Flying Sea Glider
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:
- 17:7c16b5671d0e
- Parent:
- 16:3363b9f14913
- Child:
- 18:85a7535af8fd
--- a/StateMachine/StateMachine.cpp Mon Nov 06 22:57:56 2017 +0000
+++ b/StateMachine/StateMachine.cpp Tue Nov 21 22:03:26 2017 +0000
@@ -2,7 +2,7 @@
#include "StaticDefs.hpp"
StateMachine::StateMachine() {
- timeout = 60; // generic timeout for every state, seconds
+ _timeout = 20; // 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
@@ -10,41 +10,52 @@
depthCommand = 3.5; // user keyboard depth
pitchCommand = -20.0; // user keyboard depth
+
+ _neutral_sink_timer = 10;
+ _neutral_rise_timer = 5;
+
+ previousPosition_mm = 220; //centered, overwritten by the state machine (LOAD THIS FROM CONFIG?)
+ _state = SIT_IDLE; // select starting state here
+
+ isTimeoutRunning = false; // default timer to not running
+ isSubStateTimeoutRunning = false;
+
+ _neutral_buoyancy_bce_pos_mm = 0;
+ _neutral_buoyancy_batt_pos_mm = 0;
+
+ //new
+ _next_state = -1; //next state is used to prevent states from changing as the FSM executes
+ _state_counter = 0;
}
-void StateMachine::runStateMachine() {
- static int state = SIT_IDLE; // select starting state here
- static bool isTimeoutRunning = false; // default timer to not running
-
+//Finite State Machine (FSM)
+void StateMachine::runStateMachine() {
+ //use the _next_state when the state machine is run again (so that it cannot change states while the FSM executes)
+
+ static bool runFirstNeutral = false;
+
+ //use the _next_state when the state machine is run again (so that it cannot change states while the FSM executes)
+ if (_next_state > -1)
+ _state = _next_state; //current state comes from the state at the completion of the FSM
+
// finite state machine ... each state has at least one exit criteria
- switch (state) {
+ 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;
+ isTimeoutRunning = true;
// what is active?
bce().pause();
batt().pause();
+
+ //reset sub FSM
+ isSubStateTimeoutRunning = false;
}
// 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);
- }
+ // separate keyboard function will change the states
break;
case EMERGENCY_CLIMB :
@@ -53,7 +64,7 @@
pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
timer.reset(); // timer goes back to zero
timer.start(); // background timer starts running
- isTimeoutRunning = true;
+ isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
@@ -64,64 +75,72 @@
batt().setPosition_mm(0.0);
}
// how exit?
- if (timer > timeout) {
+ if (timer > _timeout) {
pc().printf("EC: timed out\r\n");
- state = FLOAT_LEVEL;
+ _next_state = FLOAT_BROADCAST;
timer.reset();
isTimeoutRunning = false;
}
- else if (depthLoop().getPosition() < 0.2) {
+ else if (depthLoop().getPosition() < 0.2) { //if the depth is greater than 0.2 feet, go to float broadcast
pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read());
- state = FLOAT_LEVEL;
+ _next_state = FLOAT_BROADCAST;
timer.reset();
isTimeoutRunning = false;
}
break;
case FIND_NEUTRAL :
- // start local state timer and init any other one-shot actions
+ /* 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;
+ isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
-
- // what is active?
- depthLoop().setCommand(depthCommand);
- pitchLoop().setCommand(0.0);
+
+ //first iteration sends SINKING sub-state
+ runFirstNeutral = true;
}
- // how exit?
