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.cpp@84:eccd8e837134, 2019-02-19 (annotated)

Committer:
joel_ssc
Date:
Tue Feb 19 20:11:43 2019 +0000
Revision:
84:eccd8e837134
Parent:
82:0981b9ada820
Child:
85:dd8176285b6e
updated file management of logfiles and diagfile numbers

Who changed what in which revision?

UserRevisionLine numberNew 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 52:f207567d3ea4 5 _timeout = 20; // generic timeout for every state, seconds
joel_ssc 84:eccd8e837134 6 _yo_time = 400; // timeout for a dive or rise yo, not set for other ops
joel_ssc 84:eccd8e837134 7 _state_transition_time = 60; // time to allow motors to come to rest in float_broadcast
tnhnrl 28:16c83a2fdefa 8 _pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state
tnhnrl 20:8987a9ae2bc7 9
tnhnrl 28:16c83a2fdefa 10 _bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
tnhnrl 28:16c83a2fdefa 11 _battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
tnhnrl 20:8987a9ae2bc7 12
tnhnrl 32:f2f8ae34aadc 13 _depth_command = 2.0; // user keyboard depth (default)
tnhnrl 32:f2f8ae34aadc 14 _pitch_command = -20.0; // user keyboard pitch (default)
tnhnrl 58:94b7fd55185e 15 _heading_command = 0.0;
tnhnrl 17:7c16b5671d0e 16
tnhnrl 57:ec69651c8c21 17 //new commands
tnhnrl 58:94b7fd55185e 18 _BCE_dive_offset = 0.0; //starting at the limits
tnhnrl 58:94b7fd55185e 19 _BMM_dive_offset = 0.0;
tnhnrl 57:ec69651c8c21 20 //new commands
tnhnrl 57:ec69651c8c21 21
tnhnrl 28:16c83a2fdefa 22 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
tnhnrl 73:f6f378311c8d 23 //////////////////////////////
tnhnrl 28:16c83a2fdefa 24 _state = SIT_IDLE; // select starting state here
tnhnrl 28:16c83a2fdefa 25 _isTimeoutRunning = false; // default timer to not running
tnhnrl 28:16c83a2fdefa 26 _isSubStateTimerRunning = false; // default timer to not running
tnhnrl 73:f6f378311c8d 27 /////////////////////////////
tnhnrl 24:c7d9b5bf3829 28 _multi_dive_counter = 0;
joel_ssc 82:0981b9ada820 29 _multi_leg_counter = 0;
tnhnrl 21:38c8544db6f4 30 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 31 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 32 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 21:38c8544db6f4 33
tnhnrl 21:38c8544db6f4 34 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 35 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 36 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 21:38c8544db6f4 37
tnhnrl 21:38c8544db6f4 38 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 39 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 23:434f04ef1fad 40
tnhnrl 28:16c83a2fdefa 41 _state_array_counter = 1; //used to iterate through and record states
tnhnrl 28:16c83a2fdefa 42 _substate_array_counter = 0; //used to iterate through and record substates
tnhnrl 28:16c83a2fdefa 43
tnhnrl 28:16c83a2fdefa 44 _state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this
tnhnrl 24:c7d9b5bf3829 45
tnhnrl 30:2964617e7676 46 _substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING
tnhnrl 28:16c83a2fdefa 47 _previous_substate = -1; //to start sub-FSM
tnhnrl 28:16c83a2fdefa 48 _previous_state = -1; //for tracking FSM states
tnhnrl 28:16c83a2fdefa 49
tnhnrl 28:16c83a2fdefa 50 _max_recorded_depth_neutral = -99; //float to record max depth
tnhnrl 28:16c83a2fdefa 51 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 32:f2f8ae34aadc 52
tnhnrl 32:f2f8ae34aadc 53 _max_recorded_auto_neutral_depth = -99;
tnhnrl 32:f2f8ae34aadc 54
tnhnrl 73:f6f378311c8d 55 _debug_menu_on = false; //toggle between debug and simple menu screens
tnhnrl 57:ec69651c8c21 56
tnhnrl 73:f6f378311c8d 57 //new file stuff
tnhnrl 73:f6f378311c8d 58 _pitch_filter_freq = pitchLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 59 _pitch_deadband = pitchLoop().getDeadband();
tnhnrl 73:f6f378311c8d 60
tnhnrl 73:f6f378311c8d 61 _depth_filter_freq = depthLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 62 _depth_deadband = depthLoop().getDeadband();
tnhnrl 16:3363b9f14913 63 }
tnhnrl 20:8987a9ae2bc7 64
tnhnrl 17:7c16b5671d0e 65 //Finite State Machine (FSM)
joel_ssc 82:0981b9ada820 66 int StateMachine::runStateMachine() { // ends about line 956
tnhnrl 16:3363b9f14913 67 // finite state machine ... each state has at least one exit criteria
joel_ssc 82:0981b9ada820 68 static int lpd_oneshots=0;
joel_ssc 82:0981b9ada820 69 static int lpr_oneshots=0;
joel_ssc 82:0981b9ada820 70 static int finish_leg=0; // allow a rise to complete ( if it takes less than a yo_time, then exit to FB)
joel_ssc 82:0981b9ada820 71 static float leg_max_depth = 0;
joel_ssc 82:0981b9ada820 72 static float leg_min_depth =0;
joel_ssc 82:0981b9ada820 73 static float leg_heading = 90; //go east!
joel_ssc 82:0981b9ada820 74 char buf[256];
tnhnrl 17:7c16b5671d0e 75 switch (_state) {
tnhnrl 16:3363b9f14913 76 case SIT_IDLE :
joel_ssc 82:0981b9ada820 77 case FB_EXIT :
tnhnrl 73:f6f378311c8d 78 case KEYBOARD :
tnhnrl 16:3363b9f14913 79 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
tnhnrl 28:16c83a2fdefa 80 if (!_isTimeoutRunning) {
tnhnrl 73:f6f378311c8d 81 //tare pressure sensor
tnhnrl 73:f6f378311c8d 82 depth().tare(); // tares to ambient (do on surface)
tnhnrl 57:ec69651c8c21 83
tnhnrl 57:ec69651c8c21 84 if (_debug_menu_on)
tnhnrl 69:919ac8d7e023 85 printDebugMenu();
tnhnrl 57:ec69651c8c21 86 else
tnhnrl 69:919ac8d7e023 87 printSimpleMenu();
tnhnrl 74:d281aaef9766 88 xbee().printf("\r\n\nstate: SIT_IDLE\r\n");
tnhnrl 28:16c83a2fdefa 89 _isTimeoutRunning = true;
tnhnrl 20:8987a9ae2bc7 90
tnhnrl 16:3363b9f14913 91 // what is active?
tnhnrl 16:3363b9f14913 92 bce().pause();
tnhnrl 16:3363b9f14913 93 batt().pause();
tnhnrl 32:f2f8ae34aadc 94
tnhnrl 17:7c16b5671d0e 95 //reset sub FSM
tnhnrl 28:16c83a2fdefa 96 _isSubStateTimerRunning = false;
tnhnrl 16:3363b9f14913 97 }
tnhnrl 20:8987a9ae2bc7 98
tnhnrl 16:3363b9f14913 99 // how exit?
tnhnrl 20:8987a9ae2bc7 100 keyboard(); // keyboard function will change the state if needed
tnhnrl 16:3363b9f14913 101 break;
tnhnrl 49:47ffa4feb6db 102
tnhnrl 49:47ffa4feb6db 103 case CHECK_TUNING : // state used to check the tuning of the pressure vessel
tnhnrl 49:47ffa4feb6db 104 // start local state timer and init any other one-shot actions
tnhnrl 49:47ffa4feb6db 105 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 106 xbee().printf("\r\n\nstate: CHECK_TUNING\r\n");
tnhnrl 73:f6f378311c8d 107 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 108 _fsm_timer.start(); // background timer starts running
tnhnrl 49:47ffa4feb6db 109 _isTimeoutRunning = true;
tnhnrl 49:47ffa4feb6db 110
tnhnrl 49:47ffa4feb6db 111 // what needs to be started?
tnhnrl 49:47ffa4feb6db 112 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 113 batt().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 114
tnhnrl 49:47ffa4feb6db 115 // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
tnhnrl 49:47ffa4feb6db 116 bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 117 batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 49:47ffa4feb6db 118
tnhnrl 49:47ffa4feb6db 119 // getSetPosition_mm is the commanded position in the LinearActuator class
tnhnrl 49:47ffa4feb6db 120
tnhnrl 74:d281aaef9766 121 xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 74:d281aaef9766 122 xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
tnhnrl 49:47ffa4feb6db 123 }
tnhnrl 49:47ffa4feb6db 124
tnhnrl 49:47ffa4feb6db 125 // how exit?
tnhnrl 73:f6f378311c8d 126 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 127 xbee().printf("CHECK_TUNING: timed out!\r\n");
tnhnrl 49:47ffa4feb6db 128 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 129 _fsm_timer.reset();
tnhnrl 49:47ffa4feb6db 130 _isTimeoutRunning = false;
tnhnrl 49:47ffa4feb6db 131 }
tnhnrl 49:47ffa4feb6db 132
tnhnrl 67:c86a4b464682 133 //WHAT IS ACTIVE?
tnhnrl 67:c86a4b464682 134 // the inner loop position controls are maintaining the positions of the linear actuators
tnhnrl 67:c86a4b464682 135
tnhnrl 49:47ffa4feb6db 136 //print status to screen continuously
tnhnrl 74:d281aaef9766 137 xbee().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f ft,pitch: %0.1f deg,heading: %0.1f) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 49:47ffa4feb6db 138
tnhnrl 49:47ffa4feb6db 139 break;
tnhnrl 20:8987a9ae2bc7 140
tnhnrl 16:3363b9f14913 141 case EMERGENCY_CLIMB :
tnhnrl 16:3363b9f14913 142 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 143 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 144 xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
tnhnrl 73:f6f378311c8d 145 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 146 _fsm_timer.start(); // background timer starts running
joel_ssc 84:eccd8e837134 147 _yotimer.reset();
joel_ssc 84:eccd8e837134 148 _yotimer.start();
tnhnrl 28:16c83a2fdefa 149 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 150
tnhnrl 16:3363b9f14913 151 // what needs to be started?
tnhnrl 16:3363b9f14913 152 bce().unpause();
tnhnrl 16:3363b9f14913 153 batt().unpause();
tnhnrl 20:8987a9ae2bc7 154
tnhnrl 20:8987a9ae2bc7 155 // what are the commands?
tnhnrl 16:3363b9f14913 156 bce().setPosition_mm(bce().getTravelLimit());
tnhnrl 73:f6f378311c8d 157 batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
tnhnrl 16:3363b9f14913 158 }
tnhnrl 20:8987a9ae2bc7 159
tnhnrl 16:3363b9f14913 160 // how exit?
joel_ssc 82:0981b9ada820 161 if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) {
tnhnrl 74:d281aaef9766 162 xbee().printf("EC: timed out\r\n");
tnhnrl 21:38c8544db6f4 163 _state = FLOAT_BROADCAST;
joel_ssc 82:0981b9ada820 164 _fsm_timer.reset(); _yotimer.reset();
tnhnrl 28:16c83a2fdefa 165 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 166 }
tnhnrl 26:7e118fc02eea 167 else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
tnhnrl 21:38c8544db6f4 168 _state = FLOAT_BROADCAST;
joel_ssc 84:eccd8e837134 169 _fsm_timer.reset(); _yotimer.reset();
tnhnrl 28:16c83a2fdefa 170 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 171 }
tnhnrl 32:f2f8ae34aadc 172
tnhnrl 67:c86a4b464682 173 //WHAT IS ACTIVE?
tnhnrl 34:9b66c5188051 174 //print status to screen continuously
tnhnrl 74:d281aaef9766 175 xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
tnhnrl 32:f2f8ae34aadc 176
tnhnrl 16:3363b9f14913 177 break;
tnhnrl 20:8987a9ae2bc7 178
tnhnrl 16:3363b9f14913 179 case FIND_NEUTRAL :
tnhnrl 20:8987a9ae2bc7 180 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 181 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 182 xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
tnhnrl 73:f6f378311c8d 183 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 184 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 185 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 186
tnhnrl 16:3363b9f14913 187 // what needs to be started?
tnhnrl 16:3363b9f14913 188 bce().unpause();
tnhnrl 16:3363b9f14913 189 batt().unpause();
tnhnrl 74:d281aaef9766 190
tnhnrl 74:d281aaef9766 191 //start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much
tnhnrl 74:d281aaef9766 192 float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0;
tnhnrl 74:d281aaef9766 193 //float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0;
tnhnrl 74:d281aaef9766 194
tnhnrl 74:d281aaef9766 195 bce().setPosition_mm(bce_find_neutral_mm);
tnhnrl 74:d281aaef9766 196 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position
tnhnrl 17:7c16b5671d0e 197
tnhnrl 24:c7d9b5bf3829 198 //first iteration goes into Neutral Finding Sub-FSM
tnhnrl 24:c7d9b5bf3829 199 //set the first state of the FSM, and start the sub-FSM
tnhnrl 30:2964617e7676 200 _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
tnhnrl 28:16c83a2fdefa 201 _previous_substate = -1;
tnhnrl 28:16c83a2fdefa 202
tnhnrl 28:16c83a2fdefa 203 //save this state to the array
tnhnrl 30:2964617e7676 204 _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
tnhnrl 28:16c83a2fdefa 205 _substate_array_counter++;
tnhnrl 28:16c83a2fdefa 206
tnhnrl 32:f2f8ae34aadc 207 runNeutralStateMachine();
tnhnrl 16:3363b9f14913 208 }
tnhnrl 20:8987a9ae2bc7 209
tnhnrl 20:8987a9ae2bc7 210 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
tnhnrl 73:f6f378311c8d 211 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 212 xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
tnhnrl 21:38c8544db6f4 213 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
tnhnrl 73:f6f378311c8d 214 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 215 _isTimeoutRunning = false;
tnhnrl 24:c7d9b5bf3829 216
tnhnrl 24:c7d9b5bf3829 217 //record this to the NEUTRAL sub-FSM tracker
tnhnrl 28:16c83a2fdefa 218 _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
tnhnrl 28:16c83a2fdefa 219 _substate_array_counter++;
tnhnrl 16:3363b9f14913 220 }
tnhnrl 21:38c8544db6f4 221
tnhnrl 24:c7d9b5bf3829 222 //what is active? (neutral finding sub-function runs until completion)
tnhnrl 24:c7d9b5bf3829 223 //check if substate returned exit state, if so stop running the sub-FSM
tnhnrl 26:7e118fc02eea 224 else if (runNeutralStateMachine() == NEUTRAL_EXIT) {
tnhnrl 21:38c8544db6f4 225 //if successful, FIND_NEUTRAL then goes to RISE
tnhnrl 74:d281aaef9766 226 xbee().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
tnhnrl 21:38c8544db6f4 227 _state = RISE;
tnhnrl 30:2964617e7676 228 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 229 }
tnhnrl 32:f2f8ae34aadc 230
tnhnrl 17:7c16b5671d0e 231 break;
tnhnrl 17:7c16b5671d0e 232
tnhnrl 16:3363b9f14913 233 case DIVE :
tnhnrl 16:3363b9f14913 234 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 235
tnhnrl 28:16c83a2fdefa 236 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 237 xbee().printf("\r\n\nstate: DIVE\r\n");
tnhnrl 73:f6f378311c8d 238 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 239 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 240 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 241
tnhnrl 16:3363b9f14913 242 // what needs to be started?
tnhnrl 16:3363b9f14913 243 bce().unpause();
tnhnrl 16:3363b9f14913 244 batt().unpause();
tnhnrl 20:8987a9ae2bc7 245
tnhnrl 16:3363b9f14913 246 // what are the commands?
tnhnrl 32:f2f8ae34aadc 247 depthLoop().setCommand(_depth_command);
tnhnrl 32:f2f8ae34aadc 248 pitchLoop().setCommand(_pitch_command);
tnhnrl 32:f2f8ae34aadc 249
tnhnrl 74:d281aaef9766 250 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 251
tnhnrl 74:d281aaef9766 252 xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 74:d281aaef9766 253 xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 74:d281aaef9766 254 xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 28:16c83a2fdefa 255
tnhnrl 28:16c83a2fdefa 256 //reset max dive depth
tnhnrl 28:16c83a2fdefa 257 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 16:3363b9f14913 258 }
tnhnrl 20:8987a9ae2bc7 259
tnhnrl 16:3363b9f14913 260 // how exit?
tnhnrl 73:f6f378311c8d 261 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 262 xbee().printf("DIVE: timed out\r\n\n");
tnhnrl 21:38c8544db6f4 263 _state = RISE; //new behavior 11/17/2017
tnhnrl 73:f6f378311c8d 264 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 265 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 266 }
tnhnrl 32:f2f8ae34aadc 267 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 74:d281aaef9766 268 xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 269 _state = RISE;
tnhnrl 73:f6f378311c8d 270 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 271 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 272 }
tnhnrl 20:8987a9ae2bc7 273
tnhnrl 67:c86a4b464682 274 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 275 xbee().printf("DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 32:f2f8ae34aadc 276 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 16:3363b9f14913 277 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 28:16c83a2fdefa 278
tnhnrl 74:d281aaef9766 279 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 280 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 74:d281aaef9766 281
tnhnrl 28:16c83a2fdefa 282 if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
tnhnrl 28:16c83a2fdefa 283 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 284 }
tnhnrl 32:f2f8ae34aadc 285
tnhnrl 16:3363b9f14913 286 break;
tnhnrl 16:3363b9f14913 287
tnhnrl 16:3363b9f14913 288 case RISE :
tnhnrl 16:3363b9f14913 289 // start local state timer and init any other one-shot actions
tnhnrl 32:f2f8ae34aadc 290
tnhnrl 28:16c83a2fdefa 291 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 292 xbee().printf("\r\n\nstate: RISE\r\n");
tnhnrl 73:f6f378311c8d 293 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 294 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 295 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 296
tnhnrl 16:3363b9f14913 297 // what needs to be started?
tnhnrl 16:3363b9f14913 298 bce().unpause();
tnhnrl 16:3363b9f14913 299 batt().unpause();
tnhnrl 16:3363b9f14913 300
tnhnrl 16:3363b9f14913 301 // what are the commands?
tnhnrl 28:16c83a2fdefa 302 depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
tnhnrl 32:f2f8ae34aadc 303 pitchLoop().setCommand(-_pitch_command);
tnhnrl 74:d281aaef9766 304
tnhnrl 74:d281aaef9766 305 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 306
tnhnrl 74:d281aaef9766 307 xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
tnhnrl 74:d281aaef9766 308 xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 74:d281aaef9766 309 xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 16:3363b9f14913 310 }
tnhnrl 20:8987a9ae2bc7 311
tnhnrl 16:3363b9f14913 312 // how exit?
