Diff: StateMachine/StateMachine.hpp

Revision:

82:0981b9ada820

Parent:

80:4e5d306d695b

Child:

84:eccd8e837134

--- a/StateMachine/StateMachine.hpp	Thu Nov 08 22:30:32 2018 +0000
+++ b/StateMachine/StateMachine.hpp	Fri Feb 15 16:00:17 2019 +0000
@@ -21,8 +21,11 @@
     MULTI_DIVE,             // multi-dive sequence
     MULTI_RISE,             // multi-rise sequence
     KEYBOARD,               // "state" for tracking only
+    LEG_POSITION_DIVE,      // leg has heading and min,max depths and timeout
+    LEG_POSITION_RISE,
     TX_MBED_LOG,
-    RX_SEQUENCE
+    RX_SEQUENCE,
+    FB_EXIT
 };
  
 // find_neutral finite state machine enumerations
@@ -42,6 +45,15 @@
     float depth;
     float pitch;
 };
+//new struct for saving the leg data
+struct currentLegStruct {
+    int state;      //for the current StateMachine, states are ID-ed with enumeration
+    float timeout;
+    float yo_time;
+    float min_depth;
+    float max_depth;
+    float heading;
+};
  
 class StateMachine {
 public:
@@ -85,6 +97,7 @@
     void setNeutralPositions(float batt_pos_mm, float bce_pos_mm);
     
     void getDiveSequence(); //used in multi-dive sequence with public variables for now
+    void getLegParams(); //used in multi-leg sequence with public variables for now
     
     void runActiveNeutralStateMachine();    //new neutral substate returns the state (which is used in overall FSM)
     
@@ -108,6 +121,7 @@
     bool _debug_menu_on;         // default is false to show simple menu, debug allows more tuning and has a lot of keyboard commands
 
     int _timeout;                // generic timeout for every state, seconds
+    int _yo_time;                //  time allowed for one up or down in a leg of yo-yos
     float _pitchTolerance;       // pitch angle tolerance for neutral finding exit criteria
     float _bceFloatPosition;     // bce position for "float" states
     float _battFloatPosition;    // batt position for "broadcast" state
@@ -121,6 +135,7 @@
     float _timer_reading;       // pitch reading (to get the readings at the same time)
     
     Timer _fsm_timer;               //timing variable used in class
+    Timer _yotimer;                // timer for each yo in a yoyo leg
     
     volatile int _state;                 // current state of Finite State Machine (FSM)
     int _previous_state;        // record previous state
@@ -136,8 +151,10 @@
     float _neutral_batt_pos_mm;
     
     int _multi_dive_counter;
+    int _multi_leg_counter;
     
     currentSequenceStruct currentStateStruct;   //type_of_struct struct_name
+    currentLegStruct      currentLegStateStruct;   //type_of_struct struct_name
     
     float _depth_KP;
     float _depth_KI;