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:
- 74:d281aaef9766
- Parent:
- 73:f6f378311c8d
- Child:
- 76:c802e1da4179
--- a/StateMachine/StateMachine.cpp Mon Jul 30 16:48:48 2018 +0000
+++ b/StateMachine/StateMachine.cpp Tue Aug 14 21:06:48 2018 +0000
@@ -49,10 +49,6 @@
_max_recorded_depth_neutral = -99; //float to record max depth
_max_recorded_depth_dive = -99; //float to record max depth
- _neutral_sink_command_mm = -2.5; //defaults for neutral finding sub-FSM
- _neutral_rise_command_mm = 2.0;
- _neutral_pitch_command_mm = 0.5;
-
_max_recorded_auto_neutral_depth = -99;
_debug_menu_on = false; //toggle between debug and simple menu screens
@@ -80,7 +76,7 @@
printDebugMenu();
else
printSimpleMenu();
- pc().printf("\r\n\nstate: SIT_IDLE\r\n");
+ xbee().printf("\r\n\nstate: SIT_IDLE\r\n");
_isTimeoutRunning = true;
// what is active?
@@ -98,7 +94,7 @@
case CHECK_TUNING : // state used to check the tuning of the pressure vessel
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: CHECK_TUNING\r\n");
+ xbee().printf("\r\n\nstate: CHECK_TUNING\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -113,13 +109,13 @@
// getSetPosition_mm is the commanded position in the LinearActuator class
- pc().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
- pc().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
+ xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
+ xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
}
// how exit?
if (_fsm_timer > _timeout) {
- pc().printf("CHECK_TUNING: timed out!\r\n");
+ xbee().printf("CHECK_TUNING: timed out!\r\n");
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
@@ -129,16 +125,14 @@
// the inner loop position controls are maintaining the positions of the linear actuators
//print status to screen continuously
- pc().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f ft, pitch: %0.1f deg, heading: %0.1f) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
-
- checkMotorPositions();
+ xbee().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f ft,pitch: %0.1f deg,heading: %0.1f) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
break;
case EMERGENCY_CLIMB :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
+ xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -154,7 +148,7 @@
// how exit?
if (_fsm_timer > _timeout) {
- pc().printf("EC: timed out\r\n");
+ xbee().printf("EC: timed out\r\n");
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
@@ -167,14 +161,14 @@
//WHAT IS ACTIVE?
//print status to screen continuously
- pc().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
+ xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
break;
case FIND_NEUTRAL :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
+ xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -182,8 +176,13 @@
// what needs to be started?
bce().unpause();
batt().unpause();
- bce().setPosition_mm(_bceFloatPosition);
- batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to close-to-neutral setting from config file
+
+ //start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much
+ float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0;
+ //float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0;
+
+ bce().setPosition_mm(bce_find_neutral_mm);
+ batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position
//first iteration goes into Neutral Finding Sub-FSM
//set the first state of the FSM, and start the sub-FSM
@@ -199,7 +198,7 @@
// how exit? (exit with the timer, if timer still running continue processing sub FSM)
if (_fsm_timer > _timeout) {
- pc().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
+ xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
_state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
_fsm_timer.reset();
_isTimeoutRunning = false;
@@ -213,7 +212,7 @@
//check if substate returned exit state, if so stop running the sub-FSM
else if (runNeutralStateMachine() == NEUTRAL_EXIT) {
//if successful, FIND_NEUTRAL then goes to RISE
- pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
+ xbee().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
_state = RISE;
_isTimeoutRunning = false;
}
@@ -224,7 +223,7 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: DIVE\r\n");
+ xbee().printf("\r\n\nstate: DIVE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -237,8 +236,11 @@
depthLoop().setCommand(_depth_command);
pitchLoop().setCommand(_pitch_command);
- pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
- pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
+ xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+ xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
//reset max dive depth
_max_recorded_depth_dive = -99; //float to record max depth
@@ -246,36 +248,37 @@
// how exit?
if (_fsm_timer.read() > _timeout) {
- pc().printf("DIVE: timed out\r\n\n");
+ xbee().printf("DIVE: timed out\r\n\n");
_state = RISE; //new behavior 11/17/2017
_fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
- pc().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = RISE;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// WHAT IS ACTIVE?
- pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depth: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), _fsm_timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
+ xbee().printf("DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
_max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
}
- checkMotorPositions();
-
break;
case RISE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: RISE\r\n");
+ xbee().printf("\r\n\nstate: RISE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -287,14 +290,17 @@
// what are the commands?
depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
pitchLoop().setCommand(-_pitch_command);
-
- pc().printf("RISE: depth cmd: %0.1f\r\n",depthLoop().getCommand());
- pc().printf("RISE: pitch cmd: %0.1f\r\n",pitchLoop().getCommand());
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
+ xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+ xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
}
// how exit?
if (_fsm_timer.read() > _timeout) {
- pc().printf("RISE: timed out\r\n");
+ xbee().printf("RISE: timed out\r\n");
_state = EMERGENCY_CLIMB;
_fsm_timer.reset();
_isTimeoutRunning = false;
@@ -303,18 +309,19 @@
//modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
//did not work correctly in bench test (stuck in rise state)
else if (depthLoop().getPosition() < 0.5) {
- pc().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// WHAT IS ACTIVE?
- pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), _fsm_timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
+ xbee().printf("RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
-
- checkMotorPositions();
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
break;
@@ -322,7 +329,7 @@
case POSITION_DIVE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: POSITION DIVE\r\n");
+ xbee().printf("\r\n\nstate: POSITION DIVE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -334,15 +341,17 @@
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
- batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset);
- bce().setPosition_mm(_neutral_bce_pos_mm- _BMM_dive_offset);
- //rudder().setPosition_deg(_heading_command);
+ batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
+ bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
+ //DEPTH COMMAND
+ depthLoop().setCommand(_depth_command);
+
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
- pc().printf("PD: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
- pc().printf("PD: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
- pc().printf("PD: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+ xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
//reset max dive depth
_max_recorded_depth_dive = -99; //float to record max depth
@@ -351,7 +360,7 @@
// how exit?
// timer runs out goes to POSITION_RISE
if (_fsm_timer.read() > _timeout) {
- pc().printf("PD: timed out\r\n\n");
+ xbee().printf("POS DIVE timed out\r\n\n");
_state = POSITION_RISE; //new behavior 11/17/2017
_fsm_timer.reset();
_isTimeoutRunning = false;
@@ -359,14 +368,14 @@
// when you reach the dive threshold, surface
else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
- pc().printf("PD: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = POSITION_RISE;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
- pc().printf("PD: bce pos (cmd pos): %3.1f mm (%0.1f), batt pos: %3.1f mm (%0.1f), rudder: %f (depth: %3.1f ft, pitch: %3.1f, heading: %3.1f [cmd: %0.1f])[%0.2f sec] [imu heading: %0.1f] \r", bce().getPosition_mm(),bce().getSetPosition_mm(), batt().getPosition_mm(),batt().getSetPosition_mm(), rudder().getPosition_pwm(), depthLoop().getPosition(), pitchLoop().getPosition(), headingLoop().getPosition(), headingLoop().getOutput(), _fsm_timer.read(), imu().getHeading());
+ xbee().printf("POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
if (depthLoop().getPosition() > _max_recorded_depth_dive) {
_max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
@@ -375,15 +384,13 @@
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
- checkMotorPositions();
-
break;
case POSITION_RISE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: POSITION RISE\r\n");
+ xbee().printf("\r\n\nstate: POSITION RISE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -392,41 +399,36 @@
bce().unpause();
batt().unpause();
- // what are the commands? (using inner loops except for heading outer loop)
- pc().printf("PR: <<DEBUG>> CMD BCE: %0.1f, CMD BMM: %0.1f)\r\n", _BCE_dive_offset, _BMM_dive_offset);
-
- batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); //reversing the BCE and BATT positions
+ // what are the commands? (using inner loops except for heading outer loop)
+ batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
- //rudder().setPosition_deg(_heading_command); //heading stays the same
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
- pc().printf("PR: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
- pc().printf("PR: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
- pc().printf("PR: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+ xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
}
// how exit?
