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:
- 57:ec69651c8c21
- Parent:
- 56:48a8a5a65b82
- Child:
- 58:94b7fd55185e
--- a/StateMachine/StateMachine.cpp Tue Jun 12 16:20:03 2018 +0000
+++ b/StateMachine/StateMachine.cpp Thu Jun 14 16:10:25 2018 +0000
@@ -12,6 +12,11 @@
_depth_command = 2.0; // user keyboard depth (default)
_pitch_command = -20.0; // user keyboard pitch (default)
+ //new commands
+ _BCE_position_command = bce().getTravelLimit(); //starting at the limits
+ _BMM_position_command = batt().getTravelLimit();
+ //new commands
+
_neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
_state = SIT_IDLE; // select starting state here
@@ -52,6 +57,8 @@
_max_recorded_auto_neutral_depth = -99;
_file_closed = true;
+
+ _debug_menu_on = false; //toggle between debug and simple menu screens
}
//Finite State Machine (FSM)
@@ -64,7 +71,11 @@
case KEYBOARD:
// there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
if (!_isTimeoutRunning) {
- showMenu();
+
+ if (_debug_menu_on)
+ showDebugMenu();
+ else
+ showSimpleMenu();
pc().printf("\r\n\nstate: SIT_IDLE\r\n");
_isTimeoutRunning = true;
@@ -694,14 +705,62 @@
}
// output the keyboard menu for user's reference
-void StateMachine::showMenu() {
- pc().printf("\r\r\n\nKEYBOARD MENU (06/11/2018):\r\r\n");
+void StateMachine::showSimpleMenu() {
+// if (user_input == 'D') {
+// _keyboard_state = DIVE;
+// }
+// else if (user_input == 'N') {
+// _keyboard_state = FIND_NEUTRAL;
+// }
+// else if (user_input == 'L') {
+// _keyboard_state = FLOAT_LEVEL;
+// }
+// else if (user_input == 'B') {
+// _keyboard_state = FLOAT_BROADCAST;
+// }
+// else if (user_input == 'E') {
+// _keyboard_state = EMERGENCY_CLIMB;
+// }
+//
+// // some debug tools below
+// else if (user_input == 'P') {
+// //Print current SD card log file
+// //printCurrentSdLog();
+// mbedLogger().printCurrentLogFile(); //print the current log file to the screen
+// }
+// else if (user_input == 'O') {
+// _keyboard_state = TRANSMIT_LOG; //Transmit data (work in progress)
+// }
+// else if (user_input == '~') {
+// pc().printf("ERASING MBED LOG FILE\n\r");
+// mbedLogger().eraseFile();
+
+ pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (06/14/2018):\r\r\n"); //make sure depth sensor tares itself on startup
+ pc().printf(" D to initiate 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(" O to transmit current log file.\r\n");
+ pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
+ pc().printf("[/] to change bce neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
+ pc().printf("</> to change batt neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
+ pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",_pitch_command);
+ pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",_depth_command);
+ pc().printf("+/- to decrease/increase timeout: %d s\r\n",_timeout);
+ 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 DEBUG menu\r\n");
+}
+
+void StateMachine::showDebugMenu() {
+ pc().printf("\r\r\n\nDEBUG MENU (06/14/2018):\r\r\n");
pc().printf(" T to go into CHECK TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
pc().printf(" N to find neutral\r\n");
pc().printf(" M to initiate multi-dive cycle\r\n");
pc().printf(" D to initiate dive cycle\r\n");
pc().printf(" R to initiate rise\r\n");
- pc().printf(" L to float level\r\n");
+ 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");
@@ -729,6 +788,7 @@
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) go to SIMPLE menu\r\n");
}
//Find Neutral sub finite state machine
@@ -930,11 +990,12 @@
}
}
-// keyboard runs independently of the state machine, handling one key at a time
-//keyboard updates the desired _keyboard_state that is used in the state machine
-//and only allows input when the state is "idle"
+/* keyboard runs independently of the state machine, handling one key at a time
+ keyboard updates the desired _keyboard_state that is used in the state machine
+ and only allows input when the state is "idle" */
+
void StateMachine::keyboard() {
- char userInput;
+ char user_input;
// check keyboard and make settings changes as requested
// states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
@@ -944,7 +1005,7 @@
if (pc().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) {
// get the key
- userInput = pc().getc();
+ user_input = pc().getc();
//record that the keyboard was used
_state_array[_state_array_counter] = KEYBOARD;
@@ -954,254 +1015,350 @@
_isTimeoutRunning = false;
// check command against desired control buttons
- if (userInput == 'D') {
- _keyboard_state = DIVE;
- }
- else if (userInput == 'N') {
- _keyboard_state = FIND_NEUTRAL;
- }
- else if (userInput == 'M') {
- //currently does not run if there is no file.
