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
Diff: StateMachine/StateMachine.cpp
- Revision:
- 25:249e4d56b27c
- Parent:
- 24:c7d9b5bf3829
- Child:
- 26:7e118fc02eea
--- a/StateMachine/StateMachine.cpp Wed Nov 29 15:19:14 2017 +0000 +++ b/StateMachine/StateMachine.cpp Wed Nov 29 15:42:12 2017 +0000 @@ -457,11 +457,11 @@ // how exit? //once reached the travel limit, no need to keep trying, so exit -// if (bce().getPosition_mm() <= 0) { -// pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\n\r", bce().getPosition_mm()); -// _substate = NEUTRAL_EXIT; -// isSubStateTimerRunning = false; // reset the sub state timer -// } + if (bce().getPosition_mm() <= 0) { + pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\n\r", bce().getPosition_mm()); + _substate = NEUTRAL_EXIT; + isSubStateTimerRunning = false; // reset the sub state timer + } //once deeper than the commanded setpoint... else if (depthLoop().getPosition() > depthCommand) { _substate = NEUTRAL_SLOWLY_RISE; // next state