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:
- 37:357e98a929cc
- Parent:
- 36:966a86937e17
- Child:
- 38:83d06c294807
--- a/StateMachine/StateMachine.cpp Wed Dec 20 23:21:15 2017 +0000 +++ b/StateMachine/StateMachine.cpp Thu Dec 21 16:07:47 2017 +0000 @@ -2,7 +2,7 @@ #include "StaticDefs.hpp" StateMachine::StateMachine() { - _timeout = 20; // generic timeout for every state, seconds + _timeout = 120; // generic timeout for every state, seconds _pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state @@ -997,7 +997,8 @@ // check keyboard and make settings changes as requested // states can be changed only at the start of a sequence (when the system is in SIT_IDLE) - int _keyboard_state = -1; //made this a local variable because it was retaining the last keyboard state + //TEST + int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state if (pc().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) { // get the key @@ -1216,6 +1217,7 @@ //when you read the keyboard successfully, change the state _state = _keyboard_state; //set state at the end of this function + pc().printf("\n\n\r ********* KEYBOARD STATE: %d *********\n\n\r", _state); } } @@ -1633,7 +1635,7 @@ _log_timer = timer.read() + 1; //record the time when this block is first entered and add 5 seconds _is_log_timer_running = true; //disable this block after one iteration - _data_log[0] = timer.read(); //timer reading (shouldn't this be constant throughout the state?) + _data_log[0] = systemTime().read(); //system time reading _data_log[1] = depthLoop().getCommand(); //depth command _data_log[2] = depthLoop().getPosition(); //depth reading _data_log[3] = pitchLoop().getCommand(); //pitch command