if (_fsm_timer.read() > _timeout) {
- pc().printf("PR: timed out\r\n");
+ xbee().printf("POS RISE: timed out\r\n");
_state = EMERGENCY_CLIMB;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (depthLoop().getPosition() < 0.5) {
- pc().printf("PR: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
- pc().printf("PR: bce pos (cmd pos): %3.1f mm (%0.1f), batt pos: %3.1f mm (%0.1f), rudder: %0.1f (depth: %3.1f ft, pitch: %3.1f, heading: %3.1f [cmd: %0.1f])[%0.2f sec] [imu heading: %0.1f] \r", bce().getPosition_mm(),bce().getSetPosition_mm(), batt().getPosition_mm(),batt().getSetPosition_mm(), rudder().getPosition_pwm(), depthLoop().getPosition(), pitchLoop().getPosition(), headingLoop().getPosition(), headingLoop().getOutput(), _fsm_timer.read(), imu().getHeading());
+ xbee().printf("POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
-
- checkMotorPositions();
break;
// NEW DIVE AND RISE SEQUENCES
@@ -434,7 +436,7 @@
case FLOAT_LEVEL :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
+ xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -450,20 +452,20 @@
// how exit?
if (_fsm_timer > _timeout) {
- pc().printf("FL: timed out\r\n");
+ xbee().printf("FL: timed out\r\n");
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
- pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
+ xbee().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;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
- pc().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), _fsm_timer.read());
+ xbee().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), _fsm_timer.read());
batt().setPosition_mm(pitchLoop().getOutput());
break;
@@ -471,7 +473,7 @@
case FLOAT_BROADCAST :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
+ xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -483,11 +485,14 @@
// what are the commands?
bce().setPosition_mm(_bceFloatPosition); // 320.0
batt().setPosition_mm(_battFloatPosition); // 73.0
+
+ //set rudder to center
+ rudder().setPosition_deg(0.0); //set rudder to center, zero degrees
}
// how exit?
if (_fsm_timer > _timeout) {
- pc().printf("FB: timed out\r\n");
+ xbee().printf("FB: timed out\r\n");
_state = SIT_IDLE;
_fsm_timer.reset();
@@ -496,9 +501,11 @@
_isTimeoutRunning = false;
}
- else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
+
+ //fix on float_broadcast to account for BCE stopping early in current hardware
+ else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) 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());
+ xbee().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;
_fsm_timer.reset();
@@ -509,14 +516,14 @@
}
// what is active?
- pc().printf("FB: bce pos: %0.1f mm, batt pos: %0.1f mm, heading(IMU): %0.1f (depthLoop POS: %3.1f ft) [%0.1f sec] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), imu().getHeading(), depthLoop().getPosition(), _fsm_timer.read(), bce().getSetPosition_mm(),batt().getSetPosition_mm());
+ xbee().printf("FB: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_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");
+ xbee().printf("\r\n\nstate: MULTI-DIVE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -532,38 +539,42 @@
// what are the commands?
depthLoop().setCommand(sequence_depth_command);
pitchLoop().setCommand(sequence_pitch_command);
- pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
+
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+ xbee().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
//no max depth recording right now
}
// how exit?
if (_fsm_timer > _timeout) {
- pc().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
+ xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
_state = MULTI_RISE; //new behavior 11/17/2017
_fsm_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());
+ xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = MULTI_RISE;
_fsm_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(), _fsm_timer.read());
+ xbee().printf("MD: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
bce().setPosition_mm(depthLoop().getOutput());
batt().setPosition_mm(pitchLoop().getOutput());
- checkMotorPositions();
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().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");
+ xbee().printf("\r\n\nstate: MULTI-RISE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
@@ -582,12 +593,14 @@
// what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
depthLoop().setCommand(0.5);
pitchLoop().setCommand(-sequence_pitch_command);
- pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+ xbee().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
}
// how exit?
if (_fsm_timer > _timeout) {
- pc().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
+ xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
_state = EMERGENCY_CLIMB;
_fsm_timer.reset();
_isTimeoutRunning = false;
@@ -599,7 +612,7 @@
// sequenceController().loadSequence();
}
else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
- pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
//going to next state
_isTimeoutRunning = false;
@@ -626,24 +639,25 @@
}
// WHAT IS ACTIVE?
- 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(), _fsm_timer.read());
+ xbee().printf("MR: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f ft [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
- checkMotorPositions();
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
break;
case TX_MBED_LOG:
if (!_isTimeoutRunning) {
- pc().printf("\r\n\nstate: TX_MBED_LOG\r\n");
+ xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
//mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
- pc().printf("TX_MBED_LOG set to zero\n\r");
+ xbee().printf("TX_MBED_LOG set to zero\n\r");
//function to read the file and get number of lines (packets to transmit)
_timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
@@ -653,7 +667,7 @@
//TIMED OUT
if (_fsm_timer.read() > _timeout) {
- pc().printf("\r\nTX_MBED_LOG: timed out!\r\n");
+ xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n");
//STATE
_state = SIT_IDLE;
@@ -662,7 +676,7 @@
_isTimeoutRunning = false;
//mbedLogger().closeLogFile();
- pc().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
+ xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
}
//received end transmission packet (if this is true)
@@ -677,7 +691,7 @@
//mbedLogger().closeLogFile();
- pc().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
+ xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
}
//What is active?