- if (timer > timeout) {
- pc().printf("FN: timed out\r\n");
- state = FLOAT_LEVEL;
+
+ /* how exit? (exit with the timer, if timer still running continue processing sub FSM) */
+ if (timer > _timeout) {
+ pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
+ _next_state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
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? (call neutral finding sub-function every iteration)
+ if (runFirstNeutral) {
+ //pc().printf("First iteration of find neutral\n\r"); // debug (confirmed working)
+ _sub_state = findNeutralSubState(NEUTRAL_SINKING);
+ _previous_sub_state = _sub_state; //save previous sub-state
+ runFirstNeutral = 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;
-
+
+ //second and further iterations this is running
+ else {
+ _sub_state = findNeutralSubState(_previous_sub_state);
+ _previous_sub_state = _sub_state; //save previous sub-state
+
+ //if sub-FSM has completed its state machine
+ if (_sub_state == NEUTRAL_EXIT) {
+ pc().printf("DEBUG: FIND_NEUTRAL sub FSM completed!\n\r");
+ _next_state = RISE; //your next state will be RISE in the FSM
+ }
+ }
+ 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;
+ isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
@@ -134,20 +153,20 @@
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;
+ if (timer > _timeout) {
+ pc().printf("DIVE: timed out\n\n\r");
+ _next_state = RISE; //new behavior 11/17/2017
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;
+ _next_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());
+ pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.2f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
bce().setPosition_mm(depthLoop().getOutput());
batt().setPosition_mm(pitchLoop().getOutput());
break;
@@ -158,7 +177,7 @@
pc().printf("\r\n\nstate: RISE\r\n");
timer.reset(); // timer goes back to zero
timer.start(); // background timer starts running
- isTimeoutRunning = true;
+ isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
@@ -171,22 +190,22 @@
pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
}
// how exit?
- if (timer > timeout) {
+ if (timer > _timeout) {
pc().printf("RISE: timed out\r\n");
- state = FLOAT_LEVEL;
+ _next_state = EMERGENCY_CLIMB;
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;
+ _next_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());
+ bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
+ batt().setPosition_mm(pitchLoop().getOutput());
break;
case FLOAT_LEVEL :
@@ -195,7 +214,7 @@
pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
timer.reset(); // timer goes back to zero
timer.start(); // background timer starts running
- isTimeoutRunning = true;
+ isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
@@ -206,15 +225,15 @@
pitchLoop().setCommand(0.0);
}
// how exit?
- if (timer > timeout) {
+ if (timer > _timeout) {
pc().printf("FL: timed out\r\n");
- state = FLOAT_BROADCAST;
+ _next_state = FLOAT_BROADCAST;
timer.reset();
isTimeoutRunning = false;
}
- else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) {
+ else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(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;
+ _next_state = FLOAT_BROADCAST;
timer.reset();
isTimeoutRunning = false;
}
@@ -229,7 +248,7 @@
pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
timer.reset(); // timer goes back to zero
timer.start(); // background timer starts running
- isTimeoutRunning = true;
+ isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
@@ -240,31 +259,147 @@
batt().setPosition_mm(battFloatPosition);
}
// how exit?
- if (timer > timeout) {
+ if (timer > _timeout) {
pc().printf("FB: timed out\r\n");
- state = SIT_IDLE;
+ _next_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()) ) {
+ if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
+ (fabs(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;
+ _next_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;
+
+ case MULTI_DIVE :
+ // start local state timer and init any other one-shot actions
+ if (!isTimeoutRunning) {
+ pc().printf("\r\n\nstate: MULTI-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();
+
+ //NEW: retrieve depth and pitch commands from config file struct
+ // concept is to load this each time the multi-dive restarts
+
+ //keyboard starts sequence at 0 from keyboard function
+ //stateMachine().getDiveSequence();
+
+ //retrieve commands from structs
+ float sequenceDepthCommand = currentStateStruct.depth;
+ float sequencePitchCommand = currentStateStruct.pitch;
+
+ // what are the commands?
+ depthLoop().setCommand(sequenceDepthCommand);
+ pitchLoop().setCommand(sequencePitchCommand);
+ pc().printf("MULTI-DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
+ pc().printf("MULTI-DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+ }
+ // how exit?
+ if (timer > _timeout) {
+ pc().printf("MULTI-DIVE: timed out\n\n\r");
+ _next_state = MULTI_RISE; //new behavior 11/17/2017
+ timer.reset();
+ isTimeoutRunning = false;
+ }
+ else if (depthLoop().getPosition() > depthLoop().getCommand()) {
+ pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ _next_state = MULTI_RISE;
+ timer.reset();
+ isTimeoutRunning = false;
+ }
+ // what is active?
+ pc().printf("MULTI-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 MULTI_RISE :
+ // start local state timer and init any other one-shot actions
+ if (!isTimeoutRunning) {
+ pc().printf("\r\n\nstate: MULTI-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();
+
+ //NEW: retrieve depth and pitch commands from config file struct
+ // concept is to load this each time the multi-dive restarts
+ stateMachine().getDiveSequence();
+
+ //retrieve just pitch command from struct
+ float sequencePitchCommand = currentStateStruct.pitch;
+
+ // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
+ depthLoop().setCommand(0.5);
+ pitchLoop().setCommand(-sequencePitchCommand);
+ pc().printf("MULTI-RISE: depth cmd: 0.0\r\n");
+ pc().printf("MULTI-RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+ }
+ // how exit?