tnhnrl 73:f6f378311c8d 313 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 314 xbee().printf("RISE: timed out\r\n");
tnhnrl 21:38c8544db6f4 315 _state = EMERGENCY_CLIMB;
tnhnrl 73:f6f378311c8d 316 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 317 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 318 }
tnhnrl 32:f2f8ae34aadc 319
tnhnrl 32:f2f8ae34aadc 320 //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
tnhnrl 32:f2f8ae34aadc 321 //did not work correctly in bench test (stuck in rise state)
tnhnrl 32:f2f8ae34aadc 322 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 74:d281aaef9766 323 xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 28:16c83a2fdefa 324 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 325 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 326 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 327 }
tnhnrl 20:8987a9ae2bc7 328
tnhnrl 67:c86a4b464682 329 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 330 xbee().printf("RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 331 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 32:f2f8ae34aadc 332 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 74:d281aaef9766 333
tnhnrl 74:d281aaef9766 334 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 335 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 336
tnhnrl 58:94b7fd55185e 337 break;
tnhnrl 58:94b7fd55185e 338
tnhnrl 58:94b7fd55185e 339 // NEW DIVE AND RISE SEQUENCES
tnhnrl 58:94b7fd55185e 340 case POSITION_DIVE :
tnhnrl 58:94b7fd55185e 341 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 342 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 343 xbee().printf("\r\n\nstate: POSITION DIVE\r\n");
tnhnrl 73:f6f378311c8d 344 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 345 _fsm_timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 346 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 347
tnhnrl 58:94b7fd55185e 348 // what needs to be started?
tnhnrl 58:94b7fd55185e 349 bce().unpause();
tnhnrl 58:94b7fd55185e 350 batt().unpause();
tnhnrl 58:94b7fd55185e 351 rudder().unpause();
tnhnrl 58:94b7fd55185e 352
tnhnrl 58:94b7fd55185e 353 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 58:94b7fd55185e 354 // These actions happen ONCE in the POSITION_DIVE sequence
tnhnrl 74:d281aaef9766 355 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
tnhnrl 74:d281aaef9766 356 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
tnhnrl 58:94b7fd55185e 357
tnhnrl 74:d281aaef9766 358 //DEPTH COMMAND
tnhnrl 74:d281aaef9766 359 depthLoop().setCommand(_depth_command);
tnhnrl 74:d281aaef9766 360
tnhnrl 58:94b7fd55185e 361 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 362
tnhnrl 74:d281aaef9766 363 xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 364 xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 365 xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 366
tnhnrl 58:94b7fd55185e 367 //reset max dive depth
tnhnrl 58:94b7fd55185e 368 _max_recorded_depth_dive = -99; //float to record max depth
tnhnrl 58:94b7fd55185e 369 }
tnhnrl 58:94b7fd55185e 370
tnhnrl 58:94b7fd55185e 371 // how exit?
tnhnrl 58:94b7fd55185e 372 // timer runs out goes to POSITION_RISE
tnhnrl 73:f6f378311c8d 373 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 374 xbee().printf("POS DIVE timed out\r\n\n");
tnhnrl 58:94b7fd55185e 375 _state = POSITION_RISE; //new behavior 11/17/2017
tnhnrl 73:f6f378311c8d 376 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 377 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 378 }
tnhnrl 58:94b7fd55185e 379
tnhnrl 58:94b7fd55185e 380 // when you reach the dive threshold, surface
tnhnrl 58:94b7fd55185e 381 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
tnhnrl 74:d281aaef9766 382 xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 383 _state = POSITION_RISE;
tnhnrl 73:f6f378311c8d 384 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 385 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 386 }
tnhnrl 58:94b7fd55185e 387
tnhnrl 58:94b7fd55185e 388 // what is active?
tnhnrl 74:d281aaef9766 389 xbee().printf("POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 58:94b7fd55185e 390
tnhnrl 58:94b7fd55185e 391 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
tnhnrl 58:94b7fd55185e 392 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
tnhnrl 58:94b7fd55185e 393 }
tnhnrl 58:94b7fd55185e 394
tnhnrl 58:94b7fd55185e 395 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 396 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 397
tnhnrl 58:94b7fd55185e 398 break;
joel_ssc 82:0981b9ada820 399
joel_ssc 82:0981b9ada820 400 case LEG_POSITION_DIVE :
joel_ssc 82:0981b9ada820 401 // start local state timer and init any other one-shot actions
joel_ssc 82:0981b9ada820 402 if (!_isTimeoutRunning) {
joel_ssc 82:0981b9ada820 403 xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n");
joel_ssc 82:0981b9ada820 404 sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r");
joel_ssc 84:eccd8e837134 405 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 406 _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
joel_ssc 82:0981b9ada820 407 _fsm_timer.start(); // background timer starts running
joel_ssc 82:0981b9ada820 408 _isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 409 _yotimer.reset();
joel_ssc 82:0981b9ada820 410 _yotimer.start(); //sets the yo_timer running on the dive
joel_ssc 82:0981b9ada820 411
joel_ssc 82:0981b9ada820 412 // what needs to be started?
joel_ssc 82:0981b9ada820 413 bce().unpause();
joel_ssc 82:0981b9ada820 414 batt().unpause();
joel_ssc 82:0981b9ada820 415 rudder().unpause();
joel_ssc 82:0981b9ada820 416
joel_ssc 82:0981b9ada820 417 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 418 // These actions happen ONCE in the POSITION_DIVE sequence
joel_ssc 82:0981b9ada820 419 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
joel_ssc 82:0981b9ada820 420 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
joel_ssc 82:0981b9ada820 421 //retrieve commands from structs (loaded from legfile.txt file)
joel_ssc 82:0981b9ada820 422 stateMachine().getLegParams();
joel_ssc 82:0981b9ada820 423
joel_ssc 82:0981b9ada820 424 leg_max_depth = currentLegStateStruct.max_depth;
joel_ssc 82:0981b9ada820 425 leg_heading = currentLegStateStruct.heading;
joel_ssc 82:0981b9ada820 426
joel_ssc 82:0981b9ada820 427
joel_ssc 82:0981b9ada820 428 //DEPTH COMMAND
joel_ssc 82:0981b9ada820 429 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 430 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 431
joel_ssc 82:0981b9ada820 432 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 433 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 434
joel_ssc 82:0981b9ada820 435 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 436 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 437 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 438
joel_ssc 82:0981b9ada820 439 //reset max dive depth
joel_ssc 82:0981b9ada820 440 _max_recorded_depth_dive = -99; //float to record max depth
joel_ssc 82:0981b9ada820 441 lpd_oneshots = 1;
joel_ssc 82:0981b9ada820 442 }
joel_ssc 82:0981b9ada820 443
joel_ssc 82:0981b9ada820 444 if (!lpd_oneshots) {
joel_ssc 82:0981b9ada820 445 xbee().printf("\r\n\nstate: LEG POSITION DIVE oneshots\r\n");
joel_ssc 82:0981b9ada820 446 // _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
joel_ssc 82:0981b9ada820 447 // sm_timer.start(); // background timer starts running
joel_ssc 82:0981b9ada820 448 _yotimer.reset(); //sets the yo_timer running on the NEW dive
joel_ssc 82:0981b9ada820 449 _yotimer.start();
joel_ssc 82:0981b9ada820 450 //_isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 451
joel_ssc 82:0981b9ada820 452 // what needs to be started?
joel_ssc 82:0981b9ada820 453 bce().unpause();
joel_ssc 82:0981b9ada820 454 batt().unpause();
joel_ssc 82:0981b9ada820 455 rudder().unpause();
joel_ssc 82:0981b9ada820 456
joel_ssc 82:0981b9ada820 457 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 458 // These actions happen ONCE in the POSITION_DIVE sequence
joel_ssc 82:0981b9ada820 459 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
joel_ssc 82:0981b9ada820 460 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
joel_ssc 82:0981b9ada820 461 //retrieve commands from structs (loaded from missionleg.cfg file)
joel_ssc 82:0981b9ada820 462 leg_max_depth = currentLegStateStruct.max_depth;
joel_ssc 82:0981b9ada820 463 leg_heading = currentLegStateStruct.heading;
joel_ssc 84:eccd8e837134 464 sprintf(buf, "LEG POSITION DIVE entered via Leg_pos_rise - lpd_oneshots, only restart _yotimer\n\n\r");
joel_ssc 84:eccd8e837134 465 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 466
joel_ssc 82:0981b9ada820 467 //DEPTH COMMAND
joel_ssc 82:0981b9ada820 468 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 469 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 470
joel_ssc 82:0981b9ada820 471 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 472 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 473
joel_ssc 82:0981b9ada820 474 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 475 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 476 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 477
joel_ssc 82:0981b9ada820 478 lpd_oneshots = 1;
joel_ssc 82:0981b9ada820 479 //reset max dive depth
joel_ssc 82:0981b9ada820 480 //_max_recorded_depth_dive = -99; //float to record max depth
joel_ssc 82:0981b9ada820 481 } // lpd_oneshots if timer is already running
joel_ssc 82:0981b9ada820 482
joel_ssc 82:0981b9ada820 483 // how exit?
joel_ssc 82:0981b9ada820 484 // timer runs out goes to LEG_POSITION_RISE but finish_leg flag is turned on.
joel_ssc 82:0981b9ada820 485 if (_fsm_timer.read() > _timeout) {
joel_ssc 82:0981b9ada820 486 xbee().printf("LEG POSITION DIVE timed out for overall leg time\r\n\n");
joel_ssc 82:0981b9ada820 487 _state = LEG_POSITION_RISE; // now start a timer on yo_timer for rise
joel_ssc 82:0981b9ada820 488 finish_leg =1;
joel_ssc 82:0981b9ada820 489 lpr_oneshots=0;
joel_ssc 84:eccd8e837134 490 sprintf(buf, "go to LEG POSITION DIVE on overall leg timeout, set finish_leg=1\n\n\r");
joel_ssc 84:eccd8e837134 491 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 492 // _fsm_timer.reset();
joel_ssc 82:0981b9ada820 493 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 494 }
joel_ssc 82:0981b9ada820 495
joel_ssc 82:0981b9ada820 496 // when you reach the dive threshold, surface
joel_ssc 82:0981b9ada820 497 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
joel_ssc 82:0981b9ada820 498 xbee().printf("LEG POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 499 _state = LEG_POSITION_RISE;
joel_ssc 82:0981b9ada820 500 lpr_oneshots = 0;
joel_ssc 84:eccd8e837134 501
joel_ssc 82:0981b9ada820 502 // _fsm_timer.reset(); // reset time if still inside legg long timeout?
joel_ssc 82:0981b9ada820 503 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 504 } else if(_yotimer.read() > _yo_time ) {
joel_ssc 82:0981b9ada820 505 xbee().printf("LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 506 sprintf(buf, "LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE\n\n\r");
joel_ssc 82:0981b9ada820 507 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 508 _state = LEG_POSITION_RISE;
joel_ssc 84:eccd8e837134 509 finish_leg =1;
joel_ssc 82:0981b9ada820 510 //_yotimer.reset();
joel_ssc 82:0981b9ada820 511 //_yotimer.start(); // restart the yo timer for next yo in rise mode -- test if depth is small fraction of max_depth and exit to EC if small enough??
joel_ssc 82:0981b9ada820 512 lpr_oneshots=0;
joel_ssc 82:0981b9ada820 513 if (depthLoop().getPosition() < 0.7* depthLoop().getCommand()) { //too slow - exit
joel_ssc 84:eccd8e837134 514 _state = EMERGENCY_CLIMB; // overridden here for testing
joel_ssc 82:0981b9ada820 515 finish_leg = 1;
joel_ssc 82:0981b9ada820 516 xbee().printf("LEG POS DIVE:descent too slow (<0.7*maxdepth) - go to EMERGENCY_CLIMB actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 84:eccd8e837134 517 sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb but not really for testing\n\n\r");
joel_ssc 82:0981b9ada820 518 mbedLogger().appendDiagFile(buf,3);
joel_ssc 84:eccd8e837134 519 _state = LEG_POSITION_RISE;
joel_ssc 84:eccd8e837134 520 // _fsm_timer.reset();
joel_ssc 84:eccd8e837134 521 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 522 }
joel_ssc 82:0981b9ada820 523 }
joel_ssc 82:0981b9ada820 524
joel_ssc 82:0981b9ada820 525 // what is active?
joel_ssc 82:0981b9ada820 526 xbee().printf("LEG POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 527 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
joel_ssc 82:0981b9ada820 528 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
joel_ssc 82:0981b9ada820 529
joel_ssc 82:0981b9ada820 530 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
joel_ssc 82:0981b9ada820 531 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
joel_ssc 82:0981b9ada820 532 }
joel_ssc 82:0981b9ada820 533
joel_ssc 82:0981b9ada820 534 // ACTIVE RUDDER CONTROL
joel_ssc 82:0981b9ada820 535 rudder().setPosition_deg(headingLoop().getOutput());
joel_ssc 82:0981b9ada820 536
joel_ssc 82:0981b9ada820 537 break; // end LEG POSITION DIVE
tnhnrl 58:94b7fd55185e 538
tnhnrl 58:94b7fd55185e 539 case POSITION_RISE :
tnhnrl 58:94b7fd55185e 540 // start local state timer and init any other one-shot actions
tnhnrl 58:94b7fd55185e 541
tnhnrl 58:94b7fd55185e 542 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 543 xbee().printf("\r\n\nstate: POSITION RISE\r\n");
tnhnrl 73:f6f378311c8d 544 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 545 _fsm_timer.start(); // background timer starts running
tnhnrl 58:94b7fd55185e 546 _isTimeoutRunning = true;
tnhnrl 58:94b7fd55185e 547
tnhnrl 58:94b7fd55185e 548 // what needs to be started?
tnhnrl 58:94b7fd55185e 549 bce().unpause();
tnhnrl 58:94b7fd55185e 550 batt().unpause();
tnhnrl 58:94b7fd55185e 551
tnhnrl 74:d281aaef9766 552 // what are the commands? (using inner loops except for heading outer loop)
tnhnrl 74:d281aaef9766 553 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 554 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
tnhnrl 58:94b7fd55185e 555
tnhnrl 58:94b7fd55185e 556 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 58:94b7fd55185e 557
tnhnrl 74:d281aaef9766 558 xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 559 xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
tnhnrl 74:d281aaef9766 560 xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
tnhnrl 58:94b7fd55185e 561 }
tnhnrl 58:94b7fd55185e 562
tnhnrl 58:94b7fd55185e 563 // how exit?
tnhnrl 73:f6f378311c8d 564 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 565 xbee().printf("POS RISE: timed out\r\n");
tnhnrl 58:94b7fd55185e 566 _state = EMERGENCY_CLIMB;
tnhnrl 73:f6f378311c8d 567 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 568 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 569 }
tnhnrl 58:94b7fd55185e 570 else if (depthLoop().getPosition() < 0.5) {
tnhnrl 74:d281aaef9766 571 xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 58:94b7fd55185e 572 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 573 _fsm_timer.reset();
tnhnrl 58:94b7fd55185e 574 _isTimeoutRunning = false;
tnhnrl 58:94b7fd55185e 575 }
tnhnrl 58:94b7fd55185e 576
tnhnrl 58:94b7fd55185e 577 // what is active?
joel_ssc 82:0981b9ada820 578 xbee().printf("POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 579 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
joel_ssc 82:0981b9ada820 580 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 58:94b7fd55185e 581
tnhnrl 58:94b7fd55185e 582 // ACTIVE RUDDER CONTROL
tnhnrl 58:94b7fd55185e 583 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 58:94b7fd55185e 584
joel_ssc 82:0981b9ada820 585 break; //end of POS RISE
joel_ssc 82:0981b9ada820 586
joel_ssc 82:0981b9ada820 587 case LEG_POSITION_RISE :
joel_ssc 82:0981b9ada820 588 // start local state timer and init any other one-shot actions
joel_ssc 82:0981b9ada820 589 leg_min_depth = currentLegStateStruct.min_depth;
joel_ssc 82:0981b9ada820 590 leg_heading = currentLegStateStruct.heading;
joel_ssc 82:0981b9ada820 591
joel_ssc 82:0981b9ada820 592 if (!_isTimeoutRunning) { // this should never occur. the only entry into this case is from LEG_POSITION_DIVE exit
joel_ssc 82:0981b9ada820 593 xbee().printf("\r\n\nstate: LEG POSITION RISE\r\n");
joel_ssc 82:0981b9ada820 594 sprintf(buf, "state: LEG POSITION RISE entered with timeout NOT running should not happen\n\n\r");
joel_ssc 82:0981b9ada820 595 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 596 //_fsm_timer.reset(); // timer goes back to zero --no
joel_ssc 82:0981b9ada820 597 _fsm_timer.start(); // background timer starts running
joel_ssc 82:0981b9ada820 598 _isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 599 _yotimer.reset(); //reset yo_timer;
joel_ssc 82:0981b9ada820 600 _yotimer.start(); //and start it
joel_ssc 82:0981b9ada820 601
joel_ssc 82:0981b9ada820 602 // what needs to be started?
joel_ssc 82:0981b9ada820 603 bce().unpause();
joel_ssc 82:0981b9ada820 604 batt().unpause();
joel_ssc 82:0981b9ada820 605 stateMachine().getLegParams();
joel_ssc 82:0981b9ada820 606
joel_ssc 82:0981b9ada820 607 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 608 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 609 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 610 //retrieve commands from structs (loaded from missionleg.cfg file)
joel_ssc 82:0981b9ada820 611
joel_ssc 82:0981b9ada820 612 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 613
joel_ssc 82:0981b9ada820 614 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 615 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 616 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 617 lpr_oneshots = 1;
joel_ssc 82:0981b9ada820 618 }
joel_ssc 82:0981b9ada820 619 if (!lpr_oneshots) {
joel_ssc 82:0981b9ada820 620 xbee().printf("\r\n\nstate: LEG POSITION RISE entered via LEG_POSiTION_DIVE finish\r\n");
joel_ssc 84:eccd8e837134 621 sprintf(buf, "state: LEG POSITION RISE entered via LEG_POSITION_DIVE\n\n\r");
joel_ssc 84:eccd8e837134 622 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 623 //_fsm_timer.reset(); // timer goes back to zero --no
joel_ssc 82:0981b9ada820 624 _yotimer.reset(); //reset yo_timer;
joel_ssc 82:0981b9ada820 625 _yotimer.start(); //and start it
joel_ssc 82:0981b9ada820 626 //_fsm_timer.start(); timer is already running // background timer starts running
joel_ssc 82:0981b9ada820 627 // _isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 628
joel_ssc 82:0981b9ada820 629 // what needs to be started?
joel_ssc 82:0981b9ada820 630 bce().unpause();
joel_ssc 82:0981b9ada820 631 batt().unpause();
joel_ssc 82:0981b9ada820 632
joel_ssc 82:0981b9ada820 633 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 634 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 635 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
joel_ssc 82:0981b9ada820 636 //retrieve commands from structs (loaded from missionleg.cfg file)
joel_ssc 82:0981b9ada820 637
joel_ssc 82:0981b9ada820 638 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 639
joel_ssc 82:0981b9ada820 640 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 641 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 642 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 643 lpr_oneshots = 1;
joel_ssc 84:eccd8e837134 644 } // end if(!lpr_oneshots)
joel_ssc 82:0981b9ada820 645
joel_ssc 82:0981b9ada820 646 // how exit?