+
+/***************************** DEBUG MENU *****************************/
+ if (_debug_menu_on) {
- //need to add method to Sequence Controller that returns -1
- // or some check that insures you cannot run the dive sequence without a file
+ if (user_input == 'D') {
+ _keyboard_state = DIVE;
+ }
+ else if (user_input == 'N') {
+ _keyboard_state = FIND_NEUTRAL;
+ }
+ else if (user_input == 'M') {
+ //currently does not run if there is no file.
+
+ //need to add method to Sequence Controller that returns -1
+ // or some check that insures you cannot run the dive sequence without a file
+
+ stateMachine().getDiveSequence(); //get first sequence on keyboard press
+ _keyboard_state = currentStateStruct.state;
+
+ pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles
+ }
+ else if (user_input == 'R') {
+ _keyboard_state = RISE;
+ }
+ else if (user_input == 'J') {
+ _keyboard_state = FLOAT_LEVEL;
+ }
+ else if (user_input == 'B') {
+ _keyboard_state = FLOAT_BROADCAST;
+ }
+ else if (user_input == 'E') {
+ _keyboard_state = EMERGENCY_CLIMB;
+ }
- stateMachine().getDiveSequence(); //get first sequence on keyboard press
- _keyboard_state = currentStateStruct.state;
+ else if (user_input == 'T') {
+ _keyboard_state = CHECK_TUNING;
+ }
- pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles
- }
- else if (userInput == 'R') {
- _keyboard_state = RISE;
- }
- else if (userInput == 'L') {
- _keyboard_state = FLOAT_LEVEL;
- }
- else if (userInput == 'B') {
- _keyboard_state = FLOAT_BROADCAST;
- }
- else if (userInput == 'E') {
- _keyboard_state = EMERGENCY_CLIMB;
- }
-
- else if (userInput == 'T') {
- _keyboard_state = CHECK_TUNING;
- }
-
- // some debug tools below
- else if (userInput == 'P') {
- //Print current SD card log file
- //printCurrentSdLog();
- mbedLogger().printCurrentLogFile(); //print the current log file to the screen
- }
- else if (userInput == 'X') {
- mbedLogger().printMbedDirectory(); //print all log files to the screen
- }
- else if (userInput == 'O') {
- _keyboard_state = TRANSMIT_LOG; //Transmit data (work in progress)
- }
- else if (userInput == 'I') {
- mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files
- }
- else if (userInput == '~') {
- pc().printf("ERASING MBED LOG FILE\n\r");
- mbedLogger().eraseFile();
- }
- else if (userInput == 'Z') {
- pc().printf("FSG FSM States: \n\r");
- string string_state;
+ // some debug tools below
+ else if (user_input == 'P') {
+ //Print current SD card log file
+ //printCurrentSdLog();
+ mbedLogger().printCurrentLogFile(); //print the current log file to the screen
+ }
+ else if (user_input == 'X') {
+ mbedLogger().printMbedDirectory(); //print all log files to the screen
+ }
+ else if (user_input == 'O') {
+ _keyboard_state = TRANSMIT_LOG; //Transmit data (work in progress)
+ }
+ else if (user_input == 'I') {
+ mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files
+ }
+ else if (user_input == '~') {
+ pc().printf("ERASING MBED LOG FILE\n\r");
+ mbedLogger().eraseFile();
+ }
+ else if (user_input == 'Z') {
+ pc().printf("FSG FSM States: \n\r");
+ string string_state;
+
+ for (int i = 0; i < _state_array_counter; i++) {
+ if (_state_array[i] == SIT_IDLE)
+ string_state = "SIT_IDLE <END>";
+ else if (_state_array[i] == FIND_NEUTRAL)
+ string_state = "FIND_NEUTRAL";
+ else if (_state_array[i] == DIVE)
+ string_state = "DIVE";
+ else if (_state_array[i] == RISE)
+ string_state = "RISE";
+ else if (_state_array[i] == FLOAT_LEVEL)
+ string_state = "FLOAT_LEVEL";
+ else if (_state_array[i] == FLOAT_BROADCAST)
+ string_state = "FLOAT_BROADCAST";
+ else if (_state_array[i] == EMERGENCY_CLIMB)
+ string_state = "EMERGENCY_CLIMB";
+ else if (_state_array[i] == MULTI_DIVE)
+ string_state = "MULTI_DIVE";
