Diff: StateMachine/StateMachine.cpp

Revision:

16:3363b9f14913

Child:

17:7c16b5671d0e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachine/StateMachine.cpp	Mon Nov 06 22:57:56 2017 +0000
@@ -0,0 +1,694 @@
+#include "StateMachine.hpp"
+#include "StaticDefs.hpp"
+
+StateMachine::StateMachine() {
+    timeout = 60;             // generic timeout for every state, seconds
+    depthTolerance = 0.25;    // depth tolerance for neutral finding exit critera
+    pitchTolerance = 1.0;     // pitch angle tolerance for neutral finding exit criteria
+    bceFloatPosition = 300;   // bce position for "float" states
+    battFloatPosition = 50;   // batt position for "broadcast" state
+    
+    depthCommand = 3.5;       // user keyboard depth
+    pitchCommand = -20.0;     // user keyboard depth
+}
+
+void StateMachine::runStateMachine() {
+    static int state = SIT_IDLE; // select starting state here
+    static bool isTimeoutRunning = false; // default timer to not running
+    
+    // finite state machine ... each state has at least one exit criteria
+    switch (state) {
+    case SIT_IDLE :
+        // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
+        if (!isTimeoutRunning) {
+            showMenu();
+            pc().printf("\r\n\nstate: SIT_IDLE\r\n");
+            isTimeoutRunning = true;
+
+            // what is active?
+            bce().pause();
+            batt().pause();
+        }
+        // how exit?
+        if (pc().readable()) {
+            state = KEYBOARD;
+            isTimeoutRunning = false;
+        }
+        break;
+        
+    case KEYBOARD :
+        pc().printf("\r\n\nstate: KEYBOARD\r\n");
+        if (pc().readable()) {
+            state = keyboard(); // get new state command
+            if (state == -1) { // error, that wasn't a new state command
+                state = SIT_IDLE;
+            }
+            //pc().printf("new state is: %d \r\n",state);
+        }
+        break;
+    
+    case EMERGENCY_CLIMB :
+        // start local state timer and init any other one-shot actions
+        if (!isTimeoutRunning) {
+            pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
+            timer.reset(); // timer goes back to zero
+            timer.start(); // background timer starts running
+            isTimeoutRunning = true;
+            
+            // what needs to be started?
+            bce().unpause();
+            batt().unpause();
+
+            // what is active?
+            bce().setPosition_mm(bce().getTravelLimit());
+            batt().setPosition_mm(0.0);
+        }
+        // how exit?
+        if (timer > timeout) {
+            pc().printf("EC: timed out\r\n");
+            state = FLOAT_LEVEL;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        else if (depthLoop().getPosition() < 0.2) {
+            pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read());
+            state = FLOAT_LEVEL;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        break;
+
+    case FIND_NEUTRAL :
+        // start local state timer and init any other one-shot actions
+        if (!isTimeoutRunning) {
+            pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
+            timer.reset(); // timer goes back to zero
+            timer.start(); // background timer starts running
+            isTimeoutRunning = true;
+            
+            // what needs to be started?
+            bce().unpause();
+            batt().unpause();
+
+            // what is active?
+            depthLoop().setCommand(depthCommand);
+            pitchLoop().setCommand(0.0);
+        }
+        // how exit?
+        if (timer > timeout) {
+            pc().printf("FN: timed out\r\n");
+            state = FLOAT_LEVEL;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        
+        //depth tolerance of 0.25 feet, pitch tolerance of 1.0 degree
+        else if ((abs(depthLoop().getPosition() - depthLoop().getCommand()) < depthTolerance) and
+                  (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) {
+            state = RISE;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        // what is active?
+        pc().printf("FN: bce pos: %3.1f mm, batt pos: %3.1f mm (pitchLoop: 0.0 deg)(depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
+        bce().setPosition_mm(depthLoop().getOutput());
+        batt().setPosition_mm(pitchLoop().getOutput());
+        break;
+    
+    case DIVE :
+        // start local state timer and init any other one-shot actions
+        if (!isTimeoutRunning) {
+            pc().printf("\r\n\nstate: DIVE\r\n");
+            timer.reset(); // timer goes back to zero
+            timer.start(); // background timer starts running
+            isTimeoutRunning = true;
+            
+            // what needs to be started?
+            bce().unpause();
+            batt().unpause();
+
+            // what are the commands?