joel_ssc 82:0981b9ada820 647 if (_fsm_timer.read() > _timeout) {
joel_ssc 82:0981b9ada820 648 xbee().printf("LEG POS RISE: timed out on overall timeout\r\n");
joel_ssc 84:eccd8e837134 649 // _state = EMERGENCY_CLIMB;
joel_ssc 84:eccd8e837134 650 finish_leg = 1; // not going immediately to Emergency_climb and not resetting timers means it will take 1 yo-time of rising first
joel_ssc 84:eccd8e837134 651 // _fsm_timer.reset();
joel_ssc 84:eccd8e837134 652 sprintf(buf, "LEG POSITION DIVE Ended via overall timeout\n\n\r");
joel_ssc 84:eccd8e837134 653 mbedLogger().appendDiagFile(buf,0);
joel_ssc 84:eccd8e837134 654 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 655 }
joel_ssc 84:eccd8e837134 656 else if (depthLoop().getPosition() < leg_min_depth - 0.5 ) { // add in check for finish_leg. Don't flip flop between states in that case
joel_ssc 82:0981b9ada820 657 xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 658 _state = LEG_POSITION_DIVE;
joel_ssc 84:eccd8e837134 659 sprintf(buf, "LEG POSITION RISE flip-flops to LEG_POSITION_DIVE on near surface pressure \n\n\r");
joel_ssc 84:eccd8e837134 660 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 661 //_fsm_timer.reset();
joel_ssc 82:0981b9ada820 662 //_isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 663 lpd_oneshots=0;
joel_ssc 84:eccd8e837134 664 if(finish_leg ==1) {
joel_ssc 84:eccd8e837134 665 _state = EMERGENCY_CLIMB;
joel_ssc 84:eccd8e837134 666 _fsm_timer.reset(); _yotimer.reset();
joel_ssc 84:eccd8e837134 667 _isTimeoutRunning = false;
joel_ssc 84:eccd8e837134 668 sprintf(buf, "LEG POSITION RISE ... ENDS, and since finish_leg=1, go to Emergency climb\n\n\r");
joel_ssc 84:eccd8e837134 669 mbedLogger().appendDiagFile(buf,0);
joel_ssc 84:eccd8e837134 670 }
joel_ssc 82:0981b9ada820 671 }
joel_ssc 82:0981b9ada820 672 else if(_yotimer.read() > _yo_time ) {
joel_ssc 82:0981b9ada820 673 xbee().printf("LEG POS RISE: yo_time timed out - go to Emergency_CLIMB. Actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 84:eccd8e837134 674 _state = EMERGENCY_CLIMB; // add diagnostics message
joel_ssc 82:0981b9ada820 675 finish_leg = 1;
joel_ssc 84:eccd8e837134 676 _fsm_timer.reset(); _yotimer.reset();
joel_ssc 82:0981b9ada820 677 _isTimeoutRunning = false;
joel_ssc 84:eccd8e837134 678 sprintf(buf, "LEG POSITION DIVE ... ENDS on yo_time too long, exit to emergnecy climb + finish_leg=1\n\n\r");
joel_ssc 84:eccd8e837134 679 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 680 }
joel_ssc 82:0981b9ada820 681
joel_ssc 82:0981b9ada820 682 // what is active?
joel_ssc 82:0981b9ada820 683 xbee().printf("LEG POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 684 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
joel_ssc 82:0981b9ada820 685 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
joel_ssc 82:0981b9ada820 686
joel_ssc 82:0981b9ada820 687 // ACTIVE RUDDER CONTROL
joel_ssc 82:0981b9ada820 688 rudder().setPosition_deg(headingLoop().getOutput());
joel_ssc 82:0981b9ada820 689
joel_ssc 82:0981b9ada820 690 break; // end LEG POS RISE
tnhnrl 58:94b7fd55185e 691 // NEW DIVE AND RISE SEQUENCES
tnhnrl 16:3363b9f14913 692
tnhnrl 16:3363b9f14913 693 case FLOAT_LEVEL :
tnhnrl 16:3363b9f14913 694 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 695 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 696 xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
tnhnrl 73:f6f378311c8d 697 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 698 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 699 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 700
tnhnrl 16:3363b9f14913 701 // what needs to be started?
tnhnrl 16:3363b9f14913 702 bce().unpause();
tnhnrl 16:3363b9f14913 703 batt().unpause();
tnhnrl 16:3363b9f14913 704
tnhnrl 20:8987a9ae2bc7 705 // what are the commands?
tnhnrl 28:16c83a2fdefa 706 bce().setPosition_mm(_bceFloatPosition);
tnhnrl 16:3363b9f14913 707 pitchLoop().setCommand(0.0);
tnhnrl 16:3363b9f14913 708 }
tnhnrl 20:8987a9ae2bc7 709
tnhnrl 16:3363b9f14913 710 // how exit?
tnhnrl 73:f6f378311c8d 711 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 712 xbee().printf("FL: timed out\r\n");
tnhnrl 21:38c8544db6f4 713 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 714 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 715 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 716 }
tnhnrl 28:16c83a2fdefa 717 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
tnhnrl 74:d281aaef9766 718 xbee().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
tnhnrl 21:38c8544db6f4 719 _state = FLOAT_BROADCAST;
tnhnrl 73:f6f378311c8d 720 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 721 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 722 }
tnhnrl 20:8987a9ae2bc7 723
tnhnrl 16:3363b9f14913 724 // what is active?
tnhnrl 74:d281aaef9766 725 xbee().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(), _fsm_timer.read());
tnhnrl 16:3363b9f14913 726 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 727
tnhnrl 16:3363b9f14913 728 break;
tnhnrl 16:3363b9f14913 729
tnhnrl 16:3363b9f14913 730 case FLOAT_BROADCAST :
tnhnrl 16:3363b9f14913 731 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 732 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 733 xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
tnhnrl 73:f6f378311c8d 734 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 735 _fsm_timer.start(); // background timer starts running
joel_ssc 84:eccd8e837134 736 _yotimer.reset();
joel_ssc 84:eccd8e837134 737 _yotimer.start();
tnhnrl 28:16c83a2fdefa 738 _isTimeoutRunning = true;
tnhnrl 16:3363b9f14913 739
tnhnrl 16:3363b9f14913 740 // what needs to be started?
tnhnrl 16:3363b9f14913 741 bce().unpause();
tnhnrl 16:3363b9f14913 742 batt().unpause();
tnhnrl 20:8987a9ae2bc7 743
tnhnrl 16:3363b9f14913 744 // what are the commands?
tnhnrl 55:f4ec445c42fe 745 bce().setPosition_mm(_bceFloatPosition); // 320.0
tnhnrl 55:f4ec445c42fe 746 batt().setPosition_mm(_battFloatPosition); // 73.0
tnhnrl 74:d281aaef9766 747
tnhnrl 74:d281aaef9766 748 //set rudder to center
tnhnrl 74:d281aaef9766 749 rudder().setPosition_deg(0.0); //set rudder to center, zero degrees
tnhnrl 16:3363b9f14913 750 }
tnhnrl 20:8987a9ae2bc7 751
tnhnrl 16:3363b9f14913 752 // how exit?
joel_ssc 82:0981b9ada820 753
joel_ssc 84:eccd8e837134 754 if (_fsm_timer > _timeout || ( _yotimer > _state_transition_time)) {
tnhnrl 74:d281aaef9766 755 xbee().printf("FB: timed out\r\n");
tnhnrl 21:38c8544db6f4 756 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 757 _fsm_timer.reset();
tnhnrl 32:f2f8ae34aadc 758
tnhnrl 32:f2f8ae34aadc 759 //stop recording data
tnhnrl 35:2f66ea4863d5 760 //mbedLogger().closeFile();
tnhnrl 32:f2f8ae34aadc 761
tnhnrl 28:16c83a2fdefa 762 _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 763 if(finish_leg == 1) { _state = FB_EXIT; } // allows exit if finish_leg set by leg_POS_dive, or LEG_POS_RISE timeout or too slow yo
tnhnrl 16:3363b9f14913 764 }
tnhnrl 74:d281aaef9766 765
tnhnrl 74:d281aaef9766 766 //fix on float_broadcast to account for BCE stopping early in current hardware
tnhnrl 74:d281aaef9766 767 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) and
tnhnrl 20:8987a9ae2bc7 768 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
tnhnrl 74:d281aaef9766 769 xbee().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 21:38c8544db6f4 770 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 771 _fsm_timer.reset();
tnhnrl 32:f2f8ae34aadc 772
tnhnrl 32:f2f8ae34aadc 773 //stop recording data
tnhnrl 35:2f66ea4863d5 774 //mbedLogger().closeFile();
joel_ssc 84:eccd8e837134 775 if(finish_leg == 1) { _state = FB_EXIT; } // allows exit if finish_leg set by leg_POS_dive, or LEG_POS_RISE timeout or too slow yo
tnhnrl 28:16c83a2fdefa 776 _isTimeoutRunning = false;
tnhnrl 16:3363b9f14913 777 }
tnhnrl 20:8987a9ae2bc7 778
tnhnrl 20:8987a9ae2bc7 779 // what is active?
joel_ssc 82:0981b9ada820 780 xbee().printf("FB: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 781 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
joel_ssc 82:0981b9ada820 782 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
tnhnrl 32:f2f8ae34aadc 783
joel_ssc 82:0981b9ada820 784 if (finish_leg == 1) { _state = FB_EXIT;}
tnhnrl 16:3363b9f14913 785 break;
tnhnrl 17:7c16b5671d0e 786
tnhnrl 17:7c16b5671d0e 787 case MULTI_DIVE :
tnhnrl 17:7c16b5671d0e 788 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 789 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 790 xbee().printf("\r\n\nstate: MULTI-DIVE\r\n");
tnhnrl 73:f6f378311c8d 791 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 792 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 793 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 794
tnhnrl 17:7c16b5671d0e 795 // what needs to be started?
tnhnrl 17:7c16b5671d0e 796 bce().unpause();
tnhnrl 17:7c16b5671d0e 797 batt().unpause();
tnhnrl 17:7c16b5671d0e 798
tnhnrl 21:38c8544db6f4 799 //retrieve commands from structs (loaded from sequence.cfg file)
tnhnrl 32:f2f8ae34aadc 800 float sequence_depth_command = currentStateStruct.depth;
tnhnrl 32:f2f8ae34aadc 801 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 802
tnhnrl 17:7c16b5671d0e 803 // what are the commands?
tnhnrl 32:f2f8ae34aadc 804 depthLoop().setCommand(sequence_depth_command);
tnhnrl 32:f2f8ae34aadc 805 pitchLoop().setCommand(sequence_pitch_command);
tnhnrl 74:d281aaef9766 806
tnhnrl 74:d281aaef9766 807
tnhnrl 74:d281aaef9766 808 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 809 xbee().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 32:f2f8ae34aadc 810
tnhnrl 32:f2f8ae34aadc 811 //no max depth recording right now
tnhnrl 17:7c16b5671d0e 812 }
tnhnrl 20:8987a9ae2bc7 813
tnhnrl 17:7c16b5671d0e 814 // how exit?
tnhnrl 73:f6f378311c8d 815 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 816 xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
tnhnrl 21:38c8544db6f4 817 _state = MULTI_RISE; //new behavior 11/17/2017
tnhnrl 73:f6f378311c8d 818 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 819 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 820 }
tnhnrl 17:7c16b5671d0e 821 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 74:d281aaef9766 822 xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 21:38c8544db6f4 823 _state = MULTI_RISE;
tnhnrl 73:f6f378311c8d 824 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 825 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 826 }
tnhnrl 20:8987a9ae2bc7 827
tnhnrl 67:c86a4b464682 828 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 829 xbee().printf("MD: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 830 bce().setPosition_mm(depthLoop().getOutput());
tnhnrl 17:7c16b5671d0e 831 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 832
tnhnrl 74:d281aaef9766 833 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 834 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 835
tnhnrl 17:7c16b5671d0e 836 break;
tnhnrl 17:7c16b5671d0e 837
tnhnrl 17:7c16b5671d0e 838 case MULTI_RISE :
tnhnrl 17:7c16b5671d0e 839 // start local state timer and init any other one-shot actions
tnhnrl 28:16c83a2fdefa 840 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 841 xbee().printf("\r\n\nstate: MULTI-RISE\r\n");
tnhnrl 73:f6f378311c8d 842 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 843 _fsm_timer.start(); // background timer starts running
tnhnrl 28:16c83a2fdefa 844 _isTimeoutRunning = true;
tnhnrl 17:7c16b5671d0e 845
tnhnrl 17:7c16b5671d0e 846 // what needs to be started?
tnhnrl 17:7c16b5671d0e 847 bce().unpause();
tnhnrl 17:7c16b5671d0e 848 batt().unpause();
tnhnrl 17:7c16b5671d0e 849
tnhnrl 17:7c16b5671d0e 850 //NEW: retrieve depth and pitch commands from config file struct
tnhnrl 17:7c16b5671d0e 851 // concept is to load this each time the multi-dive restarts
tnhnrl 17:7c16b5671d0e 852 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 853
tnhnrl 17:7c16b5671d0e 854 //retrieve just pitch command from struct
tnhnrl 32:f2f8ae34aadc 855 float sequence_pitch_command = currentStateStruct.pitch;
tnhnrl 17:7c16b5671d0e 856
tnhnrl 17:7c16b5671d0e 857 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
tnhnrl 17:7c16b5671d0e 858 depthLoop().setCommand(0.5);
tnhnrl 32:f2f8ae34aadc 859 pitchLoop().setCommand(-sequence_pitch_command);
tnhnrl 74:d281aaef9766 860
tnhnrl 74:d281aaef9766 861 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
tnhnrl 74:d281aaef9766 862 xbee().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
tnhnrl 17:7c16b5671d0e 863 }
tnhnrl 20:8987a9ae2bc7 864
tnhnrl 17:7c16b5671d0e 865 // how exit?
tnhnrl 73:f6f378311c8d 866 if (_fsm_timer > _timeout) {
tnhnrl 74:d281aaef9766 867 xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
tnhnrl 21:38c8544db6f4 868 _state = EMERGENCY_CLIMB;
tnhnrl 73:f6f378311c8d 869 _fsm_timer.reset();
tnhnrl 28:16c83a2fdefa 870 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 871
tnhnrl 17:7c16b5671d0e 872 //reset multi-dive sequence to start
tnhnrl 24:c7d9b5bf3829 873 _multi_dive_counter = 0;
tnhnrl 63:6cb0405fc6e6 874
tnhnrl 68:8f549749b8ce 875 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 876 // sequenceController().loadSequence();
tnhnrl 17:7c16b5671d0e 877 }
tnhnrl 20:8987a9ae2bc7 878 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
tnhnrl 74:d281aaef9766 879 xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
tnhnrl 17:7c16b5671d0e 880
tnhnrl 17:7c16b5671d0e 881 //going to next state
tnhnrl 28:16c83a2fdefa 882 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 883
tnhnrl 17:7c16b5671d0e 884 //successful dive-rise sequence CONTINUES the multi-dive sequence
tnhnrl 24:c7d9b5bf3829 885 _multi_dive_counter++;
tnhnrl 17:7c16b5671d0e 886
tnhnrl 17:7c16b5671d0e 887 //UPDATE THE SEQUENCE DATA HERE
tnhnrl 17:7c16b5671d0e 888 stateMachine().getDiveSequence();
tnhnrl 17:7c16b5671d0e 889
tnhnrl 17:7c16b5671d0e 890 //check if this is the end of the dive sequence
tnhnrl 30:2964617e7676 891 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
tnhnrl 30:2964617e7676 892 if (currentStateStruct.state == FLOAT_BROADCAST) {
tnhnrl 68:8f549749b8ce 893 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 894 // sequenceController().loadSequence();
tnhnrl 63:6cb0405fc6e6 895
tnhnrl 28:16c83a2fdefa 896 _state = FLOAT_BROADCAST;
tnhnrl 17:7c16b5671d0e 897 }
tnhnrl 17:7c16b5671d0e 898
tnhnrl 17:7c16b5671d0e 899 else
tnhnrl 63:6cb0405fc6e6 900 _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
tnhnrl 17:7c16b5671d0e 901
tnhnrl 24:c7d9b5bf3829 902 //have to stop this with the _multi_dive_counter variable!
tnhnrl 17:7c16b5671d0e 903 }
tnhnrl 20:8987a9ae2bc7 904
tnhnrl 67:c86a4b464682 905 // WHAT IS ACTIVE?
tnhnrl 74:d281aaef9766 906 xbee().printf("MR: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 907 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
tnhnrl 17:7c16b5671d0e 908 batt().setPosition_mm(pitchLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 909
tnhnrl 74:d281aaef9766 910 // ACTIVE RUDDER CONTROL
tnhnrl 74:d281aaef9766 911 rudder().setPosition_deg(headingLoop().getOutput());
tnhnrl 32:f2f8ae34aadc 912
tnhnrl 17:7c16b5671d0e 913 break;
tnhnrl 32:f2f8ae34aadc 914
tnhnrl 71:939d179478c4 915 case TX_MBED_LOG:
tnhnrl 63:6cb0405fc6e6 916 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 917 xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n");
tnhnrl 73:f6f378311c8d 918 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 919 _fsm_timer.start(); // background timer starts running
tnhnrl 32:f2f8ae34aadc 920 _isTimeoutRunning = true;
tnhnrl 32:f2f8ae34aadc 921
tnhnrl 68:8f549749b8ce 922 //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
tnhnrl 68:8f549749b8ce 923
tnhnrl 74:d281aaef9766 924 xbee().printf("TX_MBED_LOG set to zero\n\r");
tnhnrl 45:16b8162188ca 925
tnhnrl 69:919ac8d7e023 926 //function to read the file and get number of lines (packets to transmit)
tnhnrl 69:919ac8d7e023 927 _timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
tnhnrl 68:8f549749b8ce 928
tnhnrl 68:8f549749b8ce 929 mbedLogger().setTransmitPacketNumber(0); //reset to zero
tnhnrl 45:16b8162188ca 930 }
tnhnrl 45:16b8162188ca 931
tnhnrl 69:919ac8d7e023 932 //TIMED OUT
tnhnrl 73:f6f378311c8d 933 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 934 xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n");
tnhnrl 63:6cb0405fc6e6 935
tnhnrl 63:6cb0405fc6e6 936 //STATE
tnhnrl 45:16b8162188ca 937 _state = SIT_IDLE;
tnhnrl 63:6cb0405fc6e6 938
tnhnrl 73:f6f378311c8d 939 _fsm_timer.reset();
tnhnrl 63:6cb0405fc6e6 940 _isTimeoutRunning = false;
tnhnrl 63:6cb0405fc6e6 941
tnhnrl 73:f6f378311c8d 942 //mbedLogger().closeLogFile();
tnhnrl 74:d281aaef9766 943 xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
tnhnrl 63:6cb0405fc6e6 944 }
tnhnrl 63:6cb0405fc6e6 945
tnhnrl 73:f6f378311c8d 946 //received end transmission packet (if this is true)
tnhnrl 73:f6f378311c8d 947 if (mbedLogger().endTransmitPacket()) {
tnhnrl 73:f6f378311c8d 948 //STATE
tnhnrl 73:f6f378311c8d 949 led3() = !led3();
tnhnrl 73:f6f378311c8d 950
tnhnrl 73:f6f378311c8d 951 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 952
tnhnrl 73:f6f378311c8d 953 //reset timer
tnhnrl 73:f6f378311c8d 954 _fsm_timer.reset();
tnhnrl 73:f6f378311c8d 955
tnhnrl 73:f6f378311c8d 956 //mbedLogger().closeLogFile();
tnhnrl 73:f6f378311c8d 957
tnhnrl 74:d281aaef9766 958 xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
tnhnrl 73:f6f378311c8d 959 }
tnhnrl 73:f6f378311c8d 960
tnhnrl 68:8f549749b8ce 961 //What is active?