+ else if (_state_array[i] == MULTI_RISE)
+ string_state = "MULTI_RISE";
+ else if (_state_array[i] == KEYBOARD)
+ string_state = "KEYBOARD";
+ pc().printf("State #%d: %d (%s)\n\r", i, _state_array[i], string_state.c_str());
+ }
+
+ pc().printf("\n\rNeutral sub-FSM States: \n\r");
+ string string_substate;
+
+ for (int i = 0; i < _substate_array_counter; i++) {
+ if (_substate_array[i] == NEUTRAL_SINKING)
+ string_substate = "NEUTRAL_SINKING";
+ else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
+ string_substate = "NEUTRAL_SLOWLY_RISE";
+ else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
+ string_substate = "NEUTRAL_CHECK_PITCH";
+ else if (_substate_array[i] == NEUTRAL_EXIT)
+ string_substate = "NEUTRAL_EXIT <-- ";
+ else if (_substate_array[i] == EMERGENCY_CLIMB)
+ string_substate = " -- > EMERGENCY_CLIMB <-- ";
+ pc().printf("Neutral Substate #%d: %d (%s)\n\r", i, _state_array[i], string_substate.c_str());
+ }
+ pc().printf("\n\r"); //make space between printouts
+ }
+ 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());
+ }
- for (int i = 0; i < _state_array_counter; i++) {
- if (_state_array[i] == SIT_IDLE)
- string_state = "SIT_IDLE <END>";
- else if (_state_array[i] == FIND_NEUTRAL)
- string_state = "FIND_NEUTRAL";
- else if (_state_array[i] == DIVE)
- string_state = "DIVE";
- else if (_state_array[i] == RISE)
- string_state = "RISE";
- else if (_state_array[i] == FLOAT_LEVEL)
- string_state = "FLOAT_LEVEL";
- else if (_state_array[i] == FLOAT_BROADCAST)
- string_state = "FLOAT_BROADCAST";
- else if (_state_array[i] == EMERGENCY_CLIMB)
- string_state = "EMERGENCY_CLIMB";
- else if (_state_array[i] == MULTI_DIVE)
- string_state = "MULTI_DIVE";
- else if (_state_array[i] == MULTI_RISE)
- string_state = "MULTI_RISE";
- else if (_state_array[i] == KEYBOARD)
- string_state = "KEYBOARD";
- pc().printf("State #%d: %d (%s)\n\r", i, _state_array[i], string_state.c_str());
+ else if (user_input == '[' or user_input == '{') {
+ _neutral_bce_pos_mm = depthLoop().getOutputOffset() - 1;
+ 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());
+ // save neutral depth value to config file
+ configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
+ }
+ else if (user_input == ']' or user_input == '}') {
+ _neutral_bce_pos_mm = depthLoop().getOutputOffset() + 1;
+ depthLoop().setOutputOffset(_neutral_bce_pos_mm); // increase the bce neutral setpoint
+ pc().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);
+ }
+ else if (user_input == '<' or user_input == ',') {
+ _neutral_batt_pos_mm = pitchLoop().getOutputOffset() - 1;
+ 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());
+ // save neutral pitch value to config file
+ configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
+ }
+ else if (user_input == '>' or user_input == '.') {
+ _neutral_batt_pos_mm = pitchLoop().getOutputOffset() + 1;
+ pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // increase the batt neutral setpoint
+ pc().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);
}
- pc().printf("\n\rNeutral sub-FSM States: \n\r");
- string string_substate;
+ else if (user_input == '?') {
+ pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
+ wait(0.5);
+ mbed_reset();
+ }
+
+ // change settings
+ else if (user_input == 'Q' or user_input == 'q') {
+ _pitch_command -= 0.5; //decrement the pitch setpoint
+ pitchLoop().setCommand(_pitch_command);
+ pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
+ }
+ else if (user_input == 'W' or user_input == 'w') {
+ _pitch_command += 0.5; //increment the pitch setpoint
+ pitchLoop().setCommand(_pitch_command);
+ pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
+ }
+ else if (user_input == 'A' or user_input == 'a') {
