Diff: StateMachine/StateMachine.cpp

Revision:

55:f4ec445c42fe

Parent:

54:d4990fb68404

Child:

56:48a8a5a65b82

--- a/StateMachine/StateMachine.cpp	Fri Jun 08 13:56:30 2018 +0000
+++ b/StateMachine/StateMachine.cpp	Tue Jun 12 15:41:51 2018 +0000
@@ -421,8 +421,8 @@
             batt().unpause();
  
             // what are the commands?
-            bce().setPosition_mm(_bceFloatPosition);
-            batt().setPosition_mm(_battFloatPosition);
+            bce().setPosition_mm(_bceFloatPosition);        // 320.0
+            batt().setPosition_mm(_battFloatPosition);      // 73.0
             
             //create the log file (works only if the file is closed)
             //createNewFile();
@@ -430,7 +430,7 @@
             //show that this is the start of a new float broadcast sequence            
             recordState(_state);
             
-            //triggers logger array
+            //triggers logger arrayc
             _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
             recordData(_state);
         }
@@ -695,8 +695,8 @@
  
 // output the keyboard menu for user's reference
 void StateMachine::showMenu() {
-    pc().printf("\r\r\n\nKEYBOARD MENU (02/15/2018):\r\r\n");
-    pc().printf(" T to go into manual tuning mode (This is on a timer!)\r\n");
+    pc().printf("\r\r\n\nKEYBOARD MENU (06/11/2018):\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");
@@ -725,6 +725,7 @@
     pc().printf(" 6 STREAM STATUS\r\n");
     pc().printf(" 7 RUDDER SERVO settings menu\r\n");
     pc().printf(" 8 CHANNEL READINGS\r\n");
+    pc().printf(" 9 POSITION 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");
@@ -1141,6 +1142,9 @@
         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') {
@@ -1220,7 +1224,7 @@
             
             wait(1);         
             
-            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 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().getRawPSI(),depth().getRawPSI(),imu().getPitch(),headingLoop().getPosition());
+            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());
             
             
             //pc().printf("Neutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
@@ -1370,13 +1374,7 @@
             
             break;  //exit the while loop
         }
-        
-        else if (TUNING_key == 'A') {
-            _neutral_bce_pos_mm = _neutral_bce_pos_mm - 1;
-            bce().setPosition_mm(_neutral_bce_pos_mm);              //this variable is loaded from the file at initialization
-            pc().printf("MANUAL_TUNING: (BCE CHANGE: %0.1f) 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());
-        }
-        
+                
         else if (TUNING_key == 'A') {
             _neutral_bce_pos_mm = _neutral_bce_pos_mm - 1;
             bce().setPosition_mm(_neutral_bce_pos_mm);              //this variable is loaded from the file at initialization
@@ -1412,7 +1410,35 @@
     char TUNING_key;
         
     // show the menu
-    pc().printf("\n\r1: CHANNEL READINGS (EXIT WITH 'X' !)");
+    pc().printf("\n\r8: CHANNEL READINGS (EXIT WITH 'X' !)");
+    
+    while (1) {
+        if (pc().readable()) {
+            TUNING_key = pc().getc();   //get each keystroke
+        }
+        
+                // process the keys            
+        if (TUNING_key == 'X') {    
+            // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
+            bce().pause();
+            batt().pause();
+            
+            break;  //exit the while loop
+        }
+        
+        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()); 
+            continue; // didn't get a user input, so keep waiting for it
+        }            
+    }
+}
+
+void StateMachine::keyboard_menu_POSITION_READINGS() {
+    char TUNING_key;
+        
+    // show the menu
+    pc().printf("\n\r9: BCE and BMM POSITION READINGS (EXIT WITH 'X' !)");
     
     while (1) {
         if (pc().readable()) {
@@ -1437,7 +1463,9 @@
             vmeasured = ((float)raw)/4095.0*vref;
             
                     
-            pc().printf("BCE POS(%d),BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) \r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4());
+            //pc().printf("BCE POS(%d),BMM POS(%d), BCE CUR(%d), BMM CUR(%d), Depth Pressure (%d) \r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4());
+            
+            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());
             
             //pc().printf("vessel pressure(%d) batt voltage(%d) board current(%d) LIMIT: BCE(%d) BMM(%d) (HW reading limit: BCE(%d) BMM (%d) \r\n",adc().readCh5(),adc().readCh6(),adc().readCh7(),bce().getSwitch(), batt().getSwitch(),bce().getSwitchState(),batt().getSwitchState());
             //pc().printf("LIMIT: BCE(%d) BMM(%d) << HW reading limit: BCE(%d) BMM (%d) >> \r\n",bce().getSwitch(), batt().getSwitch(),bce().getHWSwitchReading(),batt().getHWSwitchReading());