+            depthLoop().setCommand(depthCommand);
+            pitchLoop().setCommand(pitchCommand);
+            pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
+            pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+        }
+        // how exit?
+        if (timer > timeout) {
+            pc().printf("DIVE: timed out\r\n");
+            state = EMERGENCY_CLIMB;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        else if (depthLoop().getPosition() > depthLoop().getCommand()) {
+            pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+            state = RISE;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        // what is active?
+        pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
+        bce().setPosition_mm(depthLoop().getOutput());
+        batt().setPosition_mm(pitchLoop().getOutput());
+        break;
+    
+    case RISE :
+        // start local state timer and init any other one-shot actions
+        if (!isTimeoutRunning) {
+            pc().printf("\r\n\nstate: RISE\r\n");
+            timer.reset(); // timer goes back to zero
+            timer.start(); // background timer starts running
+            isTimeoutRunning = true;
+            
+            // what needs to be started?
+            bce().unpause();
+            batt().unpause();
+ 
+            // what are the commands?
+            depthLoop().setCommand(0.0);
+            pitchLoop().setCommand(-pitchCommand);
+            pc().printf("RISE: depth cmd: 0.0\r\n");
+            pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+        }
+        // how exit?
+        if (timer > timeout) {
+            pc().printf("RISE: timed out\r\n");
+            state = FLOAT_LEVEL;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        else if (depthLoop().getPosition() < depthLoop().getCommand()) {
+            pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+            state = FLOAT_LEVEL;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
+        // what is active?
+        bce().setPosition_mm(depthLoop().getOutput());
+        batt().setPosition_mm(pitchLoop().getOutput());
+        break;  
+    
+    case FLOAT_LEVEL :
+        // start local state timer and init any other one-shot actions
+        if (!isTimeoutRunning) {
+            pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
+            timer.reset(); // timer goes back to zero
+            timer.start(); // background timer starts running
+            isTimeoutRunning = true;
+            
+            // what needs to be started?
+            bce().unpause();
+            batt().unpause();
+ 
+            // what are the commands
+            bce().setPosition_mm(bceFloatPosition);
+            pitchLoop().setCommand(0.0);
+        }
+        // how exit?
+        if (timer > timeout) {
+            pc().printf("FL: timed out\r\n");
+            state = FLOAT_BROADCAST;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) {
+            pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance);
+            state = FLOAT_BROADCAST;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        // what is active?
+        pc().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(), timer.read());
+        batt().setPosition_mm(pitchLoop().getOutput());
+        break;
+    
+    case FLOAT_BROADCAST :
+        // start local state timer and init any other one-shot actions
+        if (!isTimeoutRunning) {
+            pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
+            timer.reset(); // timer goes back to zero
+            timer.start(); // background timer starts running
+            isTimeoutRunning = true;
+            
+            // what needs to be started?
+            bce().unpause();
+            batt().unpause();
+
+            // what are the commands?
+            bce().setPosition_mm(bceFloatPosition);
+            batt().setPosition_mm(battFloatPosition);
+        }
+        // how exit?
+        if (timer > timeout) {
+            pc().printf("FB: timed out\r\n");
+            state = SIT_IDLE;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        if ( (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
+             (abs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
+            pc().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());
+            state = SIT_IDLE;
+            timer.reset();
+            isTimeoutRunning = false;
+        }
+        pc().printf("FB: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
+        break;
+    
+    default :
+        state = SIT_IDLE;
+    }
+}
+
+// output the keyboard menu for user's reference
+void StateMachine::showMenu() {
+    pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
+    pc().printf(" N to find neutral\r\n");
+    pc().printf(" D to initiate dive cycle\r\n");
+    pc().printf(" R to initiate rise\r\n");
+    pc().printf(" L to float level\r\n");
+    pc().printf(" B to float at broadcast pitch\r\n");
+    pc().printf(" E to initiate emergency climb\r\n");
+    pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
+    pc().printf(" T to tare the depth sensor\r\n");
+    pc().printf("[/] to change bce neutral position\r\n");
+    pc().printf("</> to change batt neutral position\r\n");
+    pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchCommand);
