Diff: StateMachine/StateMachine.hpp

Revision:

28:16c83a2fdefa

Parent:

27:0a5b90cd65d6

Child:

32:f2f8ae34aadc

--- a/StateMachine/StateMachine.hpp	Wed Nov 29 22:37:47 2017 +0000
+++ b/StateMachine/StateMachine.hpp	Fri Dec 01 22:43:14 2017 +0000
@@ -15,7 +15,8 @@
     FLOAT_BROADCAST,        // bce position to float, batt position forward to hold tail up, exits when actuators done
     EMERGENCY_CLIMB,        // bce position to full rise, batt position to full aft, exits when at surface
     MULTI_DIVE,             // multi-dive sequence
-    MULTI_RISE              // multi-rise sequence
+    MULTI_RISE,             // multi-rise sequence
+    KEYBOARD                // "state" for tracking only
 };
  
 // find_neutral finite state machine enumerations
@@ -55,8 +56,9 @@
     
     int runNeutralStateMachine();   //substate returns the state (which is used in overall FSM)
     
+    int getState();
     void setState(int input_state);
-    int getState();
+    
     void setTimeout(float input_timeout);    
     void setDepthCommand(float input_depth_command);    
     void setPitchCommand(float input_pitch_command);
@@ -69,28 +71,30 @@
     
 private:
     int _timeout;                // generic timeout for every state, seconds
-    float pitchTolerance;       // pitch angle tolerance for neutral finding exit criteria
-    float bceFloatPosition;     // bce position for "float" states
-    float battFloatPosition;    // batt position for "broadcast" state
+    float _pitchTolerance;       // pitch angle tolerance for neutral finding exit criteria
+    float _bceFloatPosition;     // bce position for "float" states
+    float _battFloatPosition;    // batt position for "broadcast" state
     
-    float depthCommand;         // user keyboard depth
-    float pitchCommand;         // user keyboard depth
+    float _depthCommand;         // user keyboard depth
+    float _pitchCommand;         // user keyboard depth
     
     Timer timer;
     
     int _state;                 // Fine State Machine (FSM) state
+    int _previous_state;        // record previous state
     int _sub_state;             // substate on find_neutral function
     int _previous_sub_state;    // previous substate so that what goes into the sub-state is not being changed as it is processed
     float _neutral_timer;  // keep time for rise/sink/level timer incremnets
     
-    bool isTimeoutRunning;
+    bool _isTimeoutRunning;
     
-    bool isSubStateTimerRunning;
+    bool _isSubStateTimerRunning;
     
     float _neutral_bce_pos_mm;
     float _neutral_batt_pos_mm;
     
     int _multi_dive_counter;
+    
     currentSequenceStruct currentStateStruct;   //type_of_struct struct_name
     
     bool _neutral_sub_state_active;             // controls neutral_sub_state
@@ -102,11 +106,17 @@
     float _pitch_KP;
     float _pitch_KI;
     float _pitch_KD;
+
+    int _state_array[1024];                         //used to print out the states
+    int _state_array_counter;                       //used to iterate through state records    
+    int _substate_array[1024];                      //used to print out the sub-states
+    int _substate_array_counter;                    //used to iterate through sub-state records
     
-    int _state_array[1024];                     //used to print out the states
-    int _state_array_counter;                   //variables used to record NEUTRAL sub-FSM states
     int _substate;
     int _previous_substate;
+    
+    float _max_recorded_depth_neutral;
+    float _max_recorded_depth_dive;
 };
  
 #endif
\ No newline at end of file