+ _depth_command -= 0.5; //decrement the depth setpoint
+ depthLoop().setCommand(_depth_command);
+ pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
+ }
+ else if (user_input == 'S' or user_input == 's') {
+ _depth_command += 0.5; //increment the depth setpoint
+ depthLoop().setCommand(_depth_command);
+ pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
+ }
+ else if (user_input == '-') {
+ _timeout -= 10.0; //decrement the timeout
+ pc().printf(">>> timeout decreased: %d\r\n", _timeout);
+ }
+ else if (user_input == '=' or user_input == '+') {
+ _timeout += 10.0; //increment the timeout
+ pc().printf(">>> timeout increased: %d\r\n", _timeout);
+ }
- for (int i = 0; i < _substate_array_counter; i++) {
- if (_substate_array[i] == NEUTRAL_SINKING)
- string_substate = "NEUTRAL_SINKING";
- else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
- string_substate = "NEUTRAL_SLOWLY_RISE";
- else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
- string_substate = "NEUTRAL_CHECK_PITCH";
- else if (_substate_array[i] == NEUTRAL_EXIT)
- string_substate = "NEUTRAL_EXIT <-- ";
- else if (_substate_array[i] == EMERGENCY_CLIMB)
- string_substate = " -- > EMERGENCY_CLIMB <-- ";
- pc().printf("Neutral Substate #%d: %d (%s)\n\r", i, _state_array[i], string_substate.c_str());
+ // go to tuning sub-menu
+ else if (user_input == '5') {
+ keyboard_menu_MANUAL_TUNING();
+ }
+
+ else if (user_input == '6') {
+ keyboard_menu_STREAM_STATUS();
+ }
+
+ else if (user_input == '7') {
+ keyboard_menu_RUDDER_SERVO_settings();
+ }
+
+ else if (user_input == '8') {
+ keyboard_menu_CHANNEL_READINGS();
+ }
+ else if (user_input == '9') {
+ keyboard_menu_POSITION_READINGS();
+ }
+
+ // go to sub-menus for the PID gains (this is blocking)
+ else if (user_input == '1') {
+ keyboard_menu_BCE_PID_settings();
+ }
+ else if (user_input == '2') {
+ keyboard_menu_BATT_PID_settings();
+ }
+ else if (user_input == '3') {
+ keyboard_menu_DEPTH_PID_settings();
+ }
+ else if (user_input == '4') {
+ keyboard_menu_PITCH_PID_settings();
}
- pc().printf("\n\r"); //make space between printouts
- }
- else if (userInput == '|') {
- 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 (userInput == '[' or userInput == '{') {
- _neutral_bce_pos_mm = depthLoop().getOutputOffset() - 1;
- 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());
- // save neutral depth value to config file
- configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm);
- }
- else if (userInput == ']' or userInput == '}') {
- _neutral_bce_pos_mm = depthLoop().getOutputOffset() + 1;
- depthLoop().setOutputOffset(_neutral_bce_pos_mm); // increase the bce neutral setpoint
- pc().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);
- }
- else if (userInput == '<' or userInput == ',') {
- _neutral_batt_pos_mm = pitchLoop().getOutputOffset() - 1;
- 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());
- // save neutral pitch value to config file
- configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm);
- }
- else if (userInput == '>' or userInput == '.') {
- _neutral_batt_pos_mm = pitchLoop().getOutputOffset() + 1;
- pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // increase the batt neutral setpoint
- pc().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);
- }
-
- else if (userInput == '?') {
- pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
- wait(0.5);
- mbed_reset();
- }
-
- // change settings
- else if (userInput == 'Q' or userInput == 'q') {
- _pitch_command -= 0.5; //decrement the pitch setpoint
- pitchLoop().setCommand(_pitch_command);
- pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
- }
- else if (userInput == 'W' or userInput == 'w') {
- _pitch_command += 0.5; //increment the pitch setpoint