+    pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthCommand);
+    //pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand());
+    //pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand());
+    pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout);
+    pc().printf(" 1 BCE PID sub-menu\r\n");
+    pc().printf(" 2 BATT PID sub-menu\r\n");
+    pc().printf(" 3 Depth PID sub-menu\r\n");
+    pc().printf(" 4 Pitch PID sub-menu\r\n");
+    pc().printf(" C See sensor readings\r\n");
+    pc().printf(" ? to reset mbed\r\n");
+}
+
+// keyboard currently handles a key at a time
+// returns -1 if not a state command
+// returns a positive number to command a new state
+int StateMachine::keyboard() {
+    char userInput;
+    
+    // check keyboard and make settings changes as requested
+    if (pc().readable()) {
+        // get the key
+        userInput = pc().getc();
+
+        // check command against desired control buttons
+        // change state
+        if (userInput == 'D' or userInput == 'd') {
+            return DIVE;
+        }
+        else if (userInput == 'N' or userInput == 'n') {
+            return FIND_NEUTRAL;
+        }
+        else if (userInput == 'R' or userInput == 'r') {
+            return RISE;
+        }
+        else if (userInput == 'L' or userInput == 'l') {
+            return FLOAT_LEVEL;
+        }
+        else if (userInput == 'B' or userInput == 'b') {
+            return FLOAT_BROADCAST;
+        }
+        else if (userInput == 'E' or userInput == 'e') {
+            return EMERGENCY_CLIMB;
+        }
+        else if (userInput == 'H' or userInput == 'h') {
+            pc().printf("running homing procedure\r\n");
+            bce().unpause();  bce().homePiston();  bce().pause();
+            batt().unpause(); batt().homePiston(); batt().pause();
+            return SIT_IDLE;
+        }
+        else if (userInput == 'T' or userInput == 't') {
+            pc().printf("taring depth sensor\r\n");
+            pc().printf("Pre-tare:  press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
+            wait(0.1);
+            depth().tare(); // tares to ambient (do on surface)
+            pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
+        }
+        
+        else if (userInput == '[' or userInput == '{') {
+            depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint
+            pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
+        }
+        else if (userInput == ']' or userInput == '}') {
+            depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint
+            pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
+        }
+        else if (userInput == '<' or userInput == ',') {
+            pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint
+            pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
+        }
+        else if (userInput == '>' or userInput == '.') {
+            pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint
+            pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
+        }
+        
+        else if (userInput == '?') {
+            pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
+            wait(0.5);
+            mbed_reset();
+        }
+
+        // change settings        
+        else if (userInput == 'Q' or userInput == 'q') {
+            pitchCommand -= 0.5;         //decrement the pitch setpoint
+            pitchLoop().setCommand(pitchCommand);
+            pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
+        }
+        else if (userInput == 'W' or userInput == 'w') {
+            pitchCommand += 0.5;         //increment the pitch setpoint
+            pitchLoop().setCommand(pitchCommand);
+            pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
+        }
+        else if (userInput == 'A' or userInput == 'a') {
+            depthCommand -= 0.5;         //decrement the depth setpoint
+            depthLoop().setCommand(depthCommand);
+            pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
+        }
+        else if (userInput == 'S' or userInput == 's') {
+            depthCommand += 0.5;         //increment the depth setpoint
+            depthLoop().setCommand(depthCommand);
+            pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
+        }
+        else if (userInput == '-') {
+            timeout -= 10.0;               //decrement the timeout
+            pc().printf(">>> timeout decreased: %d\r\n", timeout);
+        }
+        else if (userInput == '=' or userInput == '+') {
+            timeout += 10.0;               //increment the timeout
+            pc().printf(">>> timeout increased: %d\r\n", timeout);
+        }
+        
+        // add keyboard commands to move the neutral zero offsets, both bce and batt
+        
+        // go to sub-menus for the PID gains (this is blocking)
+        else if (userInput == '1') {
+            keyboard_menu_BCE_PID_settings();
+        }
+        else if (userInput == '2') {
+            keyboard_menu_BATT_PID_settings();
+        }
+        else if (userInput == '3') {
+            keyboard_menu_DEPTH_PID_settings();
+        }
+        else if (userInput == '4') {
+            keyboard_menu_PITCH_PID_settings();
+        }
+        
+        else if (userInput == 'C' or userInput == 'c') {
+            pc().printf("depth: %3.1f\r\n",depthLoop().getPosition());