@@ -687,30 +701,30 @@
break;
- case RECEIVE_SEQUENCE :
- pc().printf("state: RECEIVE_SEQUENCE\r\n");
+ case RX_SEQUENCE :
+ xbee().printf("state: RX_SEQUENCE\r\n");
if (!_isTimeoutRunning) {
- pc().printf("RECEIVE_SEQUENCE _isTimeoutRunning\r\n");
+ xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
}
if (_fsm_timer.read() > _timeout) {
- pc().printf("RECEIVE_SEQUENCE: timed out!\r\n");
+ xbee().printf("RX_SEQUENCE: timed out!\r\n");
_state = SIT_IDLE;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
- pc().printf("Receive sequence active?\r\n");
+ xbee().printf("Receive sequence active?\r\n");
break;
default :
- pc().printf("DEBUG: SIT_IDLE\r\n");
+ xbee().printf("DEBUG: SIT_IDLE\r\n");
_state = SIT_IDLE;
}
@@ -727,72 +741,70 @@
// output the keyboard menu for user's reference
void StateMachine::printSimpleMenu() {
- pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (07/26/2018):\r\r\n"); //make sure depth sensor tares itself on startup
- pc().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit());
-
- pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
- pc().printf(" J 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(" P to print the current log file.\r\n");
- pc().printf(" G to transmit MBED log file (60 second timeout)\r\n");
- pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
+ xbee().printf("\r\r\n\nSIMPLE KEYBOARD MENU (08/13/2018):\r\r\n"); //make sure depth sensor tares itself on startup
+ xbee().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit());
- pc().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset);
- pc().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
- pc().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
- pc().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
- pc().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
+ xbee().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
+ xbee().printf(" J to float level\r\n");
+ xbee().printf(" B to float at broadcast pitch\r\n");
+ xbee().printf(" E to initiate emergency climb\r\n");
+ xbee().printf(" P to print the current log file.\r\n");
+ xbee().printf(" G to transmit MBED log file\r\n");
+ xbee().printf(" I to receive multi-dive sequence file\r\n");
+ xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
- pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
- pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
+ xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset);
+ xbee().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = dive)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
+ xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
+ xbee().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
+ xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
- pc().printf(" '|' to tare the depth sensor (vertical bar)\r\n");
-
- pc().printf(" ? to reset mbed\r\n");
- pc().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
+ xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
+ xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
+ xbee().printf(" ? to reset mbed\r\n");
+ xbee().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
}
void StateMachine::printDebugMenu() {
- pc().printf("\r\r\n\nDEBUG KEYBOARD MENU (07/26/2018):\r\r\n");
- pc().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
- pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\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(" J 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(" '|' to tare the depth sensor (vertical bar)\r\n");
- pc().printf(" Z to show FSM and sub-FSM states.\r\n");
- pc().printf(" P to print the current log file.\r\n");
- pc().printf(" X to print the list of log files.\r\n");
- pc().printf(" I to receive data.\r\n");
- pc().printf(" G to transmit MBED log file (60 second timeout)\r\n");
- pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
- pc().printf("; or : to TYPE in the BCE neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
- pc().printf("[ or { to TYPE in the BMM neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
- pc().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch());
- pc().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
- pc().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
- pc().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
+ xbee().printf("\r\r\n\nDEBUG KEYBOARD MENU (08/08/2018):\r\r\n");
+ xbee().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
+ xbee().printf(" N to find neutral\r\n");
+ xbee().printf(" M to initiate multi-dive cycle\r\n");
+ xbee().printf(" D to initiate dive cycle\r\n");
+ xbee().printf(" R to initiate rise\r\n");
+ xbee().printf(" J to float level\r\n");
+ xbee().printf(" B to float at broadcast pitch\r\n");
+ xbee().printf(" E to initiate emergency climb\r\n");
+ xbee().printf(" '}' to HOME the BCE (5 second delay)\r\n");
+ xbee().printf(" '|' to HOME the BMM (5 second delay)\r\n");
+ xbee().printf(" Z to show FSM and sub-FSM states.\r\n");
+ xbee().printf(" P to print the current log file.\r\n");
+ xbee().printf(" X to print the list of log files.\r\n");
+ xbee().printf(" I to receive data.\r\n");
+ xbee().printf(" G to transmit MBED log file (60 second timeout)\r\n");
+ xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
+ xbee().printf("; or : to TYPE in the BCE neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
+ xbee().printf("[ or { to TYPE in the BMM neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
+ xbee().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch());
+ xbee().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
+ xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
+ xbee().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
- pc().printf(" 1 BCE PID sub-menu (type in inputs)\r\n");
- pc().printf(" 2 BATT PID sub-menu (type in inputs)\r\n");
- pc().printf(" 3 Depth PID sub-menu (type in inputs)\r\n");
- pc().printf(" 4 Pitch PID sub-menu (type in inputs)\r\n");
- pc().printf(" 5 Rudder (servo) sub-menu\r\n");
- pc().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n");
- pc().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE ***\r\n");
- pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
+ xbee().printf(" 1 BCE PID sub-menu (type in inputs)\r\n");
+ xbee().printf(" 2 BATT PID sub-menu (type in inputs)\r\n");
+ xbee().printf(" 3 Depth PID sub-menu (type in inputs)\r\n");
+ xbee().printf(" 4 Pitch PID sub-menu (type in inputs)\r\n");
+ xbee().printf(" 5 Rudder (servo) sub-menu\r\n");
+ xbee().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n");
+ xbee().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE *** (bce 200, bmm 40, rudder 1640)\r\n");
+ xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
- pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
- pc().printf(" ? to reset mbed\r\n");
- pc().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
+ xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
+ xbee().printf(" ? to reset mbed\r\n");
+ xbee().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
}
-//FIND_NEUTRAL Sub-Finite State Machine (sub-FSM)
+//FIND_NEUTRAL sub-Finite State Machine (sub-FSM)
// Note: the sub-FSM only moves the pistons once at the start of each timer loop
// (timer completes, moves piston, timer completes, moves piston, etc)
int StateMachine::runNeutralStateMachine() {
@@ -802,12 +814,12 @@
if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read() + 5; //record the time when this block is first entered and add 5 seconds
- pc().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
+ xbee().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (BCE getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
- // what are the commands? (BCE linear actuator active, no pitch movement)
- bce().setPosition_mm(bce().getSetPosition_mm() - 2.5); //Troy: There is some strange error where this has to be a hardcoded number.
+ // what are the commands? (BCE linear actuator active, no BMM or pitch movement)
+ bce().setPosition_mm(bce().getSetPosition_mm() - 2.5);
- pc().printf("NEUTRAL_SINKING: Retracting piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f] (pitch: %0.1f)\r\n", _neutral_sink_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand(), pitchLoop().getPosition());
+ xbee().printf("NEUTRAL_SINKING: Retracting piston 2.5 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
_isSubStateTimerRunning = true; //disable this block after one iteration
}
@@ -815,10 +827,11 @@
// how exit?
//once reached the travel limit, no need to keep trying, so exit
if (bce().getPosition_mm() <= 0) {
- pc().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
+ xbee().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
_substate = NEUTRAL_EXIT;
_isSubStateTimerRunning = false; // reset the sub state timer
- }
+ }
+ //Troy: Pressure vessel went beyond set depth limit, goes to next state
//once deeper than the commanded setpoint...
else if (depthLoop().getPosition() > _depth_command) {
_substate = NEUTRAL_SLOWLY_RISE; // next state
@@ -828,31 +841,34 @@
// what is active?
//once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
- pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read());
+ xbee().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read());
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
// what is active? (only the buoyancy engine moved every 5 seconds at start)
- pc().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f ft)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
+ xbee().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f ft)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
- checkMotorPositions(); //failsafe
+ //the BCE moves every 5 seconds. No BMM or rudder movement.
+
break;
case NEUTRAL_SLOWLY_RISE:
if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
- pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read());
+ xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read());
// what are the commands?
//move piston at start of sequence (default: extend 2.0 mm)
- bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command
+ //Pressure vessel should slowly rise
+ bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command, only motor position
+ //Troy: I commented out this command, we're finding pitch in the next state.