+ if (timer > _timeout) {
+ pc().printf("MULTI-RISE: timed out\r\n");
+ _next_state = EMERGENCY_CLIMB;
+ timer.reset();
+ isTimeoutRunning = false;
+
+ //reset multi-dive sequence to start
+ _state_counter = 0;
+ }
+
+ //depth is less than 0.5 (zero is surface level)
+ else if (depthLoop().getPosition() < 0.5) {
+ pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+
+ //going to next state
+ isTimeoutRunning = false;
+
+ //successful dive-rise sequence CONTINUES the multi-dive sequence
+ _state_counter++;
+
+ //UPDATE THE SEQUENCE DATA HERE
+ stateMachine().getDiveSequence();
+
+ //check if this is the end of the dive sequence
+ //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (Float_Level)
+ if (currentStateStruct.state == FLOAT_LEVEL) {
+ _next_state = FLOAT_LEVEL;
+ return;
+ }
+
+ else
+ _next_state = MULTI_DIVE;
+
+ //have to stop this with the _state_counter variable!
+ }
+ pc().printf("MULTI-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()); //constantly checking the Outer Loop output to move the motors
+ batt().setPosition_mm(pitchLoop().getOutput());
+ break;
default :
- state = SIT_IDLE;
- }
+ pc().printf("DEBUG: SIT_IDLE\n\r");
+ _next_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(" M to initiate multi-dive cycle\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");
@@ -276,9 +411,7 @@
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("+/- 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");
@@ -287,42 +420,195 @@
pc().printf(" ? to reset mbed\r\n");
}
+//Find Neutral sub finite state machine
+// Note: the sub-fsm only moves the pistons once at the start of each timer loop
+// (timer completes, move piston, timer completes, move piston, etc)
+int StateMachine::findNeutralSubState(int input_substate) {
+ float pitch_angle = pitchLoop().getPosition();
+ float pitch_rate = pitchLoop().getVelocity();
+
+ float abs_pitch_angle = fabs(pitch_angle);
+ float abs_pitch_rate = fabs(pitch_rate);
+
+ //output substate is the input substate unless it is changed in the sub FSM
+ static int output_substate = NEUTRAL_SINKING; //to start
+ //int output_substate = input_substate;
+
+ switch (input_substate) {
+ case NEUTRAL_SINKING:
+ //start the 10 second timer
+ if (!isSubStateTimeoutRunning) {
+ pc().printf(" input_substate: %d\n\r", input_substate); //debug
+ _neutral_sink_timer = timer.read()+ 10; //record the time when this block is first entered and add 10 seconds
+ pc().printf("\r\n\n(8) START NEUTRAL_SINKING (_neutral_sink_timer will go off at %0.1f sec) %3.1f\r\n", _neutral_sink_timer,timer.read());
+
+ // what is active?
+ //move piston at start of sequence (retract 10 mm)
+ pc().printf("Neutral Sinking: Retracting piston 10 mm\n\r");
+ previousPosition_mm -= 10;
+ bce().setPosition_mm(previousPosition_mm); //no depth command
+
+ isSubStateTimeoutRunning = true; //disable this block after one iteration
+ }
+
+ //once the 10 second timer is complete move the piston with code above
+ if (timer.read() >= _neutral_sink_timer) {
+ pc().printf("\r\n\n(8) NEUTRAL_SINKING TIMER COMPLETE! %3.1f\r\n", timer.read());
+ pc().printf("\r\n\n(8) (BATT POS: %0.1f) retract 10 mm (time: %3.1f)\r\n", previousPosition_mm, timer.read());
+
+ //when you finish executing the motor controls, reset the neutral sinking timer in the next state
+ isSubStateTimeoutRunning = false;
+ }
+
+
+
+ //depth >= depth command, go to the next substate the next iteration
+ if (depthLoop().getPosition() > depthCommand) {
+ pc().printf("Next substate: NEUTRAL_SLOWLY_RISE\n\r");
+ output_substate = NEUTRAL_SLOWLY_RISE;
+
+ //when you finish executing the motor controls, reset the neutral sinking timer in the next state
+ isSubStateTimeoutRunning = false;
+ }
+
+ //before the sub-fsm runs again, make sure the piston is in a safe position
+ //NEW: need to double-check this behavior
+ //need to set a max travel position ? or just hardcode? or use bceFloatPosition?