+            pc().printf("pitch: %3.1f\r\n",imu().getPitch());
+            pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
+            pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
+            pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
+            pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
+            pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
+            pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
+        }
+        else {
+            return (-1);
+        }
+    }
+    return (-1);
+}
+
+void StateMachine::keyboard_menu_BCE_PID_settings() {    
+    char PID_key;
+    float gain_step_size = 0.01;    // modify this to change gain step size
+    float KP = bce().getControllerP();  // load current value
+    float KI = bce().getControllerI();  // load current global value
+    float KD = bce().getControllerD();  // load current global value
+ 
+    // show the menu
+    pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
+    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
+    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.)\n\n\n\r");
+    pc().printf("bce    P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
+    
+    // handle the key presses
+    while(1) {
+        // get the user's keystroke from either of the two inputs
+        if (pc().readable()) {
+            PID_key = pc().getc();
+        }
+        else {
+            continue; // didn't get a user input, so keep waiting for it
+        }
+    
+        // handle the user's key input
+        if (PID_key == '-') {
+            KP -= gain_step_size;
+            pc().printf("P gain: %0.5f               \r\n", KP);
+        }
+        else if (PID_key == '=') {
+            KP += gain_step_size;
+            pc().printf("P gain: %0.5f               \r\n", KP);
+        }
+        else if (PID_key == '[') {
+            KI -= gain_step_size;
+            pc().printf("I gain: %0.5f               \r\n", KI);
+        }
+        else if (PID_key == ']') {
+            KI += gain_step_size;
+            pc().printf("I gain: %0.5f               \r\n", KI);
+        }
+        else if (PID_key == ';') {
+            KD -= gain_step_size;
+            pc().printf("D gain: %0.5f               \r\n", KD);
+        }
+        else if (PID_key == '\'') {
+            KD += gain_step_size;
+            pc().printf("D gain: %0.5f               \r\n", KD);
+        }
+        else if (PID_key == 'S') { // user wants to save these modified values
+            // set values
+            bce().setControllerP(KP);
+            bce().setControllerI(KI);
+            bce().setControllerD(KD);  
+ 
+            // save into "PID.cfg"
+            //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
+            break;  //exit the while loop
+        }
+        else if (PID_key == 'X') {    
+            break;  //exit the while loop
+        }
+        else {
+            pc().printf("\n\rThis key does nothing here.                              ");
+        }
+    }
+}
+
+void StateMachine::keyboard_menu_BATT_PID_settings() {    
+    char PID_key;
+    float gain_step_size = 0.01;    // modify this to change gain step size
+    float KP = batt().getControllerP(); // load current global value
+    float KI = batt().getControllerI(); // load current global value
+    float KD = batt().getControllerD(); // load current global value
+ 
+    // print the menu
+    pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
+    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
+    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.\n\r");
+    pc().printf("batt   P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f  \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
+
+    // handle the key presses
+    while(1) {
+        // get the user's keystroke from either of the two inputs
+        if (pc().readable()) {
+            PID_key = pc().getc();
+        }
+        else {
+            continue; // didn't get a user input, so keep waiting for it
+        }
+ 
+        // handle the user's key input
+        if (PID_key == '-') {
+            KP -= gain_step_size;
+            pc().printf("\rP gain: %0.5f               ", KP);
+        }
+        else if (PID_key == '=') {
+            KP += gain_step_size;
+            pc().printf("\rP gain: %0.5f               ", KP);
+        }
+        else if (PID_key == '[') {
+            KI -= gain_step_size;
+            pc().printf("\rI gain: %0.5f               ", KI);
+        }
+        else if (PID_key == ']') {
+            KI += gain_step_size;
+            pc().printf("\rI gain: %0.5f               ", KI);
+        }
+        else if (PID_key == ';') {
+            KD -= gain_step_size;
+            pc().printf("\rD gain: %0.5f               ", KD);
+        }
+        else if (PID_key == '\'') {
+            KD += gain_step_size;
+            pc().printf("\rD gain: %0.5f               ", KD);
+        }
+        else if (PID_key == 'S') { // user wants to save the modified values
+            // set global values
+            batt().setControllerP(KP);
+            batt().setControllerI(KI);
+            batt().setControllerD(KD);
+            
+            // save to "PID.cfg" file
+            //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D);
+            break;  //exit the while loop