// it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
- pitchLoop().setCommand(0.0);
+ //pitchLoop().setCommand(0.0);
- pc().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f]\r\n", _neutral_rise_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand());
+ xbee().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 2.0 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
_isSubStateTimerRunning = true; //disable this block after one iteration
}
@@ -863,9 +879,10 @@
_substate = NEUTRAL_EXIT;
_isSubStateTimerRunning = false; // reset the sub state timer
}
+ //Troy: Depth rate will go negative as the pressure vessel starts rising
//depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
else if (depthLoop().getVelocity() < 0) { //less than zero ft/s
- pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", _fsm_timer.read());
+ xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", _fsm_timer.read());
_substate = NEUTRAL_CHECK_PITCH;
_isSubStateTimerRunning = false; // reset the sub state timer
}
@@ -873,16 +890,14 @@
// what is active?
//once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
- pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read());
+ xbee().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read());
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
// what is active? (only the buoyancy engine moved every 5 seconds)
- pc().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
- bce().setPosition_mm(depthLoop().getOutput());
+ xbee().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
- checkMotorPositions(); //failsafe
break;
case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
@@ -890,16 +905,16 @@
if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read() + 10; // record time when this block is entered and add several seconds
- pc().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read());
+ xbee().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read());
// what are the commands? (default: retract or extend 0.5 mm)
- if (pitchLoop().getPosition() > 2) { // nose is high
+ if (pitchLoop().getPosition() > 2) { // nose is high (extend batteries)
batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
- pc().printf("\r\nNeutral Check Pitch: moving battery FWD in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
+ xbee().printf("\r\nNeutral Check Pitch: moving battery FWD in 0.5 mm increments\r\n\n");
}
- else if (pitchLoop().getPosition() < -2) { // nose is low
+ else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries)
batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
- pc().printf("\r\nNeutral Check Pitch: moving battery AFT in %0.1f mm increments\r\n\n", _neutral_pitch_command_mm);
+ xbee().printf("\r\nNeutral Check Pitch: moving battery AFT in 0.5 mm increments\r\n\n");
}
_isSubStateTimerRunning = true; //disable this block after one iteration
@@ -909,7 +924,7 @@
//pitch angle and pitch rate within small tolerance
//benchtop tests confirm angle needs to be around 2 degrees
if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
- pc().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
+ xbee().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
// found level, but don't need to save anything this time
if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
@@ -931,14 +946,14 @@
configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); //P,I,D, bce zeroOffset
- pc().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
+ xbee().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
_substate = NEUTRAL_EXIT;
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
else {
- pc().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
+ xbee().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
_substate = NEUTRAL_EXIT;
}
}
@@ -946,21 +961,20 @@
// what is active?
//once timer complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
- pc().printf("\r\n\nlevel timer COMPLETE!");
- pc().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), _fsm_timer.read());
+ xbee().printf("\r\n\nlevel timer COMPLETE!");
+ xbee().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), _fsm_timer.read());
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
-
- checkMotorPositions(); //failsafe
+
break;
//this state could be removed, it is only used as a transition but is needed to stop entering this function
case NEUTRAL_EXIT :
- pc().printf("substate: NEUTRAL_EXIT\r\n");
+ xbee().printf("substate: NEUTRAL_EXIT\r\n");
break;
default :
- pc().printf("how did we get to substate: default?\r\n"); //debug
+ xbee().printf("how did we get to substate: default?\r\n"); //debug
//a default within the sub-state machine
_substate = NEUTRAL_EXIT;
break;
@@ -968,7 +982,7 @@
// reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
if (_substate == NEUTRAL_EXIT) {
- pc().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
+ xbee().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
//reset internal sub-state back to first entry conditions (first state is immediately sinking)
_substate = NEUTRAL_SINKING;
@@ -1011,9 +1025,9 @@
//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)) {
+ if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) {
// get the key
- user_input = pc().getc();
+ user_input = xbee().getc();
//record that the keyboard was used
_state_array[_state_array_counter] = KEYBOARD;
@@ -1026,25 +1040,30 @@
/***************************** COMMON COMMANDS *****************************/
if (user_input == 'W') {
- pc().printf(">> Please enter the heading (deg).\r\n");
+ xbee().printf(">> Please enter the heading (deg).\r\n");
_heading_command = getFloatUserInput();
}
//////////////////// TEST
// else if (user_input == 'l') {
-// pc().printf("CUT OFF RUDDER SERVO????\n\r");
+// xbee().printf("CUT OFF RUDDER SERVO????\n\r");
// rudder().pwm_pulse_off();
// }
//////////////////// TEST
+ else if (user_input == 'K') {
+ xbee().printf("(K) BLAST DATA AND EXIT! \n\r");
+ mbedLogger().blastData();
+ }
+
else if (user_input == 'U') {
- pc().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
+ xbee().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
mbedLogger().transmitMultiplePackets();
}
else if (user_input == 'H') {
- pc().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
+ xbee().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
wait(1);
mbedLogger().blastData();
@@ -1052,73 +1071,72 @@
}
else if (user_input == 'G') {
- pc().printf("(G) BLAST DATA TEST! \n\r");
+ xbee().printf("(G) BLAST DATA TEST and use FSM! \n\r");
wait(1);
mbedLogger().blastData();
_keyboard_state = TX_MBED_LOG;
}
+ else if (user_input == 'I') {
+ xbee().printf("(I) Receive Multi-Dive Sequence! \n\r");
+ mbedLogger().receiveSequenceFile(); //receive sequence.txt files
+ }
+
else if (user_input == '8') {
keyboard_menu_STREAM_STATUS();
}
-
- else if (user_input == '|') {
- pc().printf("taring depth sensor\r\n");
- pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
- wait(0.1);
- depth().tare(); // tares to ambient (do on surface)
- pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
- }
-
+
else if (user_input == '?') {
- pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
+ xbee().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
wait(0.5);
mbed_reset();
}
else if (user_input == 'T') {
- pc().printf("Please enter the timeout (timer) value below: \n\r");
+ xbee().printf("Please enter the timeout (timer) value below: \n\r");
_timeout = fabs(getFloatUserInput());
}
else if (user_input == 'C' or user_input == 'c') {
- pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
+ xbee().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
- pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
- pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
- pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
- pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
- pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
- pc().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),sensors().getInternalPressurePSI());
- //pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
- pc().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),sensors().getVoltageInput());
- pc().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), sensors().getCurrentInput());
- pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
- pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