- pitchLoop().setCommand(_pitch_command);
- pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
- }
- else if (userInput == 'A' or userInput == 'a') {
- _depth_command -= 0.5; //decrement the depth setpoint
- depthLoop().setCommand(_depth_command);
- pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
- }
- else if (userInput == 'S' or userInput == 's') {
- _depth_command += 0.5; //increment the depth setpoint
- depthLoop().setCommand(_depth_command);
- pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
+
+ else if (user_input == 'C' or user_input == 'c') {
+
+ pc().printf("\n\n\rCURRENT STATUS AND PARAMETERS:\n\r");
+
+ // Testing out ADC
+ float vref = 5.6;
+ float vmeasured = 0;
+ unsigned int raw = adc().readCh5();
+ vmeasured = ((float)raw)/4095.0*vref;
+ 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 \r\n",adc().readCh5());
+ pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
+ pc().printf("raw board current: %d \r\n",adc().readCh7());
+ pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
+ pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
+ pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
+ // 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());
+
+ pc().printf("\n\rNeutral 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\n\n\r",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
+
+ pc().printf("\n\r");
+ pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %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 %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, 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, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
+ }
+
+//POSITION DIVE COMMANDS
+ else if (user_input == 'k') {
+ _BCE_position_command -= 1.0;
+ pc().printf("Decreased BCE CMD to %0.1f\n\r", _BCE_position_command);
+ }
+ else if (user_input == 'l') {
+ _BCE_position_command += 1.0;
+ pc().printf("Increased BCE CMD to %0.1f\n\r", _BCE_position_command);
+ }
+ else if (user_input == ';') {
+ _BMM_position_command -= 1.0;
+ pc().printf("Decreased BMM CMD to %0.1f\n\r", _BMM_position_command);
+ }
+ else if (user_input == '\'') {
+ _BMM_position_command += 1.0;
+ pc().printf("Increased BMM CMD to %0.1f\n\r", _BMM_position_command);
+ }
+//POSITION DIVE COMMANDS
+
+ else if (user_input == '*') {
+ pc().printf("SWITCHING TO SIMPLE MENU!\n\r");
+ wait(2);
+ _debug_menu_on = false;
+ }
+ } //end of debug menu
+/***************************** DEBUG MENU *****************************/
+
+/***************************** SIMPLE MENU *****************************/
+ else {
+ if (user_input == 'D') {
+ _keyboard_state = DIVE;
+ }
+ else if (user_input == 'N') {
+ _keyboard_state = FIND_NEUTRAL;
+ }
+ else if (user_input == 'J') {
+ _keyboard_state = FLOAT_LEVEL;
+ }
+ else if (user_input == 'B') {
+ _keyboard_state = FLOAT_BROADCAST;
+ }
+ else if (user_input == 'E') {
+ _keyboard_state = EMERGENCY_CLIMB;
+ }
+
+ // some debug tools below
+ else if (user_input == 'P') {
+ //Print current SD card log file
+ //printCurrentSdLog();
+ mbedLogger().printCurrentLogFile(); //print the current log file to the screen
+ }
+ else if (user_input == 'O') {
+ _keyboard_state = TRANSMIT_LOG; //Transmit data (work in progress)
+ }
+ else if (user_input == '~') {
+ pc().printf("ERASING MBED LOG FILE\n\r");
+ mbedLogger().eraseFile();
+ }
+
+ else if (user_input == '?') {
+ pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
+ wait(0.5);
+ mbed_reset();
+ }
+
+//POSITION DIVE COMMANDS
+ else if (user_input == 'k') {
+ _BCE_position_command -= 1.0;
+ pc().printf("Decreased BCE CMD to %0.1f\n\r", _BCE_position_command);
+ }
+ else if (user_input == 'l') {
+ _BCE_position_command += 1.0;
+ pc().printf("Increased BCE CMD to %0.1f\n\r", _BCE_position_command);
