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

Thu Nov 23 02:20:08 2017 +0000
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
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 15:2a8cfd3f1cf5 48 Modified 2017-10-31 (again) by Dan, Matt, and Troy
danstrider 15:2a8cfd3f1cf5 49 - POOL TESTED!
danstrider 15:2a8cfd3f1cf5 50 - Tuned the PID gains with magic. Works to hold mostly level during BCE runs. Dive is awesome.
danstrider 15:2a8cfd3f1cf5 51 - Neutral won't do what we want ... without large depth P, it won't get to depth.
danstrider 15:2a8cfd3f1cf5 52 - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg. Timeout should probably be RISE.
danstrider 15:2a8cfd3f1cf5 53 - Files depth/pitch updated with tuned defaults.
tnhnrl 16:3363b9f14913 54 Modified 2017-11-06 by Troy
tnhnrl 16:3363b9f14913 55 - Added acronyms to print statements (when running this with XBee you don't know what mode the
tnhnrl 16:3363b9f14913 56 hardware is in because of signal dropping out)
tnhnrl 16:3363b9f14913 57 - Fixed print error with setpoints by printing out the setpoint variable, not the outerloop getCommand
tnhnrl 16:3363b9f14913 58 (command is sent every time hardware dives, finds neutral, etc.)
tnhnrl 16:3363b9f14913 59 - Set the pitchCommand input to 0 on the "find neutral" command, it was sending a non-zero pitch command
tnhnrl 16:3363b9f14913 60 - Created a class for the StateMachine
tnhnrl 17:7c16b5671d0e 61 Modified 2017-11-14 by Troy
tnhnrl 17:7c16b5671d0e 62 - Changed tare to void function (functions does not return anything when called)
tnhnrl 17:7c16b5671d0e 63 - Added a "subclass" in the cases for the Neutral Finding Sequence (Sinking, Slowly Rise, Check Pitch (and save positions))
tnhnrl 17:7c16b5671d0e 64 Modified 2017-11-20 by Troy
tnhnrl 17:7c16b5671d0e 65 - Modified StateMachine class to separate keyboard inputs from FSM
tnhnrl 17:7c16b5671d0e 66 - Added Neutral Finding sub-statemachine
tnhnrl 17:7c16b5671d0e 67 - Verified both state machines are working with hardware on desktop
tnhnrl 17:7c16b5671d0e 68 - Added class to save neutral battery and buoyancy engine positions to neutral.cfg file
tnhnrl 17:7c16b5671d0e 69 Modified 2017-11-21 by Troy
tnhnrl 17:7c16b5671d0e 70 - Need to check remove ConfigFileIO and place saving functions into config_functions.cpp (rename ConfigFunctions.cpp)
tnhnrl 17:7c16b5671d0e 71 - Added multi-dive (and multi-rise) states to FSM (may incorporate single dive states into states)
tnhnrl 17:7c16b5671d0e 72 - Need to double-check behavior of sub-FSM but bench-top testing showed correct behavior for transition from sinking, to slowly rise, to check pitch
tnhnrl 17:7c16b5671d0e 73 - Need to add a check for the multi-dive sequence file (sequence.cfg) being loaded on the MBED
tnhnrl 20:8987a9ae2bc7 74 Modified 2017-11-21 by Dan
tnhnrl 20:8987a9ae2bc7 75 - removed blocker and set up a loop rate timer that runs the state machine and keyboard at 10 Hz.
tnhnrl 20:8987a9ae2bc7 76 - work inside StateMachine and particularly in the findNeutralSubState.
tnhnrl 21:38c8544db6f4 77 Modified 2017-11-22 by Troy
tnhnrl 21:38c8544db6f4 78 - Placed config_functions into ConfigFileIO and added the ability to write the neutral positions to the depth & pitch files
tnhnrl 21:38c8544db6f4 79 - Streamlined sub-FSM and Find_Neutral state
tnhnrl 21:38c8544db6f4 80 - PID depth and pitch gains have been made into class variables so that they can be resaved to the depth/pitch files
tnhnrl 21:38c8544db6f4 81 - Added the ability to save depth & pitch gains and neutral offsets (configfile writes entire file at once)
tnhnrl 21:38c8544db6f4 82 - Minor formatting fixes
tnhnrl 21:38c8544db6f4 83 - Fixed issue with keyboard function, the keyboard function was continuously active instead of checking pc readable in sit idle
tnhnrl 21:38c8544db6f4 84 - Bench tested neutral finding sequence and multi-dive sequence, so far so good
tnhnrl 21:38c8544db6f4 85 - Question: Why do we want the keyboard and FSM to run together, specifically allowing the FSM call the keyboard?
danstrider 22:a10ee088403b 86 Modified 2017-11-22 by Dan
danstrider 22:a10ee088403b 87 - added ability for substate NEUTRAL_CHECK_PITCH to move the battery toward level, then saves offsets.
danstrider 22:a10ee088403b 88 - added new entry state NEUTRAL_FIRST_PITCH that also moves the battery toward level, but doesn't save.