- pc().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5());
+ xbee().printf("raw BCE pos: %d \r\n",adc().readCh0());
+ xbee().printf("raw BMM pos: %d \r\n",adc().readCh1());
+ xbee().printf("raw BCE current sense: %d \r\n",adc().readCh2());
+ xbee().printf("raw BMM current sense: %d \r\n",adc().readCh3());
+ xbee().printf("raw depth pressure: %d \r\n",adc().readCh4());
+ xbee().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),sensors().getInternalPressurePSI());
+ //xbee().printf("raw vessel pressure: %d \r\n",adc().readCh5());
+ xbee().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),sensors().getVoltageInput());
+ xbee().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), sensors().getCurrentInput());
+ xbee().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
+ xbee().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
+ xbee().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5());
// End of ADC Test
- pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
- pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
- pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
- pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
- pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
- pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
- pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
- pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
+ xbee().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
+ xbee().printf("pitch: %3.1f deg\r\n",imu().getPitch());
+ xbee().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
+ xbee().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
+ xbee().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
+ xbee().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
+ xbee().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
+ xbee().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
- pc().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
- pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
- pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
- pc().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
+ xbee().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
+ xbee().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
+ xbee().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
+ xbee().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
- pc().printf("\r\n");
- pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
- pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
- pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
- pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
+ xbee().printf("\r\n");
+ xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, deadband: %0.1f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getDeadband());
+ xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, deadband: %0.1f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getDeadband());
+ xbee().printf("rudder min_pwm:%6.1f, center_pwm:%6.1f, max_pwm:%6.1f (min_deg:%6.1f max_deg:%6.1f)\r\n",rudder().getMinPWM(),rudder().getCenterPWM(),rudder().getMaxPWM(),rudder().getMinDeg(),rudder().getMaxDeg());
+ xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
+ xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
+ xbee().printf("heading P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
}
/***************************** COMMON COMMANDS *****************************/
@@ -1128,6 +1146,19 @@
if (user_input == 'D') {
_keyboard_state = DIVE;
}
+
+ else if (user_input == '}') {
+ xbee().printf("HOMING the BCE (5 second delay)\r\n");
+ wait(5);
+ bce().homePiston();
+ }
+
+ else if (user_input == '|') {
+ xbee().printf("HOMING the BMM (5 second delay)\r\n");
+ wait(5);
+ batt().homePiston();
+ }
+
else if (user_input == 'N') {
_keyboard_state = FIND_NEUTRAL;
}
@@ -1145,7 +1176,7 @@
stateMachine().getDiveSequence(); //get first sequence on keyboard press
_keyboard_state = currentStateStruct.state;
- pc().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
+ xbee().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
}
else if (user_input == 'R') {
_keyboard_state = RISE;
@@ -1164,10 +1195,6 @@
_keyboard_state = CHECK_TUNING;
}
- else if (user_input == 'V') {
- _keyboard_state = POSITION_DIVE;
- }
-
// some debug tools below
else if (user_input == 'P') {
//Print current SD card log file
@@ -1177,15 +1204,12 @@
else if (user_input == 'X') {
mbedLogger().printMbedDirectory(); //print all log files to the screen
}
- else if (user_input == 'I') {
- mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files
- }
else if (user_input == '~') {
- pc().printf("ERASING MBED LOG FILE\r\n");
+ xbee().printf("ERASING MBED LOG FILE\r\n");
mbedLogger().eraseFile();
}
else if (user_input == 'Z') {
- pc().printf("FSG FSM States: \r\n");
+ xbee().printf("FSG FSM States: \r\n");
string string_state;
for (int i = 0; i < _state_array_counter; i++) {
@@ -1209,10 +1233,10 @@
string_state = "MULTI_RISE";
else if (_state_array[i] == KEYBOARD)
string_state = "KEYBOARD";
- pc().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
+ xbee().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
}
- pc().printf("\r\nNeutral sub-FSM States: \r\n");
+ xbee().printf("\r\nNeutral sub-FSM States: \r\n");
string string_substate;
for (int i = 0; i < _substate_array_counter; i++) {
@@ -1226,26 +1250,26 @@
string_substate = "NEUTRAL_EXIT <-- ";
else if (_substate_array[i] == EMERGENCY_CLIMB)
string_substate = " -- > EMERGENCY_CLIMB <-- ";
- pc().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
+ xbee().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
}
- pc().printf("\r\n"); //make space between printouts
+ xbee().printf("\r\n"); //make space between printouts
}
//BATTERY/PITCH
else if (user_input == '[' or user_input == '{') {
- pc().printf("Please TYPE in the new BATT neutral position.\n\r");
+ xbee().printf("Please TYPE in the new BATT neutral position.\n\r");
_neutral_batt_pos_mm = getFloatUserInput();
pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
- pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
+ xbee().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
// save neutral pitch value to config file
configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
}
//BCE/DEPTH
else if (user_input == ';' or user_input == ':') {
- pc().printf("Please TYPE in the new BCE neutral position.\n\r");
+ xbee().printf("Please TYPE in the new BCE neutral position.\n\r");
_neutral_bce_pos_mm = getFloatUserInput();
depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
- pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
+ xbee().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
// save neutral depth value to config file
configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband);
}
@@ -1253,11 +1277,11 @@
// change settings
//heading is in the common controls
else if (user_input == 'Q') {
- pc().printf(">> Please enter the desired PITCH (deg).\r\n");
+ xbee().printf(">> Please enter the desired PITCH (deg).\r\n");
_pitch_command = getFloatUserInput();
}
else if (user_input == 'A') {
- pc().printf(">> Please enter the desired DEPTH (ft).\r\n");
+ xbee().printf(">> Please enter the desired DEPTH (ft).\r\n");
_depth_command = getFloatUserInput();
}
@@ -1293,8 +1317,8 @@
}
else if (user_input == '*') {
- pc().printf("SWITCHING TO SIMPLE MENU!\r\n");
- wait(2);
+ xbee().printf("SWITCHING TO SIMPLE MENU!\r\n");
+ wait(1);
_debug_menu_on = false;
}
} //end of debug menu
@@ -1325,37 +1349,37 @@
mbedLogger().printCurrentLogFile(); //print the current log file to the screen
}
else if (user_input == '~') {
- pc().printf("ERASING MBED LOG FILE\r\n");
+ xbee().printf("ERASING MBED LOG FILE\r\n");
mbedLogger().eraseFile();
}
//POSITION DIVE COMMANDS
else if (user_input == 'Q') {
- pc().printf(">> Please enter the desired BMM offset (mm).\r\n");
+ xbee().printf(">> Please enter the desired BMM offset (mm).\r\n");
_BMM_dive_offset = getFloatUserInput();
}
else if (user_input == 'A') {
- pc().printf(">> Please enter the desired BCE offset (mm).\r\n");
+ xbee().printf(">> Please enter the desired BCE offset (mm).\r\n");
_BCE_dive_offset = getFloatUserInput();
}
else if (user_input == 'S') {
- pc().printf(">> Please enter the desired DEPTH (ft).\r\n");
+ xbee().printf(">> Please enter the desired DEPTH (ft).\r\n");
_depth_command = getFloatUserInput();