tnhnrl 73:f6f378311c8d 962 //mbedLogger().fsmTransmitData();
tnhnrl 69:919ac8d7e023 963 mbedLogger().checkForPythonTransmitRequest();
tnhnrl 73:f6f378311c8d 964 led1() = !led1();
tnhnrl 68:8f549749b8ce 965
tnhnrl 45:16b8162188ca 966 break;
tnhnrl 45:16b8162188ca 967
tnhnrl 74:d281aaef9766 968 case RX_SEQUENCE :
tnhnrl 74:d281aaef9766 969 xbee().printf("state: RX_SEQUENCE\r\n");
tnhnrl 45:16b8162188ca 970
tnhnrl 45:16b8162188ca 971 if (!_isTimeoutRunning) {
tnhnrl 74:d281aaef9766 972 xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n");
tnhnrl 73:f6f378311c8d 973 _fsm_timer.reset(); // timer goes back to zero
tnhnrl 73:f6f378311c8d 974 _fsm_timer.start(); // background timer starts running
tnhnrl 45:16b8162188ca 975 _isTimeoutRunning = true;
tnhnrl 45:16b8162188ca 976 }
tnhnrl 45:16b8162188ca 977
tnhnrl 73:f6f378311c8d 978 if (_fsm_timer.read() > _timeout) {
tnhnrl 74:d281aaef9766 979 xbee().printf("RX_SEQUENCE: timed out!\r\n");
tnhnrl 34:9b66c5188051 980 _state = SIT_IDLE;
tnhnrl 73:f6f378311c8d 981 _fsm_timer.reset();
tnhnrl 32:f2f8ae34aadc 982 _isTimeoutRunning = false;
tnhnrl 32:f2f8ae34aadc 983 }
tnhnrl 32:f2f8ae34aadc 984
tnhnrl 45:16b8162188ca 985 // what is active?
tnhnrl 74:d281aaef9766 986 xbee().printf("Receive sequence active?\r\n");
tnhnrl 32:f2f8ae34aadc 987
tnhnrl 32:f2f8ae34aadc 988 break;
tnhnrl 16:3363b9f14913 989
tnhnrl 16:3363b9f14913 990 default :
tnhnrl 74:d281aaef9766 991 xbee().printf("DEBUG: SIT_IDLE\r\n");
tnhnrl 21:38c8544db6f4 992 _state = SIT_IDLE;
tnhnrl 28:16c83a2fdefa 993 }
tnhnrl 28:16c83a2fdefa 994
tnhnrl 28:16c83a2fdefa 995 //save the state to print to user
tnhnrl 28:16c83a2fdefa 996 if (_previous_state != _state) {
tnhnrl 28:16c83a2fdefa 997 _state_array[_state_array_counter] = _state; //save to state array
tnhnrl 28:16c83a2fdefa 998 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 999
tnhnrl 28:16c83a2fdefa 1000 _previous_state = _state;
tnhnrl 28:16c83a2fdefa 1001 }
tnhnrl 34:9b66c5188051 1002
tnhnrl 34:9b66c5188051 1003 return _state;
tnhnrl 73:f6f378311c8d 1004 } /* end of runStateMachine */
tnhnrl 20:8987a9ae2bc7 1005
tnhnrl 16:3363b9f14913 1006 // output the keyboard menu for user's reference
tnhnrl 69:919ac8d7e023 1007 void StateMachine::printSimpleMenu() {
tnhnrl 74:d281aaef9766 1008 xbee().printf("\r\r\n\nSIMPLE KEYBOARD MENU (08/13/2018):\r\r\n"); //make sure depth sensor tares itself on startup
tnhnrl 74:d281aaef9766 1009 xbee().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit());
tnhnrl 58:94b7fd55185e 1010
tnhnrl 74:d281aaef9766 1011 xbee().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 74:d281aaef9766 1012 xbee().printf(" J to float level\r\n");
tnhnrl 74:d281aaef9766 1013 xbee().printf(" B to float at broadcast pitch\r\n");
tnhnrl 74:d281aaef9766 1014 xbee().printf(" E to initiate emergency climb\r\n");
tnhnrl 74:d281aaef9766 1015 xbee().printf(" P to print the current log file.\r\n");
tnhnrl 74:d281aaef9766 1016 xbee().printf(" G to transmit MBED log file\r\n");
tnhnrl 74:d281aaef9766 1017 xbee().printf(" I to receive multi-dive sequence file\r\n");
tnhnrl 74:d281aaef9766 1018 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 66:0f20870117b7 1019
tnhnrl 74:d281aaef9766 1020 xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset);
tnhnrl 74:d281aaef9766 1021 xbee().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = dive)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
tnhnrl 74:d281aaef9766 1022 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
tnhnrl 74:d281aaef9766 1023 xbee().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1024 xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 58:94b7fd55185e 1025
tnhnrl 74:d281aaef9766 1026 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 74:d281aaef9766 1027 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 74:d281aaef9766 1028 xbee().printf(" ? to reset mbed\r\n");
tnhnrl 74:d281aaef9766 1029 xbee().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
tnhnrl 57:ec69651c8c21 1030 }
tnhnrl 57:ec69651c8c21 1031
tnhnrl 69:919ac8d7e023 1032 void StateMachine::printDebugMenu() {
tnhnrl 74:d281aaef9766 1033 xbee().printf("\r\r\n\nDEBUG KEYBOARD MENU (08/08/2018):\r\r\n");
tnhnrl 74:d281aaef9766 1034 xbee().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
tnhnrl 74:d281aaef9766 1035 xbee().printf(" N to find neutral\r\n");
tnhnrl 74:d281aaef9766 1036 xbee().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 74:d281aaef9766 1037 xbee().printf(" D to initiate dive cycle\r\n");
tnhnrl 74:d281aaef9766 1038 xbee().printf(" R to initiate rise\r\n");
tnhnrl 74:d281aaef9766 1039 xbee().printf(" J to float level\r\n");
tnhnrl 74:d281aaef9766 1040 xbee().printf(" B to float at broadcast pitch\r\n");
tnhnrl 74:d281aaef9766 1041 xbee().printf(" E to initiate emergency climb\r\n");
tnhnrl 74:d281aaef9766 1042 xbee().printf(" '}' to HOME the BCE (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1043 xbee().printf(" '|' to HOME the BMM (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1044 xbee().printf(" Z to show FSM and sub-FSM states.\r\n");
tnhnrl 74:d281aaef9766 1045 xbee().printf(" P to print the current log file.\r\n");
tnhnrl 74:d281aaef9766 1046 xbee().printf(" X to print the list of log files.\r\n");
tnhnrl 74:d281aaef9766 1047 xbee().printf(" I to receive data.\r\n");
tnhnrl 74:d281aaef9766 1048 xbee().printf(" G to transmit MBED log file (60 second timeout)\r\n");
tnhnrl 74:d281aaef9766 1049 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 74:d281aaef9766 1050 xbee().printf("; or : to TYPE in the BCE neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
tnhnrl 74:d281aaef9766 1051 xbee().printf("[ or { to TYPE in the BMM neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
tnhnrl 74:d281aaef9766 1052 xbee().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch());
tnhnrl 74:d281aaef9766 1053 xbee().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1054 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
tnhnrl 74:d281aaef9766 1055 xbee().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
tnhnrl 58:94b7fd55185e 1056
tnhnrl 74:d281aaef9766 1057 xbee().printf(" 1 BCE PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1058 xbee().printf(" 2 BATT PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1059 xbee().printf(" 3 Depth PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1060 xbee().printf(" 4 Pitch PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1061 xbee().printf(" 5 Rudder (servo) sub-menu\r\n");
tnhnrl 74:d281aaef9766 1062 xbee().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1063 xbee().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE *** (bce 200, bmm 40, rudder 1640)\r\n");
tnhnrl 74:d281aaef9766 1064 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 53:c0586fe62b01 1065
tnhnrl 74:d281aaef9766 1066 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 74:d281aaef9766 1067 xbee().printf(" ? to reset mbed\r\n");
tnhnrl 74:d281aaef9766 1068 xbee().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
tnhnrl 16:3363b9f14913 1069 }
tnhnrl 20:8987a9ae2bc7 1070
tnhnrl 74:d281aaef9766 1071 //FIND_NEUTRAL sub-Finite State Machine (sub-FSM)
tnhnrl 67:c86a4b464682 1072 // Note: the sub-FSM only moves the pistons once at the start of each timer loop
tnhnrl 67:c86a4b464682 1073 // (timer completes, moves piston, timer completes, moves piston, etc)
tnhnrl 28:16c83a2fdefa 1074 int StateMachine::runNeutralStateMachine() {
tnhnrl 24:c7d9b5bf3829 1075 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 1076 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 1077 //start the 10 second timer
tnhnrl 28:16c83a2fdefa 1078 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1079 _neutral_timer = _fsm_timer.read() + 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 1080
tnhnrl 74:d281aaef9766 1081 xbee().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (BCE getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
tnhnrl 20:8987a9ae2bc7 1082
tnhnrl 74:d281aaef9766 1083 // what are the commands? (BCE linear actuator active, no BMM or pitch movement)
tnhnrl 74:d281aaef9766 1084 bce().setPosition_mm(bce().getSetPosition_mm() - 2.5);
tnhnrl 23:434f04ef1fad 1085
tnhnrl 74:d281aaef9766 1086 xbee().printf("NEUTRAL_SINKING: Retracting piston 2.5 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
tnhnrl 17:7c16b5671d0e 1087
tnhnrl 28:16c83a2fdefa 1088 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 1089 }
tnhnrl 20:8987a9ae2bc7 1090
tnhnrl 20:8987a9ae2bc7 1091 // how exit?
tnhnrl 20:8987a9ae2bc7 1092 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 1093 if (bce().getPosition_mm() <= 0) {
tnhnrl 74:d281aaef9766 1094 xbee().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
tnhnrl 25:249e4d56b27c 1095 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 1096 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 74:d281aaef9766 1097 }
tnhnrl 74:d281aaef9766 1098 //Troy: Pressure vessel went beyond set depth limit, goes to next state
tnhnrl 20:8987a9ae2bc7 1099 //once deeper than the commanded setpoint...
tnhnrl 32:f2f8ae34aadc 1100 else if (depthLoop().getPosition() > _depth_command) {
tnhnrl 24:c7d9b5bf3829 1101 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 28:16c83a2fdefa 1102 _isSubStateTimerRunning = false; //reset the sub state timer
tnhnrl 20:8987a9ae2bc7 1103 }
tnhnrl 20:8987a9ae2bc7 1104
tnhnrl 20:8987a9ae2bc7 1105 // what is active?
tnhnrl 20:8987a9ae2bc7 1106 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1107 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1108 xbee().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read());
tnhnrl 17:7c16b5671d0e 1109
tnhnrl 28:16c83a2fdefa 1110 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 1111 }
tnhnrl 39:58375ca6b6ff 1112
tnhnrl 39:58375ca6b6ff 1113 // what is active? (only the buoyancy engine moved every 5 seconds at start)
tnhnrl 74:d281aaef9766 1114 xbee().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f ft)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
tnhnrl 67:c86a4b464682 1115
tnhnrl 74:d281aaef9766 1116 //the BCE moves every 5 seconds. No BMM or rudder movement.
tnhnrl 74:d281aaef9766 1117
tnhnrl 17:7c16b5671d0e 1118 break;
tnhnrl 17:7c16b5671d0e 1119
tnhnrl 17:7c16b5671d0e 1120 case NEUTRAL_SLOWLY_RISE:
tnhnrl 28:16c83a2fdefa 1121 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1122 _neutral_timer = _fsm_timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
tnhnrl 17:7c16b5671d0e 1123
tnhnrl 74:d281aaef9766 1124 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read());
tnhnrl 17:7c16b5671d0e 1125
tnhnrl 20:8987a9ae2bc7 1126 // what are the commands?
tnhnrl 32:f2f8ae34aadc 1127 //move piston at start of sequence (default: extend 2.0 mm)
tnhnrl 74:d281aaef9766 1128 //Pressure vessel should slowly rise
tnhnrl 74:d281aaef9766 1129 bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command, only motor position
tnhnrl 23:434f04ef1fad 1130
tnhnrl 74:d281aaef9766 1131 //Troy: I commented out this command, we're finding pitch in the next state.
tnhnrl 23:434f04ef1fad 1132 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 74:d281aaef9766 1133 //pitchLoop().setCommand(0.0);
tnhnrl 24:c7d9b5bf3829 1134
tnhnrl 74:d281aaef9766 1135 xbee().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 2.0 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
tnhnrl 24:c7d9b5bf3829 1136
tnhnrl 28:16c83a2fdefa 1137 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 1138 }
tnhnrl 17:7c16b5671d0e 1139
tnhnrl 20:8987a9ae2bc7 1140 // how exit?
tnhnrl 24:c7d9b5bf3829 1141 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 1142 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
tnhnrl 24:c7d9b5bf3829 1143 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 1144 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 1145 }
tnhnrl 74:d281aaef9766 1146 //Troy: Depth rate will go negative as the pressure vessel starts rising
tnhnrl 17:7c16b5671d0e 1147 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
tnhnrl 20:8987a9ae2bc7 1148 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
tnhnrl 74:d281aaef9766 1149 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", _fsm_timer.read());
tnhnrl 24:c7d9b5bf3829 1150 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 28:16c83a2fdefa 1151 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 1152 }
tnhnrl 17:7c16b5671d0e 1153
tnhnrl 20:8987a9ae2bc7 1154 // what is active?
tnhnrl 20:8987a9ae2bc7 1155 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1156 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1157 xbee().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read());
tnhnrl 20:8987a9ae2bc7 1158
tnhnrl 28:16c83a2fdefa 1159 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 1160 }
tnhnrl 23:434f04ef1fad 1161
tnhnrl 32:f2f8ae34aadc 1162 // what is active? (only the buoyancy engine moved every 5 seconds)
tnhnrl 74:d281aaef9766 1163 xbee().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
tnhnrl 67:c86a4b464682 1164
tnhnrl 17:7c16b5671d0e 1165 break;
tnhnrl 17:7c16b5671d0e 1166
danstrider 22:a10ee088403b 1167 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 1168 // start local state timer and init any other one-shot actions
tnhnrl 23:434f04ef1fad 1169
tnhnrl 28:16c83a2fdefa 1170 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1171 _neutral_timer = _fsm_timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 74:d281aaef9766 1172 xbee().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read());
danstrider 22:a10ee088403b 1173
tnhnrl 32:f2f8ae34aadc 1174 // what are the commands? (default: retract or extend 0.5 mm)
tnhnrl 74:d281aaef9766 1175 if (pitchLoop().getPosition() > 2) { // nose is high (extend batteries)
tnhnrl 39:58375ca6b6ff 1176 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 74:d281aaef9766 1177 xbee().printf("\r\nNeutral Check Pitch: moving battery FWD in 0.5 mm increments\r\n\n");
danstrider 22:a10ee088403b 1178 }
tnhnrl 74:d281aaef9766 1179 else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries)
tnhnrl 39:58375ca6b6ff 1180 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 74:d281aaef9766 1181 xbee().printf("\r\nNeutral Check Pitch: moving battery AFT in 0.5 mm increments\r\n\n");
danstrider 22:a10ee088403b 1182 }
tnhnrl 24:c7d9b5bf3829 1183
tnhnrl 28:16c83a2fdefa 1184 _isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 1185 }
tnhnrl 20:8987a9ae2bc7 1186
tnhnrl 28:16c83a2fdefa 1187 // how exit?
tnhnrl 20:8987a9ae2bc7 1188 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 1189 //benchtop tests confirm angle needs to be around 2 degrees
tnhnrl 23:434f04ef1fad 1190 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 74:d281aaef9766 1191 xbee().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
danstrider 22:a10ee088403b 1192 // found level, but don't need to save anything this time
tnhnrl 23:434f04ef1fad 1193
tnhnrl 28:16c83a2fdefa 1194 if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
tnhnrl 28:16c83a2fdefa 1195 _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 1196 }
tnhnrl 28:16c83a2fdefa 1197
tnhnrl 23:434f04ef1fad 1198 // found level and at depth too, so save it all now
tnhnrl 32:f2f8ae34aadc 1199 if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 1200 //save positions locally
danstrider 22:a10ee088403b 1201 _neutral_batt_pos_mm = batt().getPosition_mm();
danstrider 22:a10ee088403b 1202 _neutral_bce_pos_mm = bce().getPosition_mm();
danstrider 22:a10ee088403b 1203
danstrider 22:a10ee088403b 1204 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 1205 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 1206 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 1207
danstrider 22:a10ee088403b 1208 // save into the depth.txt and pitch.txt files
tnhnrl 73:f6f378311c8d 1209
tnhnrl 73:f6f378311c8d 1210 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
tnhnrl 73:f6f378311c8d 1211 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); //P,I,D, bce zeroOffset
tnhnrl 73:f6f378311c8d 1212
tnhnrl 74:d281aaef9766 1213 xbee().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
danstrider 22:a10ee088403b 1214
tnhnrl 24:c7d9b5bf3829 1215 _substate = NEUTRAL_EXIT;
tnhnrl 28:16c83a2fdefa 1216 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 1217 }
tnhnrl 24:c7d9b5bf3829 1218
tnhnrl 24:c7d9b5bf3829 1219 else {
tnhnrl 74:d281aaef9766 1220 xbee().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
tnhnrl 24:c7d9b5bf3829 1221 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1222 }
tnhnrl 17:7c16b5671d0e 1223 }
danstrider 22:a10ee088403b 1224
danstrider 22:a10ee088403b 1225 // what is active?
