Diff: main.cpp

Revision:

12:a0519d11d2b6

Parent:

11:3b241ecb75ed

Child:

13:84fcbe1dcd62

--- a/main.cpp	Fri Oct 27 00:37:32 2017 +0000
+++ b/main.cpp	Mon Oct 30 19:46:38 2017 +0000
@@ -101,11 +101,11 @@
     // set up the linear actuators.  adc has to be running first.
     bce().init();
     bce().start();
-    bce().setPosition_mm(bce().getPosition_mm()); // start by not moving
+    bce().pause(); // start by not moving
 
     batt().init();
     batt().start();
-    batt().setPosition_mm(batt().getPosition_mm()); // start by not moving
+    batt().pause(); // start by not moving
 
     // set up the depth and pitch outer loop controllers
     depthLoop().init();
@@ -401,7 +401,7 @@
     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(" H to run homing sequence on both BCE and Batt\r\n");
     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);
@@ -444,12 +444,12 @@
         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().start();  bce().homePiston();  bce().stop();
-//            batt().start(); batt().homePiston(); batt().stop();
-//            return SIT_IDLE;
-//        }
+        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 == '?') {
             pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
             wait(0.5);
@@ -533,10 +533,10 @@
             isTimeoutRunning = true;
 
             // what is active?
-            bce().stop();
-            batt().stop();
-            depthLoop().stop();
-            pitchLoop().stop();
+            bce().pause();
+            batt().pause();
+//            depthLoop().stop();
+//            pitchLoop().stop();
         }
         // how exit?
         if (pc().readable()) {
@@ -565,8 +565,8 @@
             isTimeoutRunning = true;
             
             // what needs to be started?
-            bce().start();
-            batt().start();
+            bce().unpause();
+            batt().unpause();
 
             // what is active?
             bce().setPosition_mm(bce().getTravelLimit());
@@ -596,10 +596,10 @@
             isTimeoutRunning = true;
             
             // what needs to be started?
-            bce().start();
-            batt().start();
-            depthLoop().start();
-            pitchLoop().start();
+            bce().unpause();
+            batt().unpause();
+ //           depthLoop().start();
+ //           pitchLoop().start();
             
             // what is active?
             depthLoop().setCommand(depthCommand);
@@ -633,10 +633,10 @@
             isTimeoutRunning = true;
             
             // what needs to be started?
-            bce().start();
-            batt().start();
-            depthLoop().start();
-            pitchLoop().start();
+            bce().unpause();
+            batt().unpause();
+//            depthLoop().start();
+//            pitchLoop().start();
 
             // what are the commands?
             depthLoop().setCommand(depthCommand);
@@ -672,10 +672,10 @@
             isTimeoutRunning = true;
             
             // what needs to be started?
-            bce().start();
-            batt().start();
-            depthLoop().start();
-            pitchLoop().start();
+            bce().unpause();
+            batt().unpause();
+ //           depthLoop().start();
+ //           pitchLoop().start();
 
             // what are the commands?
             depthLoop().setCommand(0.0);
@@ -711,9 +711,9 @@
             isTimeoutRunning = true;
             
             // what needs to be started?
-            bce().start();
-            batt().start();
-            pitchLoop().start();
+            bce().unpause();
+            batt().unpause();
+ //           pitchLoop().start();
 
             // what are the commands
             bce().setPosition_mm(bceFloatPosition);
@@ -746,8 +746,8 @@
             isTimeoutRunning = true;
             
             // what needs to be started?
-            bce().start();
-            batt().start();
+            bce().unpause();
+            batt().unpause();
 
             // what are the commands?
             bce().setPosition_mm(bceFloatPosition);