}
//POSITION DIVE COMMANDS
else if (user_input == '*') {
- pc().printf("SWITCHING TO DEBUG MENU!\r\n");
+ xbee().printf("SWITCHING TO DEBUG MENU!\r\n");
_debug_menu_on = true;
- wait(2);
+ wait(1);
}
}
/***************************** SIMPLE MENU *****************************/
//when you read the keyboard successfully, change the state
_state = _keyboard_state; //set state at the end of this function
- //pc().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
+ //xbee().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
}
}
@@ -1363,11 +1387,11 @@
char STATUS_key;
// show the menu
- pc().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
+ xbee().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
while (1) {
- if (pc().readable()) {
- STATUS_key = pc().getc(); //get each keystroke
+ if (xbee().readable()) {
+ STATUS_key = xbee().getc(); //get each keystroke
}
else {
@@ -1375,20 +1399,20 @@
wait(1);
-// pc().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
- pc().printf("BCE POS: %0.1f (cmd %0.1f) BATT POS: %0.1f (cmd %0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rdr_pwm: %0.1f [FILT/RAW 0(%d,%d),1(%d,%d),2(%d,%d),3(%d,%d),4(%d,%d),5(%d,%d),6(%d,%d),7(%d,%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm(),adc().readCh0(),adc().readRawCh0(),adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
+// xbee().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
+ xbee().printf("BCE POS: %0.1f (cmd %0.1f) BATT POS: %0.1f (cmd %0.1f) PRESS_psi: %0.2f [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rdr_pwm: %0.1f [FILT/RAW 0(%d,%d),1(%d,%d),2(%d,%d),3(%d,%d),4(%d,%d),5(%d,%d),6(%d,%d),7(%d,%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(),adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
continue; // didn't get a user input, so keep waiting for it
}
// process the keys
if (STATUS_key == 'X') {
- pc().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
+ xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
break; //exit the while loop
}
else {
- pc().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
+ xbee().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
}
}
}
@@ -1404,21 +1428,18 @@
char RUDDER_PID_key;
// print the menu
- pc().printf("\r\nRUDDER (servo driver) settings (MENU)");
- pc().printf("\r\n(Adjust min/max/center PWM settings with the following keys: N and M and C");
- pc().printf("\r\n(Adjust DEGREE limit settings with the following keys: min = K, max = L");
- pc().printf("\r\n(Hit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
- pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
+ xbee().printf("\r\nRUDDER (servo driver) settings (MENU)");
+ xbee().printf("\r\nAdjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L");
+ xbee().printf("\r\nHit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
+ xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- RUDDER_PID_key = pc().getc();
+ if (xbee().readable()) {
+ RUDDER_PID_key = xbee().getc();
}
else {
- wait(0.5);
- pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
continue; // didn't get a user input, so keep waiting for it
}
@@ -1433,39 +1454,39 @@
// save rudder servo driver values for inner loop
configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
- pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
+ xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
+ xbee().printf("Adjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L\r\n");
}
else if (RUDDER_PID_key == 'X') {
break; //exit the while loop
}
// MIN PWM
else if (RUDDER_PID_key == 'N') {
- pc().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
+ xbee().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
rudder_min_pwm = getFloatUserInput();
}
// MAX PWM
else if (RUDDER_PID_key == 'M') {
- pc().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
+ xbee().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
rudder_max_pwm = getFloatUserInput();
}
// CENTER PWM
else if (RUDDER_PID_key == 'C') {
- pc().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
+ xbee().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
rudder_ctr_pwm = getFloatUserInput();
}
// MIN DEG
else if (RUDDER_PID_key == 'K') {
- pc().printf(">> Type in rudder_min_deg with keyboard.\r\n");
+ xbee().printf(">> Type in rudder_min_deg with keyboard.\r\n");
rudder_min_deg = getFloatUserInput();
}
// MAX DEG
else if (RUDDER_PID_key == 'L') {
- pc().printf(">> Type in rudder_max_deg with keyboard.\r\n");
+ xbee().printf(">> Type in rudder_max_deg with keyboard.\r\n");
rudder_max_deg = getFloatUserInput();
- }
-
+ }
else {
- pc().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
+ xbee().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
}
}
}
@@ -1477,21 +1498,22 @@
void StateMachine::keyboard_menu_MANUAL_TUNING() {
char TUNING_key;
- // show the menu
- pc().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
- pc().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
- pc().printf("\r\nMANUAL_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(), imu().getHeading());
-
//made these into internal parameters
- float _tuning_bce_pos_mm = 300.0; //safe starting position
- float _tuning_batt_pos_mm = 60.0; //safe starting position
+ float _tuning_bce_pos_mm = 200.0; //safe starting position
+ float _tuning_batt_pos_mm = 40.0; //safe starting position
float _tuning_rudder_pos_deg = 0.0; //safe starting position
+ float _tuning_rudder_pwm = 1640.0;
//immediately start at those positions
bce().setPosition_mm(_tuning_bce_pos_mm);
batt().setPosition_mm(_tuning_batt_pos_mm);
rudder().setPosition_deg(_tuning_rudder_pos_deg);
+ // show the menu
+ xbee().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
+ xbee().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
+
// what needs to be started?
bce().unpause(); //this is now active
batt().unpause(); //this is now active
@@ -1500,12 +1522,12 @@
while (1) {
wait(0.1);
- if (pc().readable()) {
- TUNING_key = pc().getc(); //get each keystroke
+ if (xbee().readable()) {
+ TUNING_key = xbee().getc(); //get each keystroke
}
else {
- pc().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getPosition_deg(), rudder().getPosition_pwm(),imu().getPitch(),imu().getHeading());
+ //xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading());
continue; // didn't get a user input, so keep waiting for it
}
@@ -1523,58 +1545,70 @@
}
//Buoyancy Engine
- else if (TUNING_key == 'A') {
+ else if (TUNING_key == 'A' or TUNING_key == 'a') {
_tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
- pc().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
- else if (TUNING_key == 'S') {
+ else if (TUNING_key == 'S' or TUNING_key == 's') {
_tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
- pc().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
//BATTERY
- else if (TUNING_key == 'Q') {
+ else if (TUNING_key == 'Q' or TUNING_key == 'q') {
_tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
- pc().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
- else if (TUNING_key == 'W') {
+ else if (TUNING_key == 'W' or TUNING_key == 'w') {
_tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
- pc().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
else if (TUNING_key == 'c' or TUNING_key == 'C') {
- pc().printf("MANUAL_TUNING: (current stats) BCE pos: %3.1f mm (cmd: %3.1f mm), BATT pos: %3.1f mm (cmd: %3.1f mm) SERVO: %0.1f deg, %f pwm\r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getPosition_deg(), rudder().getPosition_pwm());
+ xbee().printf("\r\nMT: (CURRENT POSITIONS) BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
//RUDER
- else if (TUNING_key == 'E') {
+ else if (TUNING_key == 'R' or TUNING_key == 'r') {
_tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
rudder().setPosition_deg(_tuning_rudder_pos_deg);
- pc().printf("MANUAL_TUNING: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getPosition_pwm(), rudder().getPosition_deg(), headingLoop().getPosition(), imu().getHeading());
+ xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
- else if (TUNING_key == 'R') {
+ else if (TUNING_key == 'E' or TUNING_key == 'e') {
_tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
rudder().setPosition_deg(_tuning_rudder_pos_deg);
- pc().printf("MANUAL_TUNING: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getPosition_pwm(), rudder().getPosition_deg(), headingLoop().getPosition(), imu().getHeading());
+ xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
- else if (TUNING_key == 'P') {
- rudder().pause();
+ else if (TUNING_key == '-' or TUNING_key == '_') {
+ _tuning_rudder_pwm -= 10.0;
+ rudder().setPWM(_tuning_rudder_pwm);
+ xbee().printf("MT: (-) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
- else if (TUNING_key == 'U') {
- rudder().unpause();
+
+ else if (TUNING_key == '=' or TUNING_key == '+') {
+ _tuning_rudder_pwm += 10.0;
+ rudder().setPWM(_tuning_rudder_pwm);
+ xbee().printf("MT: (+) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
+ xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f ft, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
else {
- pc().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
+ xbee().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
}
}
}
@@ -1583,11 +1617,11 @@
char TUNING_key;
// show the menu
- pc().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
+ xbee().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
while (1) {
- if (pc().readable()) {
- TUNING_key = pc().getc(); //get each keystroke
+ if (xbee().readable()) {
+ TUNING_key = xbee().getc(); //get each keystroke
}
// process the keys
@@ -1601,7 +1635,7 @@
else {
wait(0.5);
- pc().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
+ xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
continue; // didn't get a user input, so keep waiting for it
}
}
@@ -1611,11 +1645,11 @@
// char TUNING_key;
//
// // show the menu
-// pc().printf("\r\n9: BCE and BMM POSITION READINGS (EXIT WITH 'X' !)");
+// xbee().printf("\r\n9: BCE and BMM POSITION READINGS (EXIT WITH 'X' !)");
//
// while (1) {
-// if (pc().readable()) {
-// TUNING_key = pc().getc(); //get each keystroke
+// if (xbee().readable()) {
+// TUNING_key = xbee().getc(); //get each keystroke
// }
//
// // process the keys
@@ -1635,7 +1669,7 @@
// unsigned int raw = adc().readCh5();
// vmeasured = ((float)raw)/4095.0*vref;
//
-// pc().printf("BCE POS(%d), BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) << POS: BCE %0.2f, BATT %0.2f >>\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),bce().getPosition_mm(),batt().getPosition_mm());
+// xbee().printf("BCE POS(%d), BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) << POS: BCE %0.2f, BATT %0.2f >>\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),bce().getPosition_mm(),batt().getPosition_mm());
//
// continue; // didn't get a user input, so keep waiting for it
// }
@@ -1650,16 +1684,16 @@
float bce_KD = bce().getControllerD(); // load current global value
// show the menu
- pc().printf("\n\rBuoyancy Engine PID gain settings (MENU)");
- pc().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
- pc().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zeroOffset %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
+ xbee().printf("\n\rBuoyancy Engine PID gain settings (MENU)");
+ xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
+ xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
+ xbee().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zeroOffset %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- BCE_PID_key = pc().getc();
+ if (xbee().readable()) {
+ BCE_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
@@ -1674,35 +1708,35 @@
// save to "BCE.TXT" file
configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD, 100, 6.0, 0.5);
- pc().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
+ xbee().printf("bce P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
}
else if (BCE_PID_key == 'X') {
break; //exit the while loop
}
else if (BCE_PID_key == 'P') {
- pc().printf(">> Type in proportional gain with keyboard.\n\r");
+ xbee().printf(">> Type in proportional gain with keyboard.\n\r");
bce_KP = getFloatUserInput();
}
else if (BCE_PID_key == 'I') {
- pc().printf(">> Type in integral gain with keyboard.\n\r");
+ xbee().printf(">> Type in integral gain with keyboard.\n\r");
bce_KI = getFloatUserInput();
}
else if (BCE_PID_key == 'D') {
- pc().printf(">> Type in derivative gain with keyboard.\n\r");
+ xbee().printf(">> Type in derivative gain with keyboard.\n\r");
bce_KD = getFloatUserInput();
}
else if (BCE_PID_key == 'F') {
- pc().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
+ xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
float bce_freq = getFloatUserInput();
bce().setFilterFrequency(bce_freq);
}
else if (BCE_PID_key == 'B') {
- pc().printf(">> Type in DEADBAND with keyboard.\n\r");
+ xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
float bce_deadband = getFloatUserInput();
bce().setDeadband(bce_deadband);
}
else {
- pc().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
+ xbee().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
}
}
}
@@ -1715,16 +1749,16 @@
float batt_KD = batt().getControllerD(); // load current global value
// print the menu
- pc().printf("\n\rBattery Motor PID gain settings (MENU)");
- pc().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
- pc().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
+ xbee().printf("\n\rBattery Motor PID gain settings (MENU)");
+ xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
+ xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
+ xbee().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- BMM_PID_key = pc().getc();
+ if (xbee().readable()) {
+ BMM_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
@@ -1739,35 +1773,35 @@
// save to "BATT.TXT" file
configFileIO().saveBattData(batt_KP, batt_KI, batt_KD, 100, 6.0, 0.5);
- pc().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
+ xbee().printf("batt P: %3.3f, I: %3.3f, D %3.3f, zero %d, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
}
else if (BMM_PID_key == 'X') {
break; //exit the while loop
}
else if (BMM_PID_key == 'P') {
- pc().printf(">> Type in proportional gain with keyboard.\n\r");
+ xbee().printf(">> Type in proportional gain with keyboard.\n\r");
batt_KP = getFloatUserInput();
}
else if (BMM_PID_key == 'I') {
- pc().printf(">> Type in integral gain with keyboard.\n\r");
+ xbee().printf(">> Type in integral gain with keyboard.\n\r");
batt_KI = getFloatUserInput();
}
else if (BMM_PID_key == 'D') {
- pc().printf(">> Type in derivative gain with keyboard.\n\r");
+ xbee().printf(">> Type in derivative gain with keyboard.\n\r");
batt_KD = getFloatUserInput();
}
else if (BMM_PID_key == 'F') {
- pc().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
+ xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
float batt_freq = getFloatUserInput();
batt().setFilterFrequency(batt_freq);
}
else if (BMM_PID_key == 'B') {
- pc().printf(">> Type in DEADBAND with keyboard.\n\r");
+ xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
float batt_deadband = getFloatUserInput();
batt().setDeadband(batt_deadband);
}
else {
- pc().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
+ xbee().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
}
}
}
@@ -1782,16 +1816,16 @@
float depth_deadband = depthLoop().getDeadband();
// print the menu
- pc().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
- pc().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
- pc().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
+ xbee().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
+ xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
+ xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
+ xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- DEPTH_PID_key = pc().getc();
+ if (xbee().readable()) {
+ DEPTH_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
@@ -1809,7 +1843,7 @@
// save to "DEPTH.TXT" file
configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm, depth_freq, depth_deadband); //P,I,D, bce zeroOffset
- pc().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
+ xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
//set class variables that will be used in find neutral sequence
_depth_KP = depthLoop().getControllerP(); // load current depth value
@@ -1820,27 +1854,27 @@
break; //exit the while loop
}
else if (DEPTH_PID_key == 'P') {
- pc().printf(">> Type in proportional gain with keyboard.\n\r");
+ xbee().printf(">> Type in proportional gain with keyboard.\n\r");
depth_KP = getFloatUserInput();
}
else if (DEPTH_PID_key == 'I') {
- pc().printf(">> Type in integral gain with keyboard.\n\r");