danstrider 22:a10ee088403b 1226 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1227 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1228 xbee().printf("\r\n\nlevel timer COMPLETE!");
tnhnrl 74:d281aaef9766 1229 xbee().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), _fsm_timer.read());
tnhnrl 28:16c83a2fdefa 1230 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 1231 }
tnhnrl 74:d281aaef9766 1232
tnhnrl 17:7c16b5671d0e 1233 break;
danstrider 22:a10ee088403b 1234
danstrider 22:a10ee088403b 1235 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 1236 case NEUTRAL_EXIT :
tnhnrl 74:d281aaef9766 1237 xbee().printf("substate: NEUTRAL_EXIT\r\n");
tnhnrl 20:8987a9ae2bc7 1238 break;
tnhnrl 21:38c8544db6f4 1239
danstrider 22:a10ee088403b 1240 default :
tnhnrl 74:d281aaef9766 1241 xbee().printf("how did we get to substate: default?\r\n"); //debug
tnhnrl 23:434f04ef1fad 1242 //a default within the sub-state machine
tnhnrl 24:c7d9b5bf3829 1243 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1244 break;
tnhnrl 17:7c16b5671d0e 1245 }
tnhnrl 20:8987a9ae2bc7 1246
tnhnrl 30:2964617e7676 1247 // reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
tnhnrl 24:c7d9b5bf3829 1248 if (_substate == NEUTRAL_EXIT) {
tnhnrl 74:d281aaef9766 1249 xbee().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
tnhnrl 24:c7d9b5bf3829 1250
tnhnrl 30:2964617e7676 1251 //reset internal sub-state back to first entry conditions (first state is immediately sinking)
tnhnrl 30:2964617e7676 1252 _substate = NEUTRAL_SINKING;
tnhnrl 28:16c83a2fdefa 1253 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 21:38c8544db6f4 1254
tnhnrl 24:c7d9b5bf3829 1255 //record sub-states to view after sequence
tnhnrl 30:2964617e7676 1256 _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
tnhnrl 28:16c83a2fdefa 1257 _substate_array_counter++;
tnhnrl 23:434f04ef1fad 1258
tnhnrl 24:c7d9b5bf3829 1259 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 1260 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 1261
tnhnrl 24:c7d9b5bf3829 1262 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 1263 return NEUTRAL_EXIT; // message to calling function we just exited
tnhnrl 21:38c8544db6f4 1264 }
tnhnrl 23:434f04ef1fad 1265 else {
tnhnrl 24:c7d9b5bf3829 1266 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 1267 if (_previous_substate != _substate) {
tnhnrl 28:16c83a2fdefa 1268 _substate_array[_substate_array_counter] = _substate; //save current state to state array
tnhnrl 28:16c83a2fdefa 1269 _substate_array_counter++;
tnhnrl 24:c7d9b5bf3829 1270
tnhnrl 24:c7d9b5bf3829 1271 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 1272 _previous_substate = _substate;
tnhnrl 24:c7d9b5bf3829 1273 }
tnhnrl 24:c7d9b5bf3829 1274
tnhnrl 24:c7d9b5bf3829 1275 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 1276 }
tnhnrl 17:7c16b5671d0e 1277 }
tnhnrl 20:8987a9ae2bc7 1278
tnhnrl 57:ec69651c8c21 1279 /* keyboard runs independently of the state machine, handling one key at a time
tnhnrl 57:ec69651c8c21 1280 keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 57:ec69651c8c21 1281 and only allows input when the state is "idle" */
tnhnrl 57:ec69651c8c21 1282
tnhnrl 17:7c16b5671d0e 1283 void StateMachine::keyboard() {
tnhnrl 57:ec69651c8c21 1284 char user_input;
tnhnrl 20:8987a9ae2bc7 1285
tnhnrl 16:3363b9f14913 1286 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 1287 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
tnhnrl 21:38c8544db6f4 1288
tnhnrl 37:357e98a929cc 1289 //TEST
tnhnrl 37:357e98a929cc 1290 int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
tnhnrl 21:38c8544db6f4 1291
tnhnrl 74:d281aaef9766 1292 if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) {
tnhnrl 16:3363b9f14913 1293 // get the key
tnhnrl 74:d281aaef9766 1294 user_input = xbee().getc();
tnhnrl 17:7c16b5671d0e 1295
tnhnrl 28:16c83a2fdefa 1296 //record that the keyboard was used
tnhnrl 28:16c83a2fdefa 1297 _state_array[_state_array_counter] = KEYBOARD;
tnhnrl 28:16c83a2fdefa 1298 _state_array_counter++;
tnhnrl 28:16c83a2fdefa 1299
tnhnrl 21:38c8544db6f4 1300 // keyboard has to reset timer each time it's used
tnhnrl 28:16c83a2fdefa 1301 _isTimeoutRunning = false;
tnhnrl 17:7c16b5671d0e 1302
tnhnrl 16:3363b9f14913 1303 // check command against desired control buttons
tnhnrl 72:250b2665755c 1304
tnhnrl 72:250b2665755c 1305 /***************************** COMMON COMMANDS *****************************/
tnhnrl 72:250b2665755c 1306 if (user_input == 'W') {
tnhnrl 74:d281aaef9766 1307 xbee().printf(">> Please enter the heading (deg).\r\n");
tnhnrl 72:250b2665755c 1308 _heading_command = getFloatUserInput();
tnhnrl 72:250b2665755c 1309 }
tnhnrl 73:f6f378311c8d 1310
tnhnrl 73:f6f378311c8d 1311 //////////////////// TEST
tnhnrl 73:f6f378311c8d 1312 // else if (user_input == 'l') {
tnhnrl 74:d281aaef9766 1313 // xbee().printf("CUT OFF RUDDER SERVO????\n\r");
tnhnrl 73:f6f378311c8d 1314 // rudder().pwm_pulse_off();
tnhnrl 73:f6f378311c8d 1315 // }
tnhnrl 73:f6f378311c8d 1316 //////////////////// TEST
tnhnrl 73:f6f378311c8d 1317
tnhnrl 74:d281aaef9766 1318 else if (user_input == 'K') {
tnhnrl 74:d281aaef9766 1319 xbee().printf("(K) BLAST DATA AND EXIT! \n\r");
tnhnrl 74:d281aaef9766 1320 mbedLogger().blastData();
tnhnrl 74:d281aaef9766 1321 }
tnhnrl 74:d281aaef9766 1322
tnhnrl 73:f6f378311c8d 1323 else if (user_input == 'U') {
tnhnrl 74:d281aaef9766 1324 xbee().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
tnhnrl 73:f6f378311c8d 1325
tnhnrl 73:f6f378311c8d 1326 mbedLogger().transmitMultiplePackets();
tnhnrl 73:f6f378311c8d 1327 }
tnhnrl 73:f6f378311c8d 1328
tnhnrl 73:f6f378311c8d 1329 else if (user_input == 'H') {
tnhnrl 74:d281aaef9766 1330 xbee().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
tnhnrl 73:f6f378311c8d 1331 wait(1);
tnhnrl 73:f6f378311c8d 1332 mbedLogger().blastData();
tnhnrl 73:f6f378311c8d 1333
tnhnrl 73:f6f378311c8d 1334 mbedLogger().transmitMultiplePackets();
tnhnrl 73:f6f378311c8d 1335 }
tnhnrl 73:f6f378311c8d 1336
tnhnrl 73:f6f378311c8d 1337 else if (user_input == 'G') {
tnhnrl 74:d281aaef9766 1338 xbee().printf("(G) BLAST DATA TEST and use FSM! \n\r");
tnhnrl 73:f6f378311c8d 1339 wait(1);
tnhnrl 73:f6f378311c8d 1340 mbedLogger().blastData();
tnhnrl 73:f6f378311c8d 1341
tnhnrl 73:f6f378311c8d 1342 _keyboard_state = TX_MBED_LOG;
tnhnrl 73:f6f378311c8d 1343 }
tnhnrl 73:f6f378311c8d 1344
tnhnrl 74:d281aaef9766 1345 else if (user_input == 'I') {
tnhnrl 74:d281aaef9766 1346 xbee().printf("(I) Receive Multi-Dive Sequence! \n\r");
tnhnrl 74:d281aaef9766 1347 mbedLogger().receiveSequenceFile(); //receive sequence.txt files
tnhnrl 74:d281aaef9766 1348 }
tnhnrl 74:d281aaef9766 1349
tnhnrl 72:250b2665755c 1350 else if (user_input == '8') {
tnhnrl 72:250b2665755c 1351 keyboard_menu_STREAM_STATUS();
tnhnrl 72:250b2665755c 1352 }
tnhnrl 74:d281aaef9766 1353
tnhnrl 72:250b2665755c 1354 else if (user_input == '?') {
tnhnrl 74:d281aaef9766 1355 xbee().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 72:250b2665755c 1356 wait(0.5);
tnhnrl 72:250b2665755c 1357 mbed_reset();
tnhnrl 72:250b2665755c 1358 }
tnhnrl 72:250b2665755c 1359
tnhnrl 72:250b2665755c 1360 else if (user_input == 'T') {
tnhnrl 74:d281aaef9766 1361 xbee().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 72:250b2665755c 1362 _timeout = fabs(getFloatUserInput());
tnhnrl 72:250b2665755c 1363 }
tnhnrl 72:250b2665755c 1364
tnhnrl 80:4e5d306d695b 1365 else if (user_input == '~') {
tnhnrl 80:4e5d306d695b 1366 xbee().printf("MBED LOG FILE MENU!\r\n");
tnhnrl 80:4e5d306d695b 1367 stateMachine().logFileMenu();
tnhnrl 80:4e5d306d695b 1368
tnhnrl 80:4e5d306d695b 1369 //xbee().printf("ERASING MBED LOG FILE\r\n"); //legacy method
tnhnrl 80:4e5d306d695b 1370 //mbedLogger().eraseFile();
tnhnrl 80:4e5d306d695b 1371 }
tnhnrl 80:4e5d306d695b 1372
tnhnrl 73:f6f378311c8d 1373 else if (user_input == 'C' or user_input == 'c') {
tnhnrl 73:f6f378311c8d 1374
tnhnrl 74:d281aaef9766 1375 xbee().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
tnhnrl 73:f6f378311c8d 1376
tnhnrl 74:d281aaef9766 1377 xbee().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 74:d281aaef9766 1378 xbee().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 74:d281aaef9766 1379 xbee().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 74:d281aaef9766 1380 xbee().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 74:d281aaef9766 1381 xbee().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 74:d281aaef9766 1382 xbee().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),sensors().getInternalPressurePSI());
tnhnrl 74:d281aaef9766 1383 //xbee().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 74:d281aaef9766 1384 xbee().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),sensors().getVoltageInput());
tnhnrl 74:d281aaef9766 1385 xbee().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), sensors().getCurrentInput());
tnhnrl 74:d281aaef9766 1386 xbee().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 74:d281aaef9766 1387 xbee().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 74:d281aaef9766 1388 xbee().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5());
tnhnrl 73:f6f378311c8d 1389 // End of ADC Test
tnhnrl 73:f6f378311c8d 1390
tnhnrl 74:d281aaef9766 1391 xbee().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1392 xbee().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 74:d281aaef9766 1393 xbee().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 74:d281aaef9766 1394 xbee().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 74:d281aaef9766 1395 xbee().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 74:d281aaef9766 1396 xbee().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 74:d281aaef9766 1397 xbee().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 74:d281aaef9766 1398 xbee().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
tnhnrl 73:f6f378311c8d 1399
tnhnrl 74:d281aaef9766 1400 xbee().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 74:d281aaef9766 1401 xbee().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 74:d281aaef9766 1402 xbee().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 74:d281aaef9766 1403 xbee().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
tnhnrl 73:f6f378311c8d 1404
tnhnrl 74:d281aaef9766 1405 xbee().printf("\r\n");
tnhnrl 76:c802e1da4179 1406 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
tnhnrl 76:c802e1da4179 1407 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 74:d281aaef9766 1408 xbee().printf("rudder min_pwm:%6.1f, center_pwm:%6.1f, max_pwm:%6.1f (min_deg:%6.1f max_deg:%6.1f)\r\n",rudder().getMinPWM(),rudder().getCenterPWM(),rudder().getMaxPWM(),rudder().getMinDeg(),rudder().getMaxDeg());
tnhnrl 74:d281aaef9766 1409 xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
tnhnrl 74:d281aaef9766 1410 xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 74:d281aaef9766 1411 xbee().printf("heading P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
tnhnrl 73:f6f378311c8d 1412 }
tnhnrl 73:f6f378311c8d 1413
tnhnrl 72:250b2665755c 1414 /***************************** COMMON COMMANDS *****************************/
tnhnrl 57:ec69651c8c21 1415
tnhnrl 57:ec69651c8c21 1416 /***************************** DEBUG MENU *****************************/
tnhnrl 72:250b2665755c 1417 if (_debug_menu_on) {
tnhnrl 57:ec69651c8c21 1418 if (user_input == 'D') {
tnhnrl 57:ec69651c8c21 1419 _keyboard_state = DIVE;
tnhnrl 57:ec69651c8c21 1420 }
tnhnrl 74:d281aaef9766 1421
tnhnrl 74:d281aaef9766 1422 else if (user_input == '}') {
tnhnrl 74:d281aaef9766 1423 xbee().printf("HOMING the BCE (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1424 wait(5);
tnhnrl 74:d281aaef9766 1425 bce().homePiston();
tnhnrl 74:d281aaef9766 1426 }
tnhnrl 74:d281aaef9766 1427
tnhnrl 74:d281aaef9766 1428 else if (user_input == '|') {
tnhnrl 74:d281aaef9766 1429 xbee().printf("HOMING the BMM (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1430 wait(5);
tnhnrl 74:d281aaef9766 1431 batt().homePiston();
tnhnrl 74:d281aaef9766 1432 }
tnhnrl 74:d281aaef9766 1433
tnhnrl 57:ec69651c8c21 1434 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1435 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1436 }
tnhnrl 57:ec69651c8c21 1437 else if (user_input == 'M') {
tnhnrl 57:ec69651c8c21 1438 //currently does not run if there is no file.
tnhnrl 57:ec69651c8c21 1439
tnhnrl 57:ec69651c8c21 1440 //need to add method to Sequence Controller that returns -1
tnhnrl 57:ec69651c8c21 1441 // or some check that insures you cannot run the dive sequence without a file
tnhnrl 57:ec69651c8c21 1442
tnhnrl 68:8f549749b8ce 1443 //load sequence from file
tnhnrl 68:8f549749b8ce 1444 _multi_dive_counter = 0;
tnhnrl 68:8f549749b8ce 1445 sequenceController().loadSequence();
tnhnrl 68:8f549749b8ce 1446 wait(1); //test if this resets the sequence
tnhnrl 68:8f549749b8ce 1447
tnhnrl 57:ec69651c8c21 1448 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 57:ec69651c8c21 1449 _keyboard_state = currentStateStruct.state;
tnhnrl 57:ec69651c8c21 1450
tnhnrl 74:d281aaef9766 1451 xbee().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
tnhnrl 57:ec69651c8c21 1452 }
tnhnrl 57:ec69651c8c21 1453 else if (user_input == 'R') {
tnhnrl 57:ec69651c8c21 1454 _keyboard_state = RISE;
tnhnrl 57:ec69651c8c21 1455 }
tnhnrl 57:ec69651c8c21 1456 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1457 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1458 }
tnhnrl 57:ec69651c8c21 1459 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1460 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1461 }
tnhnrl 57:ec69651c8c21 1462 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1463 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1464 }
tnhnrl 17:7c16b5671d0e 1465
tnhnrl 65:2ac186553959 1466 else if (user_input == 'Y') {
tnhnrl 57:ec69651c8c21 1467 _keyboard_state = CHECK_TUNING;
tnhnrl 57:ec69651c8c21 1468 }
tnhnrl 17:7c16b5671d0e 1469
tnhnrl 57:ec69651c8c21 1470 // some debug tools below
tnhnrl 57:ec69651c8c21 1471 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1472 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1473 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1474 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 57:ec69651c8c21 1475 }
tnhnrl 57:ec69651c8c21 1476 else if (user_input == 'X') {
tnhnrl 57:ec69651c8c21 1477 mbedLogger().printMbedDirectory(); //print all log files to the screen
tnhnrl 57:ec69651c8c21 1478 }
tnhnrl 57:ec69651c8c21 1479 else if (user_input == 'Z') {
tnhnrl 74:d281aaef9766 1480 xbee().printf("FSG FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1481 string string_state;
tnhnrl 57:ec69651c8c21 1482
tnhnrl 57:ec69651c8c21 1483 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1484 if (_state_array[i] == SIT_IDLE)
tnhnrl 57:ec69651c8c21 1485 string_state = "SIT_IDLE <END>";
tnhnrl 57:ec69651c8c21 1486 else if (_state_array[i] == FIND_NEUTRAL)
tnhnrl 57:ec69651c8c21 1487 string_state = "FIND_NEUTRAL";
tnhnrl 57:ec69651c8c21 1488 else if (_state_array[i] == DIVE)
tnhnrl 57:ec69651c8c21 1489 string_state = "DIVE";
tnhnrl 57:ec69651c8c21 1490 else if (_state_array[i] == RISE)
tnhnrl 57:ec69651c8c21 1491 string_state = "RISE";
tnhnrl 57:ec69651c8c21 1492 else if (_state_array[i] == FLOAT_LEVEL)
tnhnrl 57:ec69651c8c21 1493 string_state = "FLOAT_LEVEL";
tnhnrl 57:ec69651c8c21 1494 else if (_state_array[i] == FLOAT_BROADCAST)
tnhnrl 57:ec69651c8c21 1495 string_state = "FLOAT_BROADCAST";
tnhnrl 57:ec69651c8c21 1496 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1497 string_state = "EMERGENCY_CLIMB";
tnhnrl 57:ec69651c8c21 1498 else if (_state_array[i] == MULTI_DIVE)
tnhnrl 57:ec69651c8c21 1499 string_state = "MULTI_DIVE";
tnhnrl 57:ec69651c8c21 1500 else if (_state_array[i] == MULTI_RISE)
tnhnrl 57:ec69651c8c21 1501 string_state = "MULTI_RISE";
tnhnrl 57:ec69651c8c21 1502 else if (_state_array[i] == KEYBOARD)
tnhnrl 57:ec69651c8c21 1503 string_state = "KEYBOARD";
tnhnrl 74:d281aaef9766 1504 xbee().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
tnhnrl 57:ec69651c8c21 1505 }
tnhnrl 57:ec69651c8c21 1506
tnhnrl 74:d281aaef9766 1507 xbee().printf("\r\nNeutral sub-FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1508 string string_substate;
tnhnrl 57:ec69651c8c21 1509
tnhnrl 57:ec69651c8c21 1510 for (int i = 0; i < _substate_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1511 if (_substate_array[i] == NEUTRAL_SINKING)
tnhnrl 57:ec69651c8c21 1512 string_substate = "NEUTRAL_SINKING";
