Diff: StateMachine/StateMachine.hpp

Revision:

20:8987a9ae2bc7

Parent:

17:7c16b5671d0e

Child:

21:38c8544db6f4

--- a/StateMachine/StateMachine.hpp	Wed Nov 22 00:08:03 2017 +0000
+++ b/StateMachine/StateMachine.hpp	Wed Nov 22 14:32:06 2017 +0000
@@ -1,28 +1,31 @@
 #ifndef STATEMACHINE_HPP
 #define STATEMACHINE_HPP
-
+ 
 #include "mbed.h"
-
+ 
 extern "C" void mbed_reset();           // utilized to reset the mbed
-
-// state enumerations
+ 
+// main finite state enumerations
 enum {
     SIT_IDLE,               // stops both motors, exits after a keyboard input
-    KEYBOARD,               // handles an individual keypress, exits to state by a keyboard menu
     FIND_NEUTRAL,           // dives to depth at zero pitch, exits when stable
     DIVE,                   // dives to depth at negative pitch, exits when crossing a defined depth
     RISE,                   // rises to surface at positive pitch, exits when near surface
     FLOAT_LEVEL,            // bce position to float, pitch loop active at zero, exits when stable near zero pitch
     FLOAT_BROADCAST,        // bce position to float, batt position forward to hold tail up, exits when actuators done
     EMERGENCY_CLIMB,        // bce position to full rise, batt position to full aft, exits when at surface
+    MULTI_DIVE,             // NEW: multi-dive sequence
+    MULTI_RISE              // NEW: multi-rise sequence
+};
+ 
+// find_neutral finite state machine enumerations
+enum {
     NEUTRAL_SINKING,        // NEW: FIND_NEUTRAL immediately goes into "sinking" 
     NEUTRAL_SLOWLY_RISE,    // NEW: Once sinking times out, goes into "check pitch"
     NEUTRAL_CHECK_PITCH,    // NEW: Once pitch rate confirmed, saves the data and exits to RISE state
-    NEUTRAL_EXIT,           // NEW: sub-FSM has completed all checks
-    MULTI_DIVE,             // NEW: multi-dive sequence
-    MULTI_RISE              // NEW: multi-rise sequence
+    NEUTRAL_EXIT            // NEW: sub-FSM has completed all checks
 };
-
+ 
 //struct for saving the data
 struct currentSequenceStruct {
     int state;      //for the current StateMachine, states are ID-ed with enumeration
@@ -30,7 +33,7 @@
     float depth;
     float pitch;
 };
-
+ 
 class StateMachine {
 public:
     StateMachine();
@@ -82,11 +85,10 @@
     float _neutral_sink_timer;
     float _neutral_rise_timer;
     
-    //volatile bool isTimeoutRunning;
     bool isTimeoutRunning;
     
     float previousPosition_mm;
-    bool isSubStateTimeoutRunning;
+    bool isSubStateTimerRunning;
     
     float _neutral_buoyancy_bce_pos_mm;
     float _neutral_buoyancy_batt_pos_mm;
@@ -97,5 +99,5 @@
     int _state_counter;
     currentSequenceStruct currentStateStruct; //type_of_struct struct_name
 };
-
+ 
 #endif
\ No newline at end of file