+ }
+ else if (user_input == ';') {
+ _BMM_position_command -= 1.0;
+ pc().printf("Decreased BMM CMD to %0.1f\n\r", _BMM_position_command);
+ }
+ else if (user_input == '\'') {
+ _BMM_position_command += 1.0;
+ pc().printf("Increased BMM CMD to %0.1f\n\r", _BMM_position_command);
+ }
+//POSITION DIVE COMMANDS
+
+ else if (user_input == '*') {
+ pc().printf("SWITCHING TO DEBUG MENU!\n\r");
+ _debug_menu_on = true;
+ wait(2);
+ }
}
- else if (userInput == '-') {
- _timeout -= 10.0; //decrement the timeout
- pc().printf(">>> timeout decreased: %d\r\n", _timeout);
- }
- else if (userInput == '=' or userInput == '+') {
- _timeout += 10.0; //increment the timeout
- pc().printf(">>> timeout increased: %d\r\n", _timeout);
- }
-
- // go to tuning sub-menu
- else if (userInput == '5') {
- keyboard_menu_MANUAL_TUNING();
- }
-
- else if (userInput == '6') {
- keyboard_menu_STREAM_STATUS();
- }
-
- else if (userInput == '7') {
- keyboard_menu_RUDDER_SERVO_settings();
- }
-
- else if (userInput == '8') {
- keyboard_menu_CHANNEL_READINGS();
- }
- else if (userInput == '9') {
- keyboard_menu_POSITION_READINGS();
- }
-
- // go to sub-menus for the PID gains (this is blocking)
- else if (userInput == '1') {
- keyboard_menu_BCE_PID_settings();
- }
- else if (userInput == '2') {
- keyboard_menu_BATT_PID_settings();
- }
- else if (userInput == '3') {
- keyboard_menu_DEPTH_PID_settings();
- }
- else if (userInput == '4') {
- keyboard_menu_PITCH_PID_settings();
- }
-
- else if (userInput == 'C' or userInput == 'c') {
-
- pc().printf("\n\n\rCURRENT STATUS AND PARAMETERS:\n\r");
-
- // Testing out ADC
- float vref = 5.6;
- float vmeasured = 0;
- unsigned int raw = adc().readCh5();
- vmeasured = ((float)raw)/4095.0*vref;
- 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 \r\n",adc().readCh5());
- pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
- pc().printf("raw board current: %d \r\n",adc().readCh7());
- pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
- pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
- pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
- // 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());
-
- pc().printf("\n\rNeutral 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\n\n\r",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
-
- pc().printf("\n\r");
- pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %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 %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, 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, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
- }
+/***************************** SIMPLE MENU *****************************/
//when you read the keyboard successfully, change the state
_state = _keyboard_state; //set state at the end of this function
@@ -1224,7 +1381,7 @@
wait(1);
- pc().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f (unfiltered: %0.2f), PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depth().getRawPSI(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm());
+ pc().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f (unfiltered: %0.2f) [depth_ft: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depth().getRawPSI(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getPosition_pwm());
//pc().printf("(set) BCE POS: %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS: %0.2f )(channel reading: %d) (volt: %0.2f) << %0.2f >> (Pressure: %0.2f (raw: %0.2f) PITCH: %0.2f HEADING: %0.2f)\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(), depthLoop().getPosition(),depth().readADCCounts(),depth().readVoltage(),depth().getPsi(),depth().getRawPSI(),depth().getRawPSI(),imu().getPitch(),imu().getHeading());