tnhnrl 57:ec69651c8c21 1513 else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 57:ec69651c8c21 1514 string_substate = "NEUTRAL_SLOWLY_RISE";
tnhnrl 57:ec69651c8c21 1515 else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 57:ec69651c8c21 1516 string_substate = "NEUTRAL_CHECK_PITCH";
tnhnrl 57:ec69651c8c21 1517 else if (_substate_array[i] == NEUTRAL_EXIT)
tnhnrl 57:ec69651c8c21 1518 string_substate = "NEUTRAL_EXIT <-- ";
tnhnrl 57:ec69651c8c21 1519 else if (_substate_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1520 string_substate = " -- > EMERGENCY_CLIMB <-- ";
tnhnrl 74:d281aaef9766 1521 xbee().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
tnhnrl 57:ec69651c8c21 1522 }
tnhnrl 74:d281aaef9766 1523 xbee().printf("\r\n"); //make space between printouts
tnhnrl 72:250b2665755c 1524 }
tnhnrl 72:250b2665755c 1525 //BATTERY/PITCH
tnhnrl 57:ec69651c8c21 1526 else if (user_input == '[' or user_input == '{') {
tnhnrl 74:d281aaef9766 1527 xbee().printf("Please TYPE in the new BATT neutral position.\n\r");
tnhnrl 72:250b2665755c 1528 _neutral_batt_pos_mm = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1529 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
tnhnrl 74:d281aaef9766 1530 xbee().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1531 // save neutral pitch value to config file
tnhnrl 73:f6f378311c8d 1532 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
tnhnrl 57:ec69651c8c21 1533 }
tnhnrl 28:16c83a2fdefa 1534
tnhnrl 72:250b2665755c 1535 //BCE/DEPTH
tnhnrl 72:250b2665755c 1536 else if (user_input == ';' or user_input == ':') {
tnhnrl 74:d281aaef9766 1537 xbee().printf("Please TYPE in the new BCE neutral position.\n\r");
tnhnrl 72:250b2665755c 1538 _neutral_bce_pos_mm = getFloatUserInput();
tnhnrl 72:250b2665755c 1539 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
tnhnrl 74:d281aaef9766 1540 xbee().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 72:250b2665755c 1541 // save neutral depth value to config file
tnhnrl 73:f6f378311c8d 1542 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband);
tnhnrl 57:ec69651c8c21 1543 }
tnhnrl 57:ec69651c8c21 1544
tnhnrl 72:250b2665755c 1545 // change settings
tnhnrl 72:250b2665755c 1546 //heading is in the common controls
tnhnrl 72:250b2665755c 1547 else if (user_input == 'Q') {
tnhnrl 74:d281aaef9766 1548 xbee().printf(">> Please enter the desired PITCH (deg).\r\n");
tnhnrl 72:250b2665755c 1549 _pitch_command = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1550 }
tnhnrl 72:250b2665755c 1551 else if (user_input == 'A') {
tnhnrl 74:d281aaef9766 1552 xbee().printf(">> Please enter the desired DEPTH (ft).\r\n");
tnhnrl 72:250b2665755c 1553 _depth_command = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1554 }
tnhnrl 72:250b2665755c 1555
tnhnrl 57:ec69651c8c21 1556 else if (user_input == '5') {
tnhnrl 58:94b7fd55185e 1557 keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 57:ec69651c8c21 1558 }
tnhnrl 57:ec69651c8c21 1559
tnhnrl 57:ec69651c8c21 1560 else if (user_input == '6') {
tnhnrl 58:94b7fd55185e 1561 keyboard_menu_HEADING_PID_settings();
tnhnrl 58:94b7fd55185e 1562 }
tnhnrl 57:ec69651c8c21 1563
tnhnrl 58:94b7fd55185e 1564 // go to tuning sub-menu
tnhnrl 57:ec69651c8c21 1565 else if (user_input == '7') {
tnhnrl 58:94b7fd55185e 1566 keyboard_menu_MANUAL_TUNING();
tnhnrl 57:ec69651c8c21 1567 }
tnhnrl 57:ec69651c8c21 1568
tnhnrl 73:f6f378311c8d 1569 // else if (user_input == 'U') {
tnhnrl 73:f6f378311c8d 1570 // keyboard_menu_POSITION_READINGS();
tnhnrl 73:f6f378311c8d 1571 // }
tnhnrl 57:ec69651c8c21 1572
tnhnrl 57:ec69651c8c21 1573 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 57:ec69651c8c21 1574 else if (user_input == '1') {
tnhnrl 57:ec69651c8c21 1575 keyboard_menu_BCE_PID_settings();
tnhnrl 57:ec69651c8c21 1576 }
tnhnrl 57:ec69651c8c21 1577 else if (user_input == '2') {
tnhnrl 57:ec69651c8c21 1578 keyboard_menu_BATT_PID_settings();
tnhnrl 57:ec69651c8c21 1579 }
tnhnrl 57:ec69651c8c21 1580 else if (user_input == '3') {
tnhnrl 57:ec69651c8c21 1581 keyboard_menu_DEPTH_PID_settings();
tnhnrl 57:ec69651c8c21 1582 }
tnhnrl 57:ec69651c8c21 1583 else if (user_input == '4') {
tnhnrl 57:ec69651c8c21 1584 keyboard_menu_PITCH_PID_settings();
tnhnrl 28:16c83a2fdefa 1585 }
tnhnrl 73:f6f378311c8d 1586
tnhnrl 57:ec69651c8c21 1587 else if (user_input == '*') {
tnhnrl 74:d281aaef9766 1588 xbee().printf("SWITCHING TO SIMPLE MENU!\r\n");
tnhnrl 74:d281aaef9766 1589 wait(1);
tnhnrl 57:ec69651c8c21 1590 _debug_menu_on = false;
tnhnrl 57:ec69651c8c21 1591 }
tnhnrl 57:ec69651c8c21 1592 } //end of debug menu
tnhnrl 57:ec69651c8c21 1593 /***************************** DEBUG MENU *****************************/
tnhnrl 57:ec69651c8c21 1594
tnhnrl 57:ec69651c8c21 1595 /***************************** SIMPLE MENU *****************************/
tnhnrl 72:250b2665755c 1596 else {
tnhnrl 58:94b7fd55185e 1597 if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1598 _keyboard_state = POSITION_DIVE;
tnhnrl 57:ec69651c8c21 1599 }
tnhnrl 57:ec69651c8c21 1600 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1601 _keyboard_state = FIND_NEUTRAL;
tnhnrl 57:ec69651c8c21 1602 }
tnhnrl 57:ec69651c8c21 1603 else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1604 _keyboard_state = FLOAT_LEVEL;
tnhnrl 57:ec69651c8c21 1605 }
tnhnrl 57:ec69651c8c21 1606 else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1607 _keyboard_state = FLOAT_BROADCAST;
tnhnrl 57:ec69651c8c21 1608 }
tnhnrl 57:ec69651c8c21 1609 else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1610 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1611 }
tnhnrl 57:ec69651c8c21 1612
tnhnrl 57:ec69651c8c21 1613 // some debug tools below
tnhnrl 57:ec69651c8c21 1614 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1615 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1616 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1617 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 72:250b2665755c 1618 }
tnhnrl 57:ec69651c8c21 1619
tnhnrl 57:ec69651c8c21 1620 //POSITION DIVE COMMANDS
tnhnrl 72:250b2665755c 1621 else if (user_input == 'Q') {
tnhnrl 74:d281aaef9766 1622 xbee().printf(">> Please enter the desired BMM offset (mm).\r\n");
tnhnrl 72:250b2665755c 1623 _BMM_dive_offset = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1624 }
tnhnrl 72:250b2665755c 1625 else if (user_input == 'A') {
tnhnrl 74:d281aaef9766 1626 xbee().printf(">> Please enter the desired BCE offset (mm).\r\n");
tnhnrl 72:250b2665755c 1627 _BCE_dive_offset = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1628 }
tnhnrl 73:f6f378311c8d 1629
tnhnrl 73:f6f378311c8d 1630 else if (user_input == 'S') {
tnhnrl 74:d281aaef9766 1631 xbee().printf(">> Please enter the desired DEPTH (ft).\r\n");
tnhnrl 73:f6f378311c8d 1632 _depth_command = getFloatUserInput();
tnhnrl 73:f6f378311c8d 1633 }
tnhnrl 57:ec69651c8c21 1634 //POSITION DIVE COMMANDS
tnhnrl 57:ec69651c8c21 1635
tnhnrl 57:ec69651c8c21 1636 else if (user_input == '*') {
tnhnrl 74:d281aaef9766 1637 xbee().printf("SWITCHING TO DEBUG MENU!\r\n");
tnhnrl 57:ec69651c8c21 1638 _debug_menu_on = true;
tnhnrl 74:d281aaef9766 1639 wait(1);
tnhnrl 57:ec69651c8c21 1640 }
tnhnrl 16:3363b9f14913 1641 }
tnhnrl 57:ec69651c8c21 1642 /***************************** SIMPLE MENU *****************************/
tnhnrl 17:7c16b5671d0e 1643
tnhnrl 17:7c16b5671d0e 1644 //when you read the keyboard successfully, change the state
tnhnrl 28:16c83a2fdefa 1645 _state = _keyboard_state; //set state at the end of this function
tnhnrl 74:d281aaef9766 1646 //xbee().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
tnhnrl 16:3363b9f14913 1647 }
tnhnrl 16:3363b9f14913 1648 }
tnhnrl 52:f207567d3ea4 1649
tnhnrl 52:f207567d3ea4 1650 void StateMachine::keyboard_menu_STREAM_STATUS() {
tnhnrl 52:f207567d3ea4 1651 char STATUS_key;
tnhnrl 52:f207567d3ea4 1652
tnhnrl 52:f207567d3ea4 1653 // show the menu
tnhnrl 74:d281aaef9766 1654 xbee().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
tnhnrl 52:f207567d3ea4 1655
tnhnrl 52:f207567d3ea4 1656 while (1) {
tnhnrl 74:d281aaef9766 1657 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1658 STATUS_key = xbee().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1659 }
tnhnrl 52:f207567d3ea4 1660
tnhnrl 52:f207567d3ea4 1661 else {
tnhnrl 52:f207567d3ea4 1662
tnhnrl 52:f207567d3ea4 1663 wait(1);
tnhnrl 54:d4990fb68404 1664
tnhnrl 58:94b7fd55185e 1665
tnhnrl 74:d281aaef9766 1666 // xbee().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
tnhnrl 74:d281aaef9766 1667 xbee().printf("BCE POS: %0.1f (cmd %0.1f) BATT POS: %0.1f (cmd %0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rdr_pwm: %0.1f [FILT/RAW 0(%d,%d),1(%d,%d),2(%d,%d),3(%d,%d),4(%d,%d),5(%d,%d),6(%d,%d),7(%d,%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(),adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
tnhnrl 52:f207567d3ea4 1668
tnhnrl 52:f207567d3ea4 1669 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1670 }
tnhnrl 52:f207567d3ea4 1671
tnhnrl 52:f207567d3ea4 1672 // process the keys
tnhnrl 58:94b7fd55185e 1673 if (STATUS_key == 'X') {
tnhnrl 74:d281aaef9766 1674 xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
tnhnrl 52:f207567d3ea4 1675 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1676 }
tnhnrl 52:f207567d3ea4 1677
tnhnrl 52:f207567d3ea4 1678 else {
tnhnrl 74:d281aaef9766 1679 xbee().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
tnhnrl 52:f207567d3ea4 1680 }
tnhnrl 52:f207567d3ea4 1681 }
tnhnrl 52:f207567d3ea4 1682 }
tnhnrl 52:f207567d3ea4 1683
tnhnrl 52:f207567d3ea4 1684 void StateMachine::keyboard_menu_RUDDER_SERVO_settings() {
tnhnrl 52:f207567d3ea4 1685 //load current parameters from the rudder
tnhnrl 52:f207567d3ea4 1686 float rudder_min_pwm = rudder().getMinPWM();
tnhnrl 52:f207567d3ea4 1687 float rudder_max_pwm = rudder().getMaxPWM();
tnhnrl 52:f207567d3ea4 1688 float rudder_ctr_pwm = rudder().getCenterPWM();
tnhnrl 52:f207567d3ea4 1689 float rudder_min_deg = rudder().getMinDeg();
tnhnrl 52:f207567d3ea4 1690 float rudder_max_deg = rudder().getMaxDeg();
tnhnrl 52:f207567d3ea4 1691
tnhnrl 52:f207567d3ea4 1692 char RUDDER_PID_key;
tnhnrl 52:f207567d3ea4 1693
tnhnrl 52:f207567d3ea4 1694 // print the menu
tnhnrl 74:d281aaef9766 1695 xbee().printf("\r\nRUDDER (servo driver) settings (MENU)");
tnhnrl 74:d281aaef9766 1696 xbee().printf("\r\nAdjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L");
tnhnrl 74:d281aaef9766 1697 xbee().printf("\r\nHit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
tnhnrl 74:d281aaef9766 1698 xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 52:f207567d3ea4 1699
tnhnrl 52:f207567d3ea4 1700 // handle the key presses
tnhnrl 52:f207567d3ea4 1701 while(1) {
tnhnrl 52:f207567d3ea4 1702 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 1703 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1704 RUDDER_PID_key = xbee().getc();
tnhnrl 52:f207567d3ea4 1705 }
tnhnrl 52:f207567d3ea4 1706 else {
tnhnrl 52:f207567d3ea4 1707 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1708 }
tnhnrl 52:f207567d3ea4 1709
tnhnrl 52:f207567d3ea4 1710 // handle the user's key input
tnhnrl 52:f207567d3ea4 1711 if (RUDDER_PID_key == 'S') { // user wants to save the modified values
tnhnrl 52:f207567d3ea4 1712 // set global values
tnhnrl 52:f207567d3ea4 1713 rudder().setMinPWM(rudder_min_pwm);
tnhnrl 52:f207567d3ea4 1714 rudder().setMaxPWM(rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1715 rudder().setCenterPWM(rudder_ctr_pwm);
tnhnrl 52:f207567d3ea4 1716 rudder().setMinDeg(rudder_min_deg);
tnhnrl 52:f207567d3ea4 1717 rudder().setMaxDeg(rudder_max_deg);
tnhnrl 52:f207567d3ea4 1718
tnhnrl 52:f207567d3ea4 1719 // save rudder servo driver values for inner loop
tnhnrl 52:f207567d3ea4 1720 configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
tnhnrl 74:d281aaef9766 1721 xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
tnhnrl 74:d281aaef9766 1722 xbee().printf("Adjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L\r\n");
tnhnrl 52:f207567d3ea4 1723 }
tnhnrl 52:f207567d3ea4 1724 else if (RUDDER_PID_key == 'X') {
tnhnrl 52:f207567d3ea4 1725 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1726 }
tnhnrl 52:f207567d3ea4 1727 // MIN PWM
tnhnrl 52:f207567d3ea4 1728 else if (RUDDER_PID_key == 'N') {
tnhnrl 74:d281aaef9766 1729 xbee().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1730 rudder_min_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1731 }
tnhnrl 52:f207567d3ea4 1732 // MAX PWM
tnhnrl 52:f207567d3ea4 1733 else if (RUDDER_PID_key == 'M') {
tnhnrl 74:d281aaef9766 1734 xbee().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1735 rudder_max_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1736 }
tnhnrl 52:f207567d3ea4 1737 // CENTER PWM
tnhnrl 52:f207567d3ea4 1738 else if (RUDDER_PID_key == 'C') {
tnhnrl 74:d281aaef9766 1739 xbee().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1740 rudder_ctr_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1741 }
tnhnrl 52:f207567d3ea4 1742 // MIN DEG
tnhnrl 52:f207567d3ea4 1743 else if (RUDDER_PID_key == 'K') {
tnhnrl 74:d281aaef9766 1744 xbee().printf(">> Type in rudder_min_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1745 rudder_min_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 1746 }
tnhnrl 52:f207567d3ea4 1747 // MAX DEG
tnhnrl 52:f207567d3ea4 1748 else if (RUDDER_PID_key == 'L') {
tnhnrl 74:d281aaef9766 1749 xbee().printf(">> Type in rudder_max_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 1750 rudder_max_deg = getFloatUserInput();
tnhnrl 74:d281aaef9766 1751 }
tnhnrl 52:f207567d3ea4 1752 else {
tnhnrl 74:d281aaef9766 1753 xbee().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
tnhnrl 52:f207567d3ea4 1754 }
tnhnrl 52:f207567d3ea4 1755 }
tnhnrl 52:f207567d3ea4 1756 }
tnhnrl 54:d4990fb68404 1757
tnhnrl 54:d4990fb68404 1758 void StateMachine::keyboard_menu_COUNTS_STATUS() {
tnhnrl 73:f6f378311c8d 1759 // DELETE REMOVE
tnhnrl 54:d4990fb68404 1760 }
tnhnrl 56:48a8a5a65b82 1761
tnhnrl 49:47ffa4feb6db 1762 void StateMachine::keyboard_menu_MANUAL_TUNING() {
tnhnrl 49:47ffa4feb6db 1763 char TUNING_key;
tnhnrl 49:47ffa4feb6db 1764
tnhnrl 56:48a8a5a65b82 1765 //made these into internal parameters
tnhnrl 74:d281aaef9766 1766 float _tuning_bce_pos_mm = 200.0; //safe starting position
tnhnrl 74:d281aaef9766 1767 float _tuning_batt_pos_mm = 40.0; //safe starting position
tnhnrl 56:48a8a5a65b82 1768 float _tuning_rudder_pos_deg = 0.0; //safe starting position
tnhnrl 74:d281aaef9766 1769 float _tuning_rudder_pwm = 1640.0;
tnhnrl 56:48a8a5a65b82 1770
tnhnrl 56:48a8a5a65b82 1771 //immediately start at those positions
tnhnrl 56:48a8a5a65b82 1772 bce().setPosition_mm(_tuning_bce_pos_mm);
tnhnrl 56:48a8a5a65b82 1773 batt().setPosition_mm(_tuning_batt_pos_mm);
tnhnrl 56:48a8a5a65b82 1774 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 49:47ffa4feb6db 1775
tnhnrl 74:d281aaef9766 1776 // show the menu
tnhnrl 74:d281aaef9766 1777 xbee().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
tnhnrl 74:d281aaef9766 1778 xbee().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
tnhnrl 74:d281aaef9766 1779 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 74:d281aaef9766 1780
tnhnrl 49:47ffa4feb6db 1781 // what needs to be started?
tnhnrl 49:47ffa4feb6db 1782 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 1783 batt().unpause(); //this is now active
tnhnrl 56:48a8a5a65b82 1784 rudder().unpause();
tnhnrl 49:47ffa4feb6db 1785
tnhnrl 69:919ac8d7e023 1786 while (1) {
tnhnrl 69:919ac8d7e023 1787 wait(0.1);
tnhnrl 69:919ac8d7e023 1788
tnhnrl 74:d281aaef9766 1789 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1790 TUNING_key = xbee().getc(); //get each keystroke
tnhnrl 49:47ffa4feb6db 1791 }
tnhnrl 49:47ffa4feb6db 1792
tnhnrl 58:94b7fd55185e 1793 else {
tnhnrl 74:d281aaef9766 1794 //xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1795 continue; // didn't get a user input, so keep waiting for it
tnhnrl 49:47ffa4feb6db 1796 }
tnhnrl 49:47ffa4feb6db 1797
tnhnrl 49:47ffa4feb6db 1798 // process the keys
tnhnrl 49:47ffa4feb6db 1799 if (TUNING_key == 'X') {
tnhnrl 49:47ffa4feb6db 1800 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 49:47ffa4feb6db 1801 bce().pause();
tnhnrl 49:47ffa4feb6db 1802 batt().pause();
tnhnrl 56:48a8a5a65b82 1803 rudder().pause();
tnhnrl 56:48a8a5a65b82 1804
tnhnrl 56:48a8a5a65b82 1805 //right now the rudder is always active................................................hmm
tnhnrl 56:48a8a5a65b82 1806 //deactivate the pin? new/delete?