+        }
+        else if (PID_key == 'X') {    
+            break;  //exit the while loop
+        }
+        else {
+            pc().printf("This key does nothing here.\r");
+        }
+    }
+}
+
+void StateMachine::keyboard_menu_DEPTH_PID_settings() {    
+    char PID_key;
+    float gain_step_size = 0.01;    // modify this to change gain step size
+    float KP = depthLoop().getControllerP();  // load current global value
+    float KI = depthLoop().getControllerI();  // load current global value
+    float KD = depthLoop().getControllerD();  // load current global value
+ 
+    // show the menu
+    pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
+    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
+    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.\n\n\n\r");
+    pc().printf("depth  P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
+    
+    // handle the key presses
+    while(1) {
+        // get the user's keystroke from either of the two inputs
+        if (pc().readable()) {
+            PID_key = pc().getc();
+        }
+        else {
+            continue; // didn't get a user input, so keep waiting for it
+        }
+    
+        // handle the user's key input
+        if (PID_key == '-') {
+            KP -= gain_step_size;
+            pc().printf("P gain: %0.5f               \r\n", KP);
+        }
+        else if (PID_key == '=') {
+            KP += gain_step_size;
+            pc().printf("P gain: %0.5f               \r\n", KP);
+        }
+        else if (PID_key == '[') {
+            KI -= gain_step_size;
+            pc().printf("I gain: %0.5f               \r\n", KI);
+        }
+        else if (PID_key == ']') {
+            KI += gain_step_size;
+            pc().printf("I gain: %0.5f               \r\n", KI);
+        }
+        else if (PID_key == ';') {
+            KD -= gain_step_size;
+            pc().printf("D gain: %0.5f               \r\n", KD);
+        }
+        else if (PID_key == '\'') {
+            KD += gain_step_size;
+            pc().printf("D gain: %0.5f               \r\n", KD);
+        }
+        else if (PID_key == 'S') { // user wants to save these settings
+            // set global values
+            depthLoop().setControllerP(KP);
+            depthLoop().setControllerI(KI);
+            depthLoop().setControllerD(KD);
+            
+            // save into "PID.cfg"
+            //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
+            break;  //exit the while loop
+        }
+        else if (PID_key == 'X') {    
+            break;  //exit the while loop
+        }
+        else {
+            pc().printf("\n\rThis key does nothing here.                              ");
+        }
+    }
+}
+ 
+void StateMachine::keyboard_menu_PITCH_PID_settings() {    
+    char PID_key;
+    float gain_step_size = 0.01;    // modify this to change gain step size
+    float KP = pitchLoop().getControllerP();  // load current global value
+    float KI = pitchLoop().getControllerI();  // load current global value
+    float KD = pitchLoop().getControllerD();  // load current global value
+ 
+    // print the menu
+    pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
+    pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
+    pc().printf("\n\r(Hit shift + X to exit w/o saving.  Hit shift + S to save.\n\r");
+    pc().printf("pitch  P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
+
+    // handle the key presses
+    while(1) {
+        // get the user's keystroke from either of the two inputs
+        if (pc().readable()) {
+            PID_key = pc().getc();
+        }
+        else {
+            continue; // didn't get a user input, so keep waiting for it
+        }
+ 
+        // handle the user's key input
+        if (PID_key == '-') {
+            KP -= gain_step_size;
+            pc().printf("\rP gain: %0.5f               ", KP);
+        }
+        else if (PID_key == '=') {
+            KP += gain_step_size;
+            pc().printf("\rP gain: %0.5f               ", KP);
+        }
+        else if (PID_key == '[') {
+            KI -= gain_step_size;
+            pc().printf("\rI gain: %0.5f               ", KI);
+        }
+        else if (PID_key == ']') {
+            KI += gain_step_size;
+            pc().printf("\rI gain: %0.5f               ", KI);
+        }
+        else if (PID_key == ';') {
+            KD -= gain_step_size;
+            pc().printf("\rD gain: %0.5f               ", KD);
+        }
+        else if (PID_key == '\'') {
+            KD += gain_step_size;
+            pc().printf("\rD gain: %0.5f               ", KD);
+        }
+        else if (PID_key == 'S') { // user wants to save the modified values
+            // set global values
+            pitchLoop().setControllerP(KP);
+            pitchLoop().setControllerI(KI);
+            pitchLoop().setControllerD(KD);
+            
+            //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D);
+            break;  //exit the while loop
+        }
+        else if (PID_key == 'X') {    
+            break;  //exit the while loop
+        }
+        else {
+            pc().printf("This key does nothing here.\r");
+        }
+    }
+}
+
+float StateMachine::getDepthCommand() {
+    return depthCommand;
+}
+
+float StateMachine::getPitchCommand() {
+    return pitchCommand;
+}
\ No newline at end of file