danstrider 10:085ab7328054 89 */
tnhnrl 20:8987a9ae2bc7 90
tzyoung 0:ea293bbf9717 91 #include "mbed.h"
tzyoung 0:ea293bbf9717 92 #include "StaticDefs.hpp"
tnhnrl 20:8987a9ae2bc7 93
tnhnrl 20:8987a9ae2bc7 94 // loop rate timer for slowing down how fast while(1) runs in main()
tnhnrl 20:8987a9ae2bc7 95 Ticker loop_rate_ticker;
tnhnrl 20:8987a9ae2bc7 96 volatile bool loop = false;
tnhnrl 20:8987a9ae2bc7 97 void loop_trigger() { loop = true; }; // loop trigger
tnhnrl 20:8987a9ae2bc7 98
danstrider 10:085ab7328054 99 void setup() {
danstrider 11:3b241ecb75ed 100 pc().baud(57600);
tnhnrl 21:38c8544db6f4 101 pc().printf("\n\n\rFSG 2017-11-22\n\n\r");
tnhnrl 20:8987a9ae2bc7 102
danstrider 10:085ab7328054 103 // start up the system timer
tzyoung 0:ea293bbf9717 104 systemTime().start();
tnhnrl 20:8987a9ae2bc7 105
danstrider 10:085ab7328054 106 // set up and start the adc. This runs on a fixed interval and is interrupt driven
tzyoung 0:ea293bbf9717 107 adc().initialize();
tzyoung 0:ea293bbf9717 108 adc().start();
danstrider 10:085ab7328054 109
danstrider 10:085ab7328054 110 // set up and start the imu. This polls in the background
danstrider 10:085ab7328054 111 imu().initialize();
danstrider 10:085ab7328054 112 imu().start();
danstrider 10:085ab7328054 113
danstrider 10:085ab7328054 114 // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
danstrider 14:85b64a4d08e8 115 depth().init();
danstrider 14:85b64a4d08e8 116 depth().tare();
danstrider 10:085ab7328054 117
danstrider 10:085ab7328054 118 // construct a local file system
danstrider 10:085ab7328054 119 local();
tnhnrl 20:8987a9ae2bc7 120
danstrider 10:085ab7328054 121 // load config data from files
tnhnrl 21:38c8544db6f4 122 configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt"
tnhnrl 21:38c8544db6f4 123 configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt"
tnhnrl 21:38c8544db6f4 124 configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position)
tnhnrl 21:38c8544db6f4 125 configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position)
tnhnrl 20:8987a9ae2bc7 126
danstrider 10:085ab7328054 127 // set up the linear actuators. adc has to be running first.
danstrider 10:085ab7328054 128 bce().init();
danstrider 10:085ab7328054 129 bce().start();
mkelly10 12:a0519d11d2b6 130 bce().pause(); // start by not moving
tnhnrl 20:8987a9ae2bc7 131
danstrider 10:085ab7328054 132 batt().init();
tzyoung 2:892b58e56712 133 batt().start();
mkelly10 12:a0519d11d2b6 134 batt().pause(); // start by not moving
tnhnrl 20:8987a9ae2bc7 135
danstrider 10:085ab7328054 136 // set up the depth and pitch outer loop controllers
danstrider 10:085ab7328054 137 depthLoop().init();
tnhnrl 13:84fcbe1dcd62 138 depthLoop().start();
tnhnrl 16:3363b9f14913 139 depthLoop().setCommand(stateMachine().getDepthCommand());
tnhnrl 20:8987a9ae2bc7 140
danstrider 10:085ab7328054 141 pitchLoop().init();
tnhnrl 13:84fcbe1dcd62 142 pitchLoop().start();
tnhnrl 16:3363b9f14913 143 pitchLoop().setCommand(stateMachine().getPitchCommand());
tnhnrl 20:8987a9ae2bc7 144
tnhnrl 20:8987a9ae2bc7 145 // show that the PID gains are loading from the file
tnhnrl 21:38c8544db6f4 146 pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
tnhnrl 21:38c8544db6f4 147 pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
tnhnrl 21:38c8544db6f4 148 pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
tnhnrl 21:38c8544db6f4 149 pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
danstrider 10:085ab7328054 150 pc().printf("\n\r");
tnhnrl 21:38c8544db6f4 151
tnhnrl 17:7c16b5671d0e 152 //load sequence from file
tnhnrl 17:7c16b5671d0e 153 sequenceController().loadSequence();
tnhnrl 20:8987a9ae2bc7 154
tnhnrl 20:8987a9ae2bc7 155 // establish the main loop rate
tnhnrl 20:8987a9ae2bc7 156 loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate
tnhnrl 21:38c8544db6f4 157 }
tnhnrl 20:8987a9ae2bc7 158
danstrider 10:085ab7328054 159 int main() {
danstrider 10:085ab7328054 160 setup();
tnhnrl 16:3363b9f14913 161
danstrider 10:085ab7328054 162 while(1) {
tnhnrl 20:8987a9ae2bc7 163 // does this stuff at the loop rate
tnhnrl 20:8987a9ae2bc7 164 if(loop) {
tnhnrl 20:8987a9ae2bc7 165 led1() = !led1(); // blink
tnhnrl 20:8987a9ae2bc7 166 stateMachine().runStateMachine();
tnhnrl 20:8987a9ae2bc7 167 loop = false; // wait until the loop rate timer fires again
tnhnrl 17:7c16b5671d0e 168 }
danstrider 10:085ab7328054 169 }
danstrider 10:085ab7328054 170 }