PID_settings();
tnhnrl 16:3363b9f14913 50 void keyboard_menu_DEPTH_PID_settings();
tnhnrl 16:3363b9f14913 51 void keyboard_menu_PITCH_PID_settings();
tnhnrl 16:3363b9f14913 52
tnhnrl 16:3363b9f14913 53 float getDepthCommand();
tnhnrl 16:3363b9f14913 54 float getPitchCommand();
tnhnrl 16:3363b9f14913 55
tnhnrl 21:38c8544db6f4 56 int runNeutralStateMachine(); //substate returns the state (which is used in overall FSM)
tnhnrl 17:7c16b5671d0e 57
tnhnrl 17:7c16b5671d0e 58 void setState(int input_state);
tnhnrl 17:7c16b5671d0e 59 int getState();
tnhnrl 17:7c16b5671d0e 60 void setTimeout(float input_timeout);
tnhnrl 17:7c16b5671d0e 61 void setDepthCommand(float input_depth_command);
tnhnrl 17:7c16b5671d0e 62 void setPitchCommand(float input_pitch_command);
tnhnrl 17:7c16b5671d0e 63
tnhnrl 17:7c16b5671d0e 64 void setNeutralPositions(float batt_pos_mm, float bce_pos_mm);
tnhnrl 17:7c16b5671d0e 65
tnhnrl 17:7c16b5671d0e 66 int timeoutRunning();
tnhnrl 17:7c16b5671d0e 67
tnhnrl 21:38c8544db6f4 68 void getDiveSequence(); //used in multi-dive sequence with public variables for now
tnhnrl 17:7c16b5671d0e 69
tnhnrl 16:3363b9f14913 70 private:
tnhnrl 17:7c16b5671d0e 71 int _timeout; // generic timeout for every state, seconds
tnhnrl 16:3363b9f14913 72 float depthTolerance; // depth tolerance for neutral finding exit critera
tnhnrl 16:3363b9f14913 73 float pitchTolerance; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 16:3363b9f14913 74 float bceFloatPosition; // bce position for "float" states
tnhnrl 16:3363b9f14913 75 float battFloatPosition; // batt position for "broadcast" state
tnhnrl 16:3363b9f14913 76
tnhnrl 16:3363b9f14913 77 float depthCommand; // user keyboard depth
tnhnrl 16:3363b9f14913 78 float pitchCommand; // user keyboard depth
tnhnrl 16:3363b9f14913 79
tnhnrl 16:3363b9f14913 80 Timer timer;
tnhnrl 17:7c16b5671d0e 81
danstrider 22:a10ee088403b 82 int _state; // Fine State Machine (FSM) state
danstrider 22:a10ee088403b 83 int _sub_state; // substate on find_neutral function
danstrider 22:a10ee088403b 84 int _previous_sub_state; // previous substate so that what goes into the sub-state is not being changed as it is processed
danstrider 22:a10ee088403b 85 float _neutral_sink_timer; // keep time for sink incremnets
danstrider 22:a10ee088403b 86 float _neutral_rise_timer; // keep time for rise increment
danstrider 22:a10ee088403b 87 float _level_timer; // keep time for finding level increments
tnhnrl 17:7c16b5671d0e 88
tnhnrl 17:7c16b5671d0e 89 bool isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 90
tnhnrl 17:7c16b5671d0e 91 float previousPosition_mm;
tnhnrl 20:8987a9ae2bc7 92 bool isSubStateTimerRunning;
tnhnrl 17:7c16b5671d0e 93
tnhnrl 21:38c8544db6f4 94 float _neutral_bce_pos_mm;
tnhnrl 21:38c8544db6f4 95 float _neutral_batt_pos_mm;
tnhnrl 17:7c16b5671d0e 96
tnhnrl 17:7c16b5671d0e 97 int _state_counter;
tnhnrl 21:38c8544db6f4 98 currentSequenceStruct currentStateStruct; //type_of_struct struct_name
tnhnrl 21:38c8544db6f4 99
tnhnrl 21:38c8544db6f4 100 bool _neutral_sub_state_active; // controls neutral_sub_state
tnhnrl 21:38c8544db6f4 101
tnhnrl 21:38c8544db6f4 102 float _depth_KP;
tnhnrl 21:38c8544db6f4 103 float _depth_KI;
tnhnrl 21:38c8544db6f4 104 float _depth_KD;
tnhnrl 21:38c8544db6f4 105
tnhnrl 21:38c8544db6f4 106 float _pitch_KP;
tnhnrl 21:38c8544db6f4 107 float _pitch_KI;
tnhnrl 21:38c8544db6f4 108 float _pitch_KD;
tnhnrl 16:3363b9f14913 109 };
tnhnrl 20:8987a9ae2bc7 110
tnhnrl 16:3363b9f14913 111 #endif