tnhnrl 49:47ffa4feb6db 1807
tnhnrl 49:47ffa4feb6db 1808 break; //exit the while loop
tnhnrl 49:47ffa4feb6db 1809 }
tnhnrl 56:48a8a5a65b82 1810
tnhnrl 56:48a8a5a65b82 1811 //Buoyancy Engine
tnhnrl 74:d281aaef9766 1812 else if (TUNING_key == 'A' or TUNING_key == 'a') {
tnhnrl 56:48a8a5a65b82 1813 _tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1814 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1815 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1816 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 52:f207567d3ea4 1817 }
tnhnrl 52:f207567d3ea4 1818
tnhnrl 74:d281aaef9766 1819 else if (TUNING_key == 'S' or TUNING_key == 's') {
tnhnrl 56:48a8a5a65b82 1820 _tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1821 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1822 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1823 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1824 }
tnhnrl 49:47ffa4feb6db 1825
tnhnrl 56:48a8a5a65b82 1826 //BATTERY
tnhnrl 74:d281aaef9766 1827 else if (TUNING_key == 'Q' or TUNING_key == 'q') {
tnhnrl 56:48a8a5a65b82 1828 _tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 1829 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1830 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1831 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1832 }
tnhnrl 49:47ffa4feb6db 1833
tnhnrl 74:d281aaef9766 1834 else if (TUNING_key == 'W' or TUNING_key == 'w') {
tnhnrl 56:48a8a5a65b82 1835 _tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 1836 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
tnhnrl 74:d281aaef9766 1837 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
tnhnrl 74:d281aaef9766 1838 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1839 }
tnhnrl 56:48a8a5a65b82 1840
tnhnrl 56:48a8a5a65b82 1841 else if (TUNING_key == 'c' or TUNING_key == 'C') {
tnhnrl 74:d281aaef9766 1842 xbee().printf("\r\nMT: (CURRENT POSITIONS) BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1843 }
tnhnrl 56:48a8a5a65b82 1844
tnhnrl 56:48a8a5a65b82 1845 //RUDER
tnhnrl 74:d281aaef9766 1846 else if (TUNING_key == 'R' or TUNING_key == 'r') {
tnhnrl 56:48a8a5a65b82 1847 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
tnhnrl 56:48a8a5a65b82 1848 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 74:d281aaef9766 1849 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 74:d281aaef9766 1850 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1851 }
tnhnrl 56:48a8a5a65b82 1852
tnhnrl 74:d281aaef9766 1853 else if (TUNING_key == 'E' or TUNING_key == 'e') {
tnhnrl 56:48a8a5a65b82 1854 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
tnhnrl 56:48a8a5a65b82 1855 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 74:d281aaef9766 1856 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
tnhnrl 74:d281aaef9766 1857 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1858 }
tnhnrl 56:48a8a5a65b82 1859
tnhnrl 74:d281aaef9766 1860 else if (TUNING_key == '-' or TUNING_key == '_') {
tnhnrl 74:d281aaef9766 1861 _tuning_rudder_pwm -= 10.0;
tnhnrl 74:d281aaef9766 1862 rudder().setPWM(_tuning_rudder_pwm);
tnhnrl 74:d281aaef9766 1863 xbee().printf("MT: (-) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
tnhnrl 74:d281aaef9766 1864 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 1865 }
tnhnrl 74:d281aaef9766 1866
tnhnrl 74:d281aaef9766 1867 else if (TUNING_key == '=' or TUNING_key == '+') {
tnhnrl 74:d281aaef9766 1868 _tuning_rudder_pwm += 10.0;
tnhnrl 74:d281aaef9766 1869 rudder().setPWM(_tuning_rudder_pwm);
tnhnrl 74:d281aaef9766 1870 xbee().printf("MT: (+) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
tnhnrl 74:d281aaef9766 1871 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 1872 }
tnhnrl 49:47ffa4feb6db 1873
tnhnrl 49:47ffa4feb6db 1874 else {
tnhnrl 74:d281aaef9766 1875 xbee().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
tnhnrl 56:48a8a5a65b82 1876 }
tnhnrl 49:47ffa4feb6db 1877 }
tnhnrl 49:47ffa4feb6db 1878 }
tnhnrl 52:f207567d3ea4 1879
tnhnrl 52:f207567d3ea4 1880 void StateMachine::keyboard_menu_CHANNEL_READINGS() {
tnhnrl 52:f207567d3ea4 1881 char TUNING_key;
tnhnrl 52:f207567d3ea4 1882
tnhnrl 52:f207567d3ea4 1883 // show the menu
tnhnrl 74:d281aaef9766 1884 xbee().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
tnhnrl 55:f4ec445c42fe 1885
tnhnrl 55:f4ec445c42fe 1886 while (1) {
tnhnrl 74:d281aaef9766 1887 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1888 TUNING_key = xbee().getc(); //get each keystroke
tnhnrl 55:f4ec445c42fe 1889 }
tnhnrl 55:f4ec445c42fe 1890
tnhnrl 55:f4ec445c42fe 1891 // process the keys
tnhnrl 55:f4ec445c42fe 1892 if (TUNING_key == 'X') {
tnhnrl 55:f4ec445c42fe 1893 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 55:f4ec445c42fe 1894 bce().pause();
tnhnrl 55:f4ec445c42fe 1895 batt().pause();
tnhnrl 55:f4ec445c42fe 1896
tnhnrl 55:f4ec445c42fe 1897 break; //exit the while loop
tnhnrl 55:f4ec445c42fe 1898 }
tnhnrl 55:f4ec445c42fe 1899
tnhnrl 55:f4ec445c42fe 1900 else {
tnhnrl 55:f4ec445c42fe 1901 wait(0.5);
tnhnrl 74:d281aaef9766 1902 xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
tnhnrl 55:f4ec445c42fe 1903 continue; // didn't get a user input, so keep waiting for it
tnhnrl 55:f4ec445c42fe 1904 }
tnhnrl 55:f4ec445c42fe 1905 }
tnhnrl 55:f4ec445c42fe 1906 }
tnhnrl 49:47ffa4feb6db 1907
tnhnrl 16:3363b9f14913 1908 void StateMachine::keyboard_menu_BCE_PID_settings() {
tnhnrl 73:f6f378311c8d 1909 char BCE_PID_key;
tnhnrl 63:6cb0405fc6e6 1910
tnhnrl 76:c802e1da4179 1911 // load current values from files
tnhnrl 76:c802e1da4179 1912 float bce_KP = bce().getControllerP();
tnhnrl 76:c802e1da4179 1913 float bce_KI = bce().getControllerI();
tnhnrl 76:c802e1da4179 1914 float bce_KD = bce().getControllerD();
tnhnrl 76:c802e1da4179 1915
tnhnrl 76:c802e1da4179 1916 float bce_deadband = bce().getDeadband();
tnhnrl 76:c802e1da4179 1917 float bce_frequency = bce().getFilterFrequency();
tnhnrl 76:c802e1da4179 1918 int bce_zero_offset = bce().getZeroCounts();
tnhnrl 76:c802e1da4179 1919 //BCE frequency and deadband are hardcoded!
tnhnrl 16:3363b9f14913 1920
tnhnrl 16:3363b9f14913 1921 // show the menu
tnhnrl 76:c802e1da4179 1922 xbee().printf("\n\rBuoyancy Engine PID gain settings (MENU). ADJUST WITH CARE!");
tnhnrl 76:c802e1da4179 1923 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B, zero offset = Z\n\r");
tnhnrl 74:d281aaef9766 1924 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 76:c802e1da4179 1925 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
tnhnrl 63:6cb0405fc6e6 1926
tnhnrl 63:6cb0405fc6e6 1927 // handle the key presses
tnhnrl 63:6cb0405fc6e6 1928 while(1) {
tnhnrl 63:6cb0405fc6e6 1929 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 1930 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1931 BCE_PID_key = xbee().getc();
tnhnrl 63:6cb0405fc6e6 1932 }
tnhnrl 63:6cb0405fc6e6 1933 else {
tnhnrl 63:6cb0405fc6e6 1934 continue; // didn't get a user input, so keep waiting for it
tnhnrl 63:6cb0405fc6e6 1935 }
tnhnrl 63:6cb0405fc6e6 1936
tnhnrl 63:6cb0405fc6e6 1937 // handle the user's key input
tnhnrl 73:f6f378311c8d 1938 if (BCE_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 1939 // set values
tnhnrl 63:6cb0405fc6e6 1940 bce().setControllerP(bce_KP);
tnhnrl 63:6cb0405fc6e6 1941 bce().setControllerI(bce_KI);
tnhnrl 76:c802e1da4179 1942 bce().setControllerD(bce_KD);
tnhnrl 76:c802e1da4179 1943
tnhnrl 76:c802e1da4179 1944 bce().setDeadband(bce_deadband);
tnhnrl 76:c802e1da4179 1945 bce().setFilterFrequency(bce_frequency);
tnhnrl 76:c802e1da4179 1946 bce().setZeroCounts(bce_zero_offset); //integer value
tnhnrl 63:6cb0405fc6e6 1947
tnhnrl 73:f6f378311c8d 1948 // save to "BCE.TXT" file
tnhnrl 76:c802e1da4179 1949 //saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband)
tnhnrl 76:c802e1da4179 1950 configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD, bce_zero_offset, bce_frequency, bce_deadband);
tnhnrl 76:c802e1da4179 1951 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
tnhnrl 63:6cb0405fc6e6 1952 }
tnhnrl 73:f6f378311c8d 1953 else if (BCE_PID_key == 'X') {
tnhnrl 63:6cb0405fc6e6 1954 break; //exit the while loop
tnhnrl 63:6cb0405fc6e6 1955 }
tnhnrl 73:f6f378311c8d 1956 else if (BCE_PID_key == 'P') {
tnhnrl 74:d281aaef9766 1957 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1958 bce_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1959 }
tnhnrl 73:f6f378311c8d 1960 else if (BCE_PID_key == 'I') {
tnhnrl 74:d281aaef9766 1961 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1962 bce_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1963 }
tnhnrl 73:f6f378311c8d 1964 else if (BCE_PID_key == 'D') {
tnhnrl 74:d281aaef9766 1965 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 1966 bce_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 1967 }
tnhnrl 73:f6f378311c8d 1968 else if (BCE_PID_key == 'F') {
tnhnrl 74:d281aaef9766 1969 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 76:c802e1da4179 1970 bce_frequency = getFloatUserInput();
tnhnrl 73:f6f378311c8d 1971 }
tnhnrl 73:f6f378311c8d 1972 else if (BCE_PID_key == 'B') {
tnhnrl 74:d281aaef9766 1973 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 76:c802e1da4179 1974 bce_deadband = getFloatUserInput();
tnhnrl 76:c802e1da4179 1975 }
tnhnrl 76:c802e1da4179 1976 else if (BCE_PID_key == 'Z') {
tnhnrl 76:c802e1da4179 1977 xbee().printf(">> Type in zero count offset with keyboard.\n\r");
tnhnrl 76:c802e1da4179 1978 bce_zero_offset = (int)getFloatUserInput();
tnhnrl 73:f6f378311c8d 1979 }
tnhnrl 63:6cb0405fc6e6 1980 else {
tnhnrl 74:d281aaef9766 1981 xbee().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
tnhnrl 63:6cb0405fc6e6 1982 }
tnhnrl 63:6cb0405fc6e6 1983 }
tnhnrl 63:6cb0405fc6e6 1984 }
tnhnrl 63:6cb0405fc6e6 1985
tnhnrl 63:6cb0405fc6e6 1986 void StateMachine::keyboard_menu_BATT_PID_settings() {
tnhnrl 73:f6f378311c8d 1987 char BMM_PID_key;
tnhnrl 76:c802e1da4179 1988
tnhnrl 76:c802e1da4179 1989 // load current values from files
tnhnrl 76:c802e1da4179 1990 float batt_KP = batt().getControllerP();
tnhnrl 76:c802e1da4179 1991 float batt_KI = batt().getControllerI();
tnhnrl 76:c802e1da4179 1992 float batt_KD = batt().getControllerD();
tnhnrl 63:6cb0405fc6e6 1993
tnhnrl 76:c802e1da4179 1994 float batt_deadband = batt().getDeadband();
tnhnrl 76:c802e1da4179 1995 float batt_frequency = batt().getFilterFrequency();
tnhnrl 76:c802e1da4179 1996 int batt_zero_offset = batt().getZeroCounts();
tnhnrl 76:c802e1da4179 1997 //BATT frequency and deadband are hardcoded!
tnhnrl 63:6cb0405fc6e6 1998
tnhnrl 63:6cb0405fc6e6 1999 // print the menu
tnhnrl 74:d281aaef9766 2000 xbee().printf("\n\rBattery Motor PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2001 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2002 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 76:c802e1da4179 2003 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 76:c802e1da4179 2004
tnhnrl 16:3363b9f14913 2005 // handle the key presses
tnhnrl 16:3363b9f14913 2006 while(1) {
tnhnrl 16:3363b9f14913 2007 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2008 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2009 BMM_PID_key = xbee().getc();
tnhnrl 16:3363b9f14913 2010 }
tnhnrl 16:3363b9f14913 2011 else {
tnhnrl 16:3363b9f14913 2012 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2013 }
tnhnrl 16:3363b9f14913 2014
tnhnrl 16:3363b9f14913 2015 // handle the user's key input
tnhnrl 73:f6f378311c8d 2016 if (BMM_PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 2017 // set values
tnhnrl 63:6cb0405fc6e6 2018 batt().setControllerP(batt_KP);
tnhnrl 63:6cb0405fc6e6 2019 batt().setControllerI(batt_KI);
tnhnrl 76:c802e1da4179 2020 batt().setControllerD(batt_KD);
tnhnrl 76:c802e1da4179 2021
tnhnrl 76:c802e1da4179 2022 batt().setDeadband(batt_deadband);
tnhnrl 76:c802e1da4179 2023 batt().setFilterFrequency(batt_frequency);
tnhnrl 76:c802e1da4179 2024 batt().setZeroCounts(batt_zero_offset); //integer value
tnhnrl 16:3363b9f14913 2025
tnhnrl 38:83d06c294807 2026 // save to "BATT.TXT" file
tnhnrl 76:c802e1da4179 2027 //saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband)
tnhnrl 76:c802e1da4179 2028 configFileIO().saveBattData(batt_KP, batt_KI, batt_KD, batt_zero_offset, batt_frequency, batt_deadband);
tnhnrl 76:c802e1da4179 2029 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 16:3363b9f14913 2030 }
tnhnrl 73:f6f378311c8d 2031 else if (BMM_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2032 break; //exit the while loop
tnhnrl 16:3363b9f14913 2033 }
tnhnrl 73:f6f378311c8d 2034 else if (BMM_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2035 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2036 batt_KP = getFloatUserInput();
tnhnrl 16:3363b9f14913 2037 }
tnhnrl 73:f6f378311c8d 2038 else if (BMM_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2039 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2040 batt_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2041 }
tnhnrl 73:f6f378311c8d 2042 else if (BMM_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2043 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2044 batt_KD = getFloatUserInput();
tnhnrl 16:3363b9f14913 2045 }
tnhnrl 73:f6f378311c8d 2046 else if (BMM_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2047 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2048 batt_frequency = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2049 }
tnhnrl 73:f6f378311c8d 2050 else if (BMM_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2051 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2052 batt_deadband = getFloatUserInput();
tnhnrl 76:c802e1da4179 2053 }
tnhnrl 76:c802e1da4179 2054 else if (BMM_PID_key == 'Z') {
tnhnrl 76:c802e1da4179 2055 xbee().printf(">> Type in zero count offset with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2056 batt_zero_offset = (int)getFloatUserInput();
tnhnrl 73:f6f378311c8d 2057 }
tnhnrl 16:3363b9f14913 2058 else {
tnhnrl 74:d281aaef9766 2059 xbee().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
tnhnrl 16:3363b9f14913 2060 }
tnhnrl 16:3363b9f14913 2061 }
tnhnrl 16:3363b9f14913 2062 }
tnhnrl 20:8987a9ae2bc7 2063
tnhnrl 16:3363b9f14913 2064 void StateMachine::keyboard_menu_DEPTH_PID_settings() {
tnhnrl 73:f6f378311c8d 2065 char DEPTH_PID_key;
tnhnrl 63:6cb0405fc6e6 2066
tnhnrl 63:6cb0405fc6e6 2067 float depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2068 float depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2069 float depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 76:c802e1da4179 2070
tnhnrl 73:f6f378311c8d 2071 float depth_freq = depthLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2072 float depth_deadband = depthLoop().getDeadband();
tnhnrl 16:3363b9f14913 2073
tnhnrl 63:6cb0405fc6e6 2074 // print the menu
tnhnrl 74:d281aaef9766 2075 xbee().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2076 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2077 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 74:d281aaef9766 2078 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
tnhnrl 16:3363b9f14913 2079
tnhnrl 16:3363b9f14913 2080 // handle the key presses
tnhnrl 16:3363b9f14913 2081 while(1) {
tnhnrl 16:3363b9f14913 2082 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2083 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2084 DEPTH_PID_key = xbee().getc();
tnhnrl 16:3363b9f14913 2085 }
tnhnrl 16:3363b9f14913 2086 else {
tnhnrl 16:3363b9f14913 2087 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2088 }
tnhnrl 16:3363b9f14913 2089
tnhnrl 16:3363b9f14913 2090 // handle the user's key input
tnhnrl 73:f6f378311c8d 2091 if (DEPTH_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2092 // set values
tnhnrl 63:6cb0405fc6e6 2093 depthLoop().setControllerP(depth_KP);
tnhnrl 63:6cb0405fc6e6 2094 depthLoop().setControllerI(depth_KI);
tnhnrl 73:f6f378311c8d 2095 depthLoop().setControllerD(depth_KD);
tnhnrl 76:c802e1da4179 2096
tnhnrl 73:f6f378311c8d 2097 depthLoop().setFilterFrequency(depth_freq);
tnhnrl 73:f6f378311c8d 2098 depthLoop().setDeadband(depth_deadband);
tnhnrl 63:6cb0405fc6e6 2099
tnhnrl 63:6cb0405fc6e6 2100 // save to "DEPTH.TXT" file
tnhnrl 73:f6f378311c8d 2101 configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm, depth_freq, depth_deadband); //P,I,D, bce zeroOffset
tnhnrl 73:f6f378311c8d 2102
tnhnrl 74:d281aaef9766 2103 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
tnhnrl 16:3363b9f14913 2104
tnhnrl 63:6cb0405fc6e6 2105 //set class variables that will be used in find neutral sequence
tnhnrl 63:6cb0405fc6e6 2106 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2107 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2108 _depth_KD = depthLoop().getControllerD(); // load current depth value
tnhnrl 16:3363b9f14913 2109 }
tnhnrl 73:f6f378311c8d 2110 else if (DEPTH_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2111 break; //exit the while loop
tnhnrl 16:3363b9f14913 2112 }
tnhnrl 73:f6f378311c8d 2113 else if (DEPTH_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2114 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2115 depth_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2116 }
tnhnrl 73:f6f378311c8d 2117 else if (DEPTH_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2118 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2119 depth_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2120 }
tnhnrl 73:f6f378311c8d 2121 else if (DEPTH_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2122 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2123 depth_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2124 }
tnhnrl 73:f6f378311c8d 2125 else if (DEPTH_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2126 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2127 depth_freq = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2128 }
