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:
- 18:85a7535af8fd
- Parent:
- 17:7c16b5671d0e
- Child:
- 19:aaa0f4f29d50
--- a/StateMachine/StateMachine.cpp Tue Nov 21 22:03:26 2017 +0000 +++ b/StateMachine/StateMachine.cpp Wed Nov 22 00:06:48 2017 +0000 @@ -471,10 +471,9 @@ isSubStateTimeoutRunning = false; } - //before the sub-fsm runs again, make sure the piston is in a safe position + //before the sub-fsm runs again, make sure the piston is in a safe position (retracted) //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) { + if (bce().getPosition_mm() <= 0) { output_substate = NEUTRAL_EXIT; //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed } @@ -511,7 +510,7 @@ output_substate = NEUTRAL_CHECK_PITCH; } - //before the sub-fsm runs again, make sure the piston is in a safe position + //before the sub-fsm runs again, make sure the piston is in a safe position (retracted) //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) {