+ if (bce().getPosition_mm() >= 320) {
+ output_substate = NEUTRAL_EXIT;
+ //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed
+ }
+ break;
+
+ case NEUTRAL_SLOWLY_RISE:
+ if (!isSubStateTimeoutRunning) {
+ pc().printf("\r\n\n(9) START NEUTRAL_SLOWLY_RISE (will go off at %0.1f sec)\r\n", timer.read());
+ _neutral_sink_timer = timer.read()+ 5; //record the time when this block is first entered and add 10 seconds
+
+ isSubStateTimeoutRunning = true; //disable this block after one iteration
+
+ // what is active?
+ //move piston at start of sequence (retract 10 mm)
+ pc().printf("Neutral Slowly Rise: Extending piston 1 mm\n\r");
+ previousPosition_mm += 1;
+ bce().setPosition_mm(previousPosition_mm); //no depth command
+ }
+
+ //once 5 second timer complete move the piston with code above
+ if (timer.read() >= _neutral_sink_timer) {
+ pc().printf("\r\n\n(9)NEUTRAL_SLOWLY_RISE TIMER COMPLETE! (time: %3.1f)\r\n", timer.read());
+ pc().printf("\r\n\n(9) (BATT POS: %0.1f) extend 1 mm %3.1f\r\n", previousPosition_mm, timer.read());
+
+ //when you finish executing the motor controls, reset the neutral sinking timer in the next state
+ isSubStateTimeoutRunning = false;
+ }
+
+ //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
+ if (depthLoop().getVelocity() < 0) { //less than zero ft/s
+ pc().printf("\r\n\n(9) NEUTRAL_SLOWLY_RISE: Sink Rate below 0 ft/s [time: %0.1f]\r\n", timer.read());
+
+ pc().printf("Next substate: NEUTRAL_CHECK_PITCH\n\r");
+ output_substate = NEUTRAL_CHECK_PITCH;
+ }
+
+ //before the sub-fsm runs again, make sure the piston is in a safe position
+ //NEW: need to double-check this behavior
+ //need to set a max travel position ? or just hardcode? or use bceFloatPosition?
+ if (bce().getPosition_mm() >= 320) {
+ output_substate = NEUTRAL_EXIT;
+ //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed
+ }
+ break;
+
+ case NEUTRAL_CHECK_PITCH:
+ //no timeout in this sub FSM state (find_neutral timer still running)
+
+ //what is active?
+ //the BCE piston is maintaining its position
+ //the battery is maintaining the pitch at zero degrees
+
+ //check sink rate < 0.5 ft/s, go to the next substate the next iteration (pitch velocity)
+ //check pitch angle is less than 1.0 degree
+
+ pc().printf("(10) NEUTRAL_CHECK_PITCH (time: %3.1f) [%0.1f deg, %0.1f deg/s] \r", timer.read(), pitch_angle, pitch_rate); //debug
+ output_substate = NEUTRAL_CHECK_PITCH;
+
+ //benchtop tests confirm it needs to be around 2 degrees
+ if ((abs_pitch_rate < 0.5) && (abs_pitch_angle < 2.0)) { //less than zero ft/s and 1 degree
+ //SAVE POSITIONS
+ _neutral_buoyancy_bce_pos_mm = bce().getPosition_mm();
+ _neutral_buoyancy_batt_pos_mm = batt().getPosition_mm();
+
+ //save to neutral.cfg
+ ConfigFileIO().saveNeutralPositions(_neutral_buoyancy_bce_pos_mm,_neutral_buoyancy_batt_pos_mm); //BCE, BATT
+
+ pc().printf("Saving Positions: BCE: %0.1f mm, BATT: %0.1f\n\r",_neutral_buoyancy_bce_pos_mm,_neutral_buoyancy_batt_pos_mm);
+ pc().printf("Next substate: NEUTRAL_EXIT\n\r");
+ output_substate = NEUTRAL_EXIT; //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed
+ }
+ break;
+
+ default:
+ pc().printf("DEFAULT: check_pitch (state 10)\n\r"); //debug
+ output_substate = NEUTRAL_CHECK_PITCH; //a default within the sub-state machine
+ break;
+ }
+ return output_substate;
+}
+
// 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() {
+void StateMachine::keyboard() {
char userInput;
// check keyboard and make settings changes as requested
- if (pc().readable()) {
+ // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
+ if (pc().readable() && (_state == SIT_IDLE)) {
// get the key
- userInput = pc().getc();
+ userInput = pc().getc();
+
+ isTimeoutRunning = false; //keyboard resets timer each time it's used
+
+ pc().printf("KEYBOARD isTimeoutRunning: %d\n\r", isTimeoutRunning);
+
+ //_keyboard_state = SIT_IDLE; //new
// check command against desired control buttons
// change state
if (userInput == 'D' or userInput == 'd') {
- return DIVE;
+ _keyboard_state = DIVE;
}
else if (userInput == 'N' or userInput == 'n') {
- return FIND_NEUTRAL;
+ _keyboard_state = FIND_NEUTRAL;
+ }
+ else if (userInput == 'M' or userInput == 'm') {
+ //currently does not run if there is no file.