+ xbee().printf(">> Type in integral gain with keyboard.\n\r");
depth_KI = getFloatUserInput();
}
else if (DEPTH_PID_key == 'D') {
- pc().printf(">> Type in derivative gain with keyboard.\n\r");
+ xbee().printf(">> Type in derivative gain with keyboard.\n\r");
depth_KD = getFloatUserInput();
}
else if (DEPTH_PID_key == 'F') {
- pc().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
+ xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
depth_freq = getFloatUserInput();
}
else if (DEPTH_PID_key == 'B') {
- pc().printf(">> Type in DEADBAND with keyboard.\n\r");
+ xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
depth_deadband = getFloatUserInput();
}
else {
- pc().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
+ xbee().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
}
}
}
@@ -1851,20 +1885,21 @@
float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
+ float pitch_offset_deg = pitchLoop().getOutputOffset();
float pitch_freq = pitchLoop().getFilterFrequency();
float pitch_deadband = pitchLoop().getDeadband();
// print the menu
- pc().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
- pc().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
- pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
+ xbee().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
+ xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
+ xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
+ xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- PITCH_PID_key = pc().getc();
+ if (xbee().readable()) {
+ PITCH_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
@@ -1882,7 +1917,7 @@
// save to "PITCH.TXT" file (doesn't modify neutral position)
configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm, pitch_freq, pitch_deadband);
- pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
+ xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
_pitch_KP = pitchLoop().getControllerP(); // load current pitch value
_pitch_KI = pitchLoop().getControllerI(); // load current pitch value
@@ -1892,27 +1927,30 @@
break; //exit the while loop
}
else if (PITCH_PID_key == 'P') {
- pc().printf(">> Type in proportional gain with keyboard.\n\r");
+ xbee().printf(">> Type in proportional gain with keyboard.\n\r");
pitch_KP = getFloatUserInput();
}
else if (PITCH_PID_key == 'I') {
- pc().printf(">> Type in integral gain with keyboard.\n\r");
+ xbee().printf(">> Type in integral gain with keyboard.\n\r");
pitch_KI = getFloatUserInput();
}
else if (PITCH_PID_key == 'D') {
- pc().printf(">> Type in derivative gain with keyboard.\n\r");
+ xbee().printf(">> Type in derivative gain with keyboard.\n\r");
pitch_KD = getFloatUserInput();
}
else if (PITCH_PID_key == 'F') {
- pc().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
+ xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
pitch_freq = getFloatUserInput();
}
else if (PITCH_PID_key == 'B') {
- pc().printf(">> Type in DEADBAND with keyboard.\n\r");
+ xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
pitch_deadband = getFloatUserInput();
}
+ else if (PITCH_PID_key == 'O') {
+ pitch_offset_deg = getFloatUserInput();
+ }
else {
- pc().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
+ xbee().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
}
}
}
@@ -1928,17 +1966,17 @@
float heading_deadband = headingLoop().getDeadband();
// print the menu
- pc().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
- pc().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
- pc().printf("\n\r Adjust zero offset with O (oh)");
- pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
- pc().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
+ xbee().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
+ xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
+ xbee().printf("\n\r Adjust zero offset with O (oh).");
+ xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
+ xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
- if (pc().readable()) {
- HEADING_PID_key = pc().getc();
+ if (xbee().readable()) {
+ HEADING_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
@@ -1951,10 +1989,12 @@
headingLoop().setControllerI(heading_KI);
headingLoop().setControllerD(heading_KD);
headingLoop().setOutputOffset(heading_offset_deg);
-
+ headingLoop().setFilterFrequency(heading_freq);
+ headingLoop().setDeadband(heading_deadband);
+
// save pitch PID values for outer loop (must save neutral position also)
- configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, 6.0, 0.5); //_neutral_heading_pos_deg);
- pc().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset());
+ configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, heading_freq, heading_deadband); //_neutral_heading_pos_deg);
+ xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
}
else if (HEADING_PID_key == 'X') {
break; //exit the while loop
@@ -1970,33 +2010,18 @@
heading_KD = getFloatUserInput();
}
else if (HEADING_PID_key == 'F') {
- pc().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
+ xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
heading_freq = getFloatUserInput();
}
else if (HEADING_PID_key == 'B') {
- pc().printf(">> Type in DEADBAND with keyboard.\n\r");
+ xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
heading_deadband = getFloatUserInput();
}
-
-//heading offset
else if (HEADING_PID_key == 'O') {
heading_offset_deg = getFloatUserInput();
}
-//heading offset
-
- else if (HEADING_PID_key == 'F') {
- pc().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
- float heading_freq = getFloatUserInput();
- pitchLoop().setFilterFrequency(heading_freq);
- }
- else if (HEADING_PID_key == 'B') {
- pc().printf(">> Type in DEADBAND with keyboard.\n\r");
- float heading_deadband = getFloatUserInput();
- pitchLoop().setDeadband(heading_deadband);
- }
-
else {
- pc().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
+ xbee().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
}
}
}
@@ -2047,7 +2072,7 @@
_neutral_batt_pos_mm = batt_pos_mm;
_neutral_bce_pos_mm = bce_pos_mm;
- pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
+ xbee().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
}
//process one state at a time
@@ -2062,7 +2087,7 @@
}
void StateMachine::printCurrentSdLog() {
- pc().printf("SD card log work in progress\r\n");
+ xbee().printf("SD card log work in progress\r\n");
//might be worth saving the last few logs to the MBED...
}
@@ -2073,21 +2098,21 @@
while(1) {
bool valid_input = false; //flag for valid or invalid input
- pc().printf("\n\rPlease enter your number below and press ENTER:\r\n");
+ xbee().printf("\n\rPlease enter your number below and press ENTER:\r\n");
char user_string [80]; //variable to store input as a character array
- pc().scanf("%s", user_string); //read formatted data from stdin
- pc().printf("\n\n\ruser_string was <%s>\r\n", user_string);
+ xbee().scanf("%s", user_string); //read formatted data from stdin
+ xbee().printf("\n\n\ruser_string was <%s>\r\n", user_string);
//check through the string for invalid characters (decimal values 43 through 57)
for (int c = 0; c < strlen(user_string); c++) {
- //pc().printf("character is [%c]\r\n", user_string[c]); //debug
+ //xbee().printf("character is [%c]\r\n", user_string[c]); //debug
if (user_string[c] >= 43 and user_string[c] <= 57) {
- //pc().printf("VALID CHARACTER!\r\n"); //debug
+ //xbee().printf("VALID CHARACTER!\r\n"); //debug
;
}
else {
- pc().printf("INVALID INPUT!\r\n");
+ xbee().printf("INVALID INPUT!\r\n");
break;
}
@@ -2098,7 +2123,7 @@
if (valid_input) {
float_conversion = atof(user_string);
- pc().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
+ xbee().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
break;
}
}
@@ -2106,18 +2131,6 @@
return float_conversion;
}
-//added because channel readings failed multiple times (if they fail, motors could break parts)
-void StateMachine::checkMotorPositions() {
-
- /* 1. If channel readings fail, calculations will give negative positions
- 2. If the potentiometers are reporting negative positions, send the system into float broadcast
- 3. The motors will move in the correct direction and if something is wrong the will go to their full extension but be at the surface */
-
- if (bce().getPosition_mm() < 0 or batt().getPosition_mm() < 0 ) {
- //_state = FLOAT_BROADCAST;
- }
-}
-
float StateMachine::getTimerValue() {
return _fsm_timer;
}
\ No newline at end of file