tnhnrl 73:f6f378311c8d 2129 else if (DEPTH_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2130 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2131 depth_deadband = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2132 }
tnhnrl 16:3363b9f14913 2133 else {
tnhnrl 74:d281aaef9766 2134 xbee().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
tnhnrl 16:3363b9f14913 2135 }
tnhnrl 16:3363b9f14913 2136 }
tnhnrl 16:3363b9f14913 2137 }
tnhnrl 16:3363b9f14913 2138
tnhnrl 16:3363b9f14913 2139 void StateMachine::keyboard_menu_PITCH_PID_settings() {
tnhnrl 73:f6f378311c8d 2140 char PITCH_PID_key;
tnhnrl 63:6cb0405fc6e6 2141
tnhnrl 63:6cb0405fc6e6 2142 float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2143 float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2144 float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 76:c802e1da4179 2145
tnhnrl 73:f6f378311c8d 2146 float pitch_freq = pitchLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2147 float pitch_deadband = pitchLoop().getDeadband();
tnhnrl 16:3363b9f14913 2148
tnhnrl 16:3363b9f14913 2149 // print the menu
tnhnrl 74:d281aaef9766 2150 xbee().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2151 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2152 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 74:d281aaef9766 2153 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 63:6cb0405fc6e6 2154
tnhnrl 16:3363b9f14913 2155 // handle the key presses
tnhnrl 16:3363b9f14913 2156 while(1) {
tnhnrl 16:3363b9f14913 2157 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2158 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2159 PITCH_PID_key = xbee().getc();
tnhnrl 16:3363b9f14913 2160 }
tnhnrl 16:3363b9f14913 2161 else {
tnhnrl 16:3363b9f14913 2162 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2163 }
tnhnrl 63:6cb0405fc6e6 2164
tnhnrl 16:3363b9f14913 2165 // handle the user's key input
tnhnrl 73:f6f378311c8d 2166 if (PITCH_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2167 // set values
tnhnrl 63:6cb0405fc6e6 2168 pitchLoop().setControllerP(pitch_KP);
tnhnrl 63:6cb0405fc6e6 2169 pitchLoop().setControllerI(pitch_KI);
tnhnrl 73:f6f378311c8d 2170 pitchLoop().setControllerD(pitch_KD);
tnhnrl 76:c802e1da4179 2171
tnhnrl 73:f6f378311c8d 2172 pitchLoop().setFilterFrequency(pitch_freq);
tnhnrl 73:f6f378311c8d 2173 pitchLoop().setDeadband(pitch_deadband);
tnhnrl 63:6cb0405fc6e6 2174
tnhnrl 73:f6f378311c8d 2175 // save to "PITCH.TXT" file (doesn't modify neutral position)
tnhnrl 73:f6f378311c8d 2176 configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm, pitch_freq, pitch_deadband);
tnhnrl 73:f6f378311c8d 2177
tnhnrl 74:d281aaef9766 2178 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 73:f6f378311c8d 2179
tnhnrl 63:6cb0405fc6e6 2180 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2181 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2182 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 16:3363b9f14913 2183 }
tnhnrl 73:f6f378311c8d 2184 else if (PITCH_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2185 break; //exit the while loop
tnhnrl 16:3363b9f14913 2186 }
tnhnrl 73:f6f378311c8d 2187 else if (PITCH_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2188 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2189 pitch_KP = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2190 }
tnhnrl 73:f6f378311c8d 2191 else if (PITCH_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2192 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2193 pitch_KI = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2194 }
tnhnrl 73:f6f378311c8d 2195 else if (PITCH_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2196 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2197 pitch_KD = getFloatUserInput();
tnhnrl 63:6cb0405fc6e6 2198 }
tnhnrl 73:f6f378311c8d 2199 else if (PITCH_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2200 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2201 pitch_freq = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2202 }
tnhnrl 73:f6f378311c8d 2203 else if (PITCH_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2204 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2205 pitch_deadband = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2206 }
tnhnrl 16:3363b9f14913 2207 else {
tnhnrl 74:d281aaef9766 2208 xbee().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
tnhnrl 73:f6f378311c8d 2209 }
tnhnrl 73:f6f378311c8d 2210 }
tnhnrl 73:f6f378311c8d 2211 }
tnhnrl 73:f6f378311c8d 2212
tnhnrl 73:f6f378311c8d 2213 void StateMachine::keyboard_menu_HEADING_PID_settings() {
tnhnrl 73:f6f378311c8d 2214 char HEADING_PID_key;
tnhnrl 73:f6f378311c8d 2215
tnhnrl 73:f6f378311c8d 2216 float heading_KP = headingLoop().getControllerP();
tnhnrl 73:f6f378311c8d 2217 float heading_KI = headingLoop().getControllerI();
tnhnrl 76:c802e1da4179 2218 float heading_KD = headingLoop().getControllerD();
tnhnrl 76:c802e1da4179 2219
tnhnrl 73:f6f378311c8d 2220 float heading_offset_deg = headingLoop().getOutputOffset();
tnhnrl 73:f6f378311c8d 2221 float heading_freq = headingLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2222 float heading_deadband = headingLoop().getDeadband();
tnhnrl 73:f6f378311c8d 2223
tnhnrl 73:f6f378311c8d 2224 // print the menu
tnhnrl 74:d281aaef9766 2225 xbee().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2226 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2227 xbee().printf("\n\r Adjust zero offset with O (oh).");
tnhnrl 74:d281aaef9766 2228 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 74:d281aaef9766 2229 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
tnhnrl 73:f6f378311c8d 2230
tnhnrl 73:f6f378311c8d 2231 // handle the key presses
tnhnrl 73:f6f378311c8d 2232 while(1) {
tnhnrl 73:f6f378311c8d 2233 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2234 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2235 HEADING_PID_key = xbee().getc();
tnhnrl 73:f6f378311c8d 2236 }
tnhnrl 73:f6f378311c8d 2237 else {
tnhnrl 73:f6f378311c8d 2238 continue; // didn't get a user input, so keep waiting for it
tnhnrl 73:f6f378311c8d 2239 }
tnhnrl 73:f6f378311c8d 2240
tnhnrl 73:f6f378311c8d 2241 // handle the user's key input
tnhnrl 73:f6f378311c8d 2242 if (HEADING_PID_key == 'S') { // user wants to save the modified values
tnhnrl 73:f6f378311c8d 2243 // set global values
tnhnrl 73:f6f378311c8d 2244 headingLoop().setControllerP(heading_KP);
tnhnrl 73:f6f378311c8d 2245 headingLoop().setControllerI(heading_KI);
tnhnrl 73:f6f378311c8d 2246 headingLoop().setControllerD(heading_KD);
tnhnrl 73:f6f378311c8d 2247 headingLoop().setOutputOffset(heading_offset_deg);
tnhnrl 74:d281aaef9766 2248 headingLoop().setFilterFrequency(heading_freq);
tnhnrl 74:d281aaef9766 2249 headingLoop().setDeadband(heading_deadband);
tnhnrl 74:d281aaef9766 2250
tnhnrl 73:f6f378311c8d 2251 // save pitch PID values for outer loop (must save neutral position also)
tnhnrl 74:d281aaef9766 2252 configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, heading_freq, heading_deadband); //_neutral_heading_pos_deg);
tnhnrl 74:d281aaef9766 2253 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
tnhnrl 73:f6f378311c8d 2254 }
tnhnrl 73:f6f378311c8d 2255 else if (HEADING_PID_key == 'X') {
tnhnrl 73:f6f378311c8d 2256 break; //exit the while loop
tnhnrl 73:f6f378311c8d 2257 }
tnhnrl 73:f6f378311c8d 2258
tnhnrl 73:f6f378311c8d 2259 else if (HEADING_PID_key == 'P') {
tnhnrl 73:f6f378311c8d 2260 heading_KP = getFloatUserInput();;
tnhnrl 73:f6f378311c8d 2261 }
tnhnrl 73:f6f378311c8d 2262 else if (HEADING_PID_key == 'I') {
tnhnrl 73:f6f378311c8d 2263 heading_KI = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2264 }
tnhnrl 73:f6f378311c8d 2265 else if (HEADING_PID_key == 'D') {
tnhnrl 73:f6f378311c8d 2266 heading_KD = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2267 }
tnhnrl 73:f6f378311c8d 2268 else if (HEADING_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2269 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2270 heading_freq = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2271 }
tnhnrl 73:f6f378311c8d 2272 else if (HEADING_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2273 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2274 heading_deadband = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2275 }
tnhnrl 73:f6f378311c8d 2276 else if (HEADING_PID_key == 'O') {
tnhnrl 73:f6f378311c8d 2277 heading_offset_deg = getFloatUserInput();
tnhnrl 73:f6f378311c8d 2278 }
tnhnrl 73:f6f378311c8d 2279 else {
tnhnrl 74:d281aaef9766 2280 xbee().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
tnhnrl 16:3363b9f14913 2281 }
tnhnrl 16:3363b9f14913 2282 }
tnhnrl 16:3363b9f14913 2283 }
tnhnrl 20:8987a9ae2bc7 2284
tnhnrl 16:3363b9f14913 2285 float StateMachine::getDepthCommand() {
tnhnrl 32:f2f8ae34aadc 2286 return _depth_command;
tnhnrl 16:3363b9f14913 2287 }
tnhnrl 20:8987a9ae2bc7 2288
tnhnrl 16:3363b9f14913 2289 float StateMachine::getPitchCommand() {
tnhnrl 32:f2f8ae34aadc 2290 return _pitch_command;
tnhnrl 32:f2f8ae34aadc 2291 }
tnhnrl 32:f2f8ae34aadc 2292
tnhnrl 32:f2f8ae34aadc 2293 float StateMachine::getDepthReading() {
tnhnrl 32:f2f8ae34aadc 2294 return _depth_reading;
tnhnrl 32:f2f8ae34aadc 2295 }
tnhnrl 32:f2f8ae34aadc 2296
tnhnrl 32:f2f8ae34aadc 2297 float StateMachine::getPitchReading() {
tnhnrl 32:f2f8ae34aadc 2298 return _pitch_reading;
tnhnrl 32:f2f8ae34aadc 2299 }
tnhnrl 32:f2f8ae34aadc 2300
tnhnrl 32:f2f8ae34aadc 2301 float StateMachine::getTimerReading() {
tnhnrl 32:f2f8ae34aadc 2302 return _timer_reading;
tnhnrl 17:7c16b5671d0e 2303 }
tnhnrl 28:16c83a2fdefa 2304
tnhnrl 17:7c16b5671d0e 2305 void StateMachine::setState(int input_state) {
tnhnrl 21:38c8544db6f4 2306 _state = input_state;
tnhnrl 73:f6f378311c8d 2307
tnhnrl 73:f6f378311c8d 2308 _isTimeoutRunning = false; //to start each state you have to reset this
tnhnrl 17:7c16b5671d0e 2309 }
tnhnrl 20:8987a9ae2bc7 2310
tnhnrl 17:7c16b5671d0e 2311 int StateMachine::getState() {
tnhnrl 17:7c16b5671d0e 2312 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 2313 }
tnhnrl 20:8987a9ae2bc7 2314
tnhnrl 17:7c16b5671d0e 2315 void StateMachine::setTimeout(float input_timeout) {
tnhnrl 17:7c16b5671d0e 2316 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 2317 }
tnhnrl 20:8987a9ae2bc7 2318
tnhnrl 17:7c16b5671d0e 2319 void StateMachine::setDepthCommand(float input_depth_command) {
tnhnrl 32:f2f8ae34aadc 2320 _depth_command = input_depth_command;
tnhnrl 17:7c16b5671d0e 2321 }
tnhnrl 20:8987a9ae2bc7 2322
tnhnrl 17:7c16b5671d0e 2323 void StateMachine::setPitchCommand(float input_pitch_command) {
tnhnrl 32:f2f8ae34aadc 2324 _pitch_command = input_pitch_command;
tnhnrl 17:7c16b5671d0e 2325 }
tnhnrl 20:8987a9ae2bc7 2326
tnhnrl 17:7c16b5671d0e 2327 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
tnhnrl 21:38c8544db6f4 2328 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 2329 _neutral_bce_pos_mm = bce_pos_mm;
tnhnrl 17:7c16b5671d0e 2330
tnhnrl 74:d281aaef9766 2331 xbee().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 2332 }
tnhnrl 20:8987a9ae2bc7 2333
tnhnrl 17:7c16b5671d0e 2334 //process one state at a time
tnhnrl 17:7c16b5671d0e 2335 void StateMachine::getDiveSequence() {
tnhnrl 17:7c16b5671d0e 2336 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 2337 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 2338 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 2339 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 2340 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
tnhnrl 17:7c16b5671d0e 2341
tnhnrl 17:7c16b5671d0e 2342 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 32:f2f8ae34aadc 2343 }
joel_ssc 82:0981b9ada820 2344 //process one state at a time
joel_ssc 82:0981b9ada820 2345 void StateMachine::getLegParams() {
joel_ssc 82:0981b9ada820 2346 //iterate through this sequence using the FSM
joel_ssc 82:0981b9ada820 2347 currentLegStateStruct.state = legController().legStructLoaded[_multi_leg_counter].state;
joel_ssc 82:0981b9ada820 2348 currentLegStateStruct.timeout = legController().legStructLoaded[_multi_leg_counter].timeout;
joel_ssc 82:0981b9ada820 2349 currentLegStateStruct.yo_time = legController().legStructLoaded[_multi_leg_counter].yo_time; //timer for each up/down segment
joel_ssc 82:0981b9ada820 2350 currentLegStateStruct.min_depth = legController().legStructLoaded[_multi_leg_counter].min_depth;
joel_ssc 82:0981b9ada820 2351 currentLegStateStruct.max_depth = legController().legStructLoaded[_multi_leg_counter].max_depth;
joel_ssc 82:0981b9ada820 2352 currentLegStateStruct.heading = legController().legStructLoaded[_multi_leg_counter].heading;
joel_ssc 82:0981b9ada820 2353
joel_ssc 82:0981b9ada820 2354 _timeout = currentLegStateStruct.timeout; //set timeout before exiting this function
joel_ssc 82:0981b9ada820 2355 _yo_time = currentLegStateStruct.yo_time;
joel_ssc 82:0981b9ada820 2356 _state = currentLegStateStruct.state;
joel_ssc 82:0981b9ada820 2357 }
tnhnrl 32:f2f8ae34aadc 2358
tnhnrl 32:f2f8ae34aadc 2359 void StateMachine::printCurrentSdLog() {
tnhnrl 74:d281aaef9766 2360 xbee().printf("SD card log work in progress\r\n");
tnhnrl 32:f2f8ae34aadc 2361 //might be worth saving the last few logs to the MBED...
tnhnrl 32:f2f8ae34aadc 2362 }
tnhnrl 32:f2f8ae34aadc 2363
tnhnrl 52:f207567d3ea4 2364 // 06/06/2018
tnhnrl 52:f207567d3ea4 2365 float StateMachine::getFloatUserInput() {
tnhnrl 52:f207567d3ea4 2366 float float_conversion = 0.0;
tnhnrl 52:f207567d3ea4 2367
tnhnrl 52:f207567d3ea4 2368 while(1) {
tnhnrl 52:f207567d3ea4 2369 bool valid_input = false; //flag for valid or invalid input
tnhnrl 52:f207567d3ea4 2370
tnhnrl 74:d281aaef9766 2371 xbee().printf("\n\rPlease enter your number below and press ENTER:\r\n");
tnhnrl 52:f207567d3ea4 2372 char user_string [80]; //variable to store input as a character array
tnhnrl 52:f207567d3ea4 2373
tnhnrl 74:d281aaef9766 2374 xbee().scanf("%s", user_string); //read formatted data from stdin
tnhnrl 74:d281aaef9766 2375 xbee().printf("\n\n\ruser_string was <%s>\r\n", user_string);
tnhnrl 52:f207567d3ea4 2376
tnhnrl 52:f207567d3ea4 2377 //check through the string for invalid characters (decimal values 43 through 57)
tnhnrl 52:f207567d3ea4 2378 for (int c = 0; c < strlen(user_string); c++) {
tnhnrl 74:d281aaef9766 2379 //xbee().printf("character is [%c]\r\n", user_string[c]); //debug
tnhnrl 52:f207567d3ea4 2380 if (user_string[c] >= 43 and user_string[c] <= 57) {
tnhnrl 74:d281aaef9766 2381 //xbee().printf("VALID CHARACTER!\r\n"); //debug
tnhnrl 52:f207567d3ea4 2382 ;
tnhnrl 52:f207567d3ea4 2383 }
tnhnrl 52:f207567d3ea4 2384 else {
tnhnrl 74:d281aaef9766 2385 xbee().printf("INVALID INPUT!\r\n");
tnhnrl 52:f207567d3ea4 2386 break;
tnhnrl 52:f207567d3ea4 2387 }
tnhnrl 52:f207567d3ea4 2388
tnhnrl 52:f207567d3ea4 2389 if (c == (strlen(user_string) - 1)) {
tnhnrl 52:f207567d3ea4 2390 valid_input = true;
tnhnrl 52:f207567d3ea4 2391 }
tnhnrl 52:f207567d3ea4 2392 }
tnhnrl 52:f207567d3ea4 2393
tnhnrl 52:f207567d3ea4 2394 if (valid_input) {
tnhnrl 52:f207567d3ea4 2395 float_conversion = atof(user_string);
tnhnrl 74:d281aaef9766 2396 xbee().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
tnhnrl 52:f207567d3ea4 2397 break;
tnhnrl 52:f207567d3ea4 2398 }
tnhnrl 52:f207567d3ea4 2399 }
tnhnrl 52:f207567d3ea4 2400
tnhnrl 52:f207567d3ea4 2401 return float_conversion;
tnhnrl 67:c86a4b464682 2402 }
tnhnrl 67:c86a4b464682 2403
tnhnrl 73:f6f378311c8d 2404 float StateMachine::getTimerValue() {
tnhnrl 73:f6f378311c8d 2405 return _fsm_timer;
tnhnrl 80:4e5d306d695b 2406 }
tnhnrl 80:4e5d306d695b 2407
tnhnrl 80:4e5d306d695b 2408 void StateMachine::logFileMenu() {
tnhnrl 80:4e5d306d695b 2409 char FILE_MENU_key;
tnhnrl 80:4e5d306d695b 2410
tnhnrl 80:4e5d306d695b 2411 // print the menu
tnhnrl 80:4e5d306d695b 2412 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
tnhnrl 80:4e5d306d695b 2413
tnhnrl 80:4e5d306d695b 2414 // handle the key presses
tnhnrl 80:4e5d306d695b 2415 while(1) {
tnhnrl 80:4e5d306d695b 2416 // get the user's keystroke from either of the two inputs
tnhnrl 80:4e5d306d695b 2417 if (xbee().readable()) {
tnhnrl 80:4e5d306d695b 2418 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
tnhnrl 80:4e5d306d695b 2419 FILE_MENU_key = xbee().getc();
tnhnrl 80:4e5d306d695b 2420 }
tnhnrl 80:4e5d306d695b 2421 else {
tnhnrl 80:4e5d306d695b 2422 continue; // didn't get a user input, so keep waiting for it
tnhnrl 80:4e5d306d695b 2423 }
tnhnrl 80:4e5d306d695b 2424
tnhnrl 80:4e5d306d695b 2425 // handle the user's key input
tnhnrl 80:4e5d306d695b 2426 if (FILE_MENU_key == 'P') { // user wants to save these modified values
tnhnrl 80:4e5d306d695b 2427 xbee().printf("\n\r>> Printing log file size!\n\r");
tnhnrl 80:4e5d306d695b 2428 wait(2);
tnhnrl 80:4e5d306d695b 2429 mbedLogger().getFileSize("/local/LOG000.csv");
tnhnrl 80:4e5d306d695b 2430 }
tnhnrl 80:4e5d306d695b 2431 else if (FILE_MENU_key == 'Y') {
tnhnrl 80:4e5d306d695b 2432 xbee().printf("\n\r>> Erasing MBED LOG FILE!\n\r");
tnhnrl 80:4e5d306d695b 2433 wait(2);
tnhnrl 80:4e5d306d695b 2434 mbedLogger().eraseFile();
tnhnrl 80:4e5d306d695b 2435 break;
tnhnrl 80:4e5d306d695b 2436 }
tnhnrl 80:4e5d306d695b 2437 else if (FILE_MENU_key == 'N') {
tnhnrl 80:4e5d306d695b 2438 xbee().printf("\n\r>> EXITING MENU. Log file intact.\n\r");
tnhnrl 80:4e5d306d695b 2439 wait(2);
tnhnrl 80:4e5d306d695b 2440 break;
tnhnrl 80:4e5d306d695b 2441 }
tnhnrl 80:4e5d306d695b 2442 else {
tnhnrl 80:4e5d306d695b 2443 xbee().printf("\n\r[%c] This key does nothing here. \r", FILE_MENU_key);
tnhnrl 80:4e5d306d695b 2444 }
tnhnrl 80:4e5d306d695b 2445 }
tnhnrl 16:3363b9f14913 2446 }