+
+ //need to add method to Sequence Controller that returns -1
+ // or some check that insures you cannot run the dive sequence without a file
+
+ stateMachine().getDiveSequence(); //get first sequence on keyboard press
+ _keyboard_state = currentStateStruct.state;
+
+ pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles
}
else if (userInput == 'R' or userInput == 'r') {
- return RISE;
+ _keyboard_state = RISE;
}
else if (userInput == 'L' or userInput == 'l') {
- return FLOAT_LEVEL;
+ _keyboard_state = FLOAT_LEVEL;
}
else if (userInput == 'B' or userInput == 'b') {
- return FLOAT_BROADCAST;
+ _keyboard_state = FLOAT_BROADCAST;
}
else if (userInput == 'E' or userInput == 'e') {
- return EMERGENCY_CLIMB;
+ _keyboard_state = 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");
@@ -377,12 +663,12 @@
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);
+ _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);
+ _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
@@ -412,12 +698,26 @@
pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
}
else {
- return (-1);
+ _keyboard_state = -1;
}
+
+ //when you read the keyboard successfully, change the state
+ _next_state = _keyboard_state; //set state at the end of this function
}
- return (-1);
}
+//11/19/2017
+//you want to modify the keyboard to return the values that will be used in the state machine
+//BUT the state machine does not call they keyboard
+//the keyboard runs independently and only allows input when the state is "idle"
+//therefore keyboard should run maybe 1/10th of a second when pc readable
+//and it will change a class variable that says what the current state is
+
+//make it void
+
+
+
+
void StateMachine::keyboard_menu_BCE_PID_settings() {
char PID_key;
float gain_step_size = 0.01; // modify this to change gain step size
@@ -691,4 +991,48 @@
float StateMachine::getPitchCommand() {
return pitchCommand;
+}
+
+void StateMachine::setState(int input_state) {
+ //pc().printf("input_state: %d\n\r", input_state); //debug
+ //_state = input_state; //changing wrong variable
+ _next_state = input_state;
+}
+
+int StateMachine::getState() {
+ return _state; //return the current state of the system
+}
+
+void StateMachine::setTimeout(float input_timeout) {
+ _timeout = input_timeout;
+}
+
+void StateMachine::setDepthCommand(float input_depth_command) {
+ depthCommand = input_depth_command;
+}
+
+void StateMachine::setPitchCommand(float input_pitch_command) {
+ pitchCommand = input_pitch_command;
+}
+
+void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
+ _neutral_buoyancy_batt_pos_mm = batt_pos_mm;
+ _neutral_buoyancy_bce_pos_mm = bce_pos_mm;
+
+ pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_buoyancy_batt_pos_mm,_neutral_buoyancy_bce_pos_mm);
+}
+
+int StateMachine::timeoutRunning() {
+ return isTimeoutRunning;
+}
+
+//process one state at a time
+void StateMachine::getDiveSequence() {
+ //iterate through this sequence using the FSM
+ currentStateStruct.state = sequenceController().sequenceStructLoaded[_state_counter].state;
+ currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_state_counter].timeout;
+ currentStateStruct.depth = sequenceController().sequenceStructLoaded[_state_counter].depth;
+ currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_state_counter].pitch;
+
+ _timeout = currentStateStruct.timeout; //set timeout before exiting this function
}
\ No newline at end of file