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:
- 73:f6f378311c8d
- Parent:
- 72:250b2665755c
- Child:
- 74:d281aaef9766
--- a/StateMachine/StateMachine.cpp Mon Jul 02 14:28:22 2018 +0000
+++ b/StateMachine/StateMachine.cpp Mon Jul 30 16:48:48 2018 +0000
@@ -19,15 +19,13 @@
//new commands
_neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
-
+//////////////////////////////
_state = SIT_IDLE; // select starting state here
_isTimeoutRunning = false; // default timer to not running
_isSubStateTimerRunning = false; // default timer to not running
-
+/////////////////////////////
_multi_dive_counter = 0;
- _neutral_sub_state_active = false;
-
_depth_KP = depthLoop().getControllerP(); // load current depth value
_depth_KI = depthLoop().getControllerI(); // load current depth value
_depth_KD = depthLoop().getControllerD(); // load current depth value
@@ -57,21 +55,26 @@
_max_recorded_auto_neutral_depth = -99;
- _file_closed = true;
+ _debug_menu_on = false; //toggle between debug and simple menu screens
- _debug_menu_on = false; //toggle between debug and simple menu screens
+ //new file stuff
+ _pitch_filter_freq = pitchLoop().getFilterFrequency();
+ _pitch_deadband = pitchLoop().getDeadband();
+
+ _depth_filter_freq = depthLoop().getFilterFrequency();
+ _depth_deadband = depthLoop().getDeadband();
}
//Finite State Machine (FSM)
-int StateMachine::runStateMachine() {
- //static int transmit_packet_number = 1; //for data transmission
-
+int StateMachine::runStateMachine() {
// finite state machine ... each state has at least one exit criteria
switch (_state) {
case SIT_IDLE :
- case KEYBOARD:
+ case KEYBOARD :
// there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
if (!_isTimeoutRunning) {
+ //tare pressure sensor
+ depth().tare(); // tares to ambient (do on surface)
if (_debug_menu_on)
printDebugMenu();
@@ -86,9 +89,6 @@
//reset sub FSM
_isSubStateTimerRunning = false;
-
- //close the MBED file
- _file_closed = true;
}
// how exit?
@@ -99,8 +99,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: CHECK_TUNING\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -115,16 +115,13 @@
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());
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer > _timeout) {
+ if (_fsm_timer > _timeout) {
pc().printf("CHECK_TUNING: timed out!\r\n");
_state = FLOAT_BROADCAST;
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
}
@@ -132,7 +129,7 @@
// 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) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),timer.read());
+ 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();
@@ -142,8 +139,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -152,28 +149,25 @@
// what are the commands?
bce().setPosition_mm(bce().getTravelLimit());
- batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
-
- //triggers logger array
- _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
+ batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
}
// how exit?
- if (timer > _timeout) {
+ if (_fsm_timer > _timeout) {
pc().printf("EC: timed out\r\n");
_state = FLOAT_BROADCAST;
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
_state = FLOAT_BROADCAST;
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
}
//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(),timer.read());
+ 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());
break;
@@ -181,8 +175,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -201,16 +195,13 @@
_substate_array_counter++;
runNeutralStateMachine();
-
- //triggers logger array
- _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
}
// how exit? (exit with the timer, if timer still running continue processing sub FSM)
- if (timer > _timeout) {
- pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
+ if (_fsm_timer > _timeout) {
+ pc().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)
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
//record this to the NEUTRAL sub-FSM tracker
@@ -234,8 +225,8 @@
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: DIVE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -251,30 +242,24 @@
//reset max dive depth
_max_recorded_depth_dive = -99; //float to record max depth
-
- //create the log file (works only if the file is closed)
- //createNewFile();
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer.read() > _timeout) {
+ if (_fsm_timer.read() > _timeout) {
pc().printf("DIVE: timed out\r\n\n");
_state = RISE; //new behavior 11/17/2017
- timer.reset();
+ _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());
_state = RISE;
- timer.reset();
+ _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(), timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
+ 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());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
@@ -291,8 +276,8 @@
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: RISE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -305,19 +290,13 @@
pc().printf("RISE: depth cmd: %0.1f\r\n",depthLoop().getCommand());
pc().printf("RISE: pitch cmd: %0.1f\r\n",pitchLoop().getCommand());
-
- //create the log file (works only if the file is closed)
- //createNewFile();
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer.read() > _timeout) {
+ if (_fsm_timer.read() > _timeout) {
pc().printf("RISE: timed out\r\n");
_state = EMERGENCY_CLIMB;
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
}
@@ -326,12 +305,12 @@
else if (depthLoop().getPosition() < 0.5) {
pc().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = FLOAT_BROADCAST;
- timer.reset();
+ _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(), timer.read(),bce().getSetPosition_mm(),batt().getSetPosition_mm());
+ 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());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
@@ -344,8 +323,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: POSITION DIVE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -367,17 +346,14 @@
//reset max dive depth
_max_recorded_depth_dive = -99; //float to record max depth
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
// timer runs out goes to POSITION_RISE
- if (timer.read() > _timeout) {
+ if (_fsm_timer.read() > _timeout) {
pc().printf("PD: timed out\r\n\n");
_state = POSITION_RISE; //new behavior 11/17/2017
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
}
@@ -385,12 +361,12 @@
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());
_state = POSITION_RISE;
- timer.reset();
+ _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(), timer.read(), imu().getHeading());
+ 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());
if (depthLoop().getPosition() > _max_recorded_depth_dive) {
_max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
@@ -408,8 +384,8 @@
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: POSITION RISE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -428,27 +404,24 @@
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());
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer.read() > _timeout) {
+ if (_fsm_timer.read() > _timeout) {
pc().printf("PR: timed out\r\n");
_state = EMERGENCY_CLIMB;
- timer.reset();
+ _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());
_state = FLOAT_BROADCAST;
- timer.reset();
+ _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(), timer.read(), imu().getHeading());
+ 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());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
@@ -462,8 +435,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -473,30 +446,24 @@
// what are the commands?
bce().setPosition_mm(_bceFloatPosition);
pitchLoop().setCommand(0.0);
-
- //create the log file (works only if the file is closed)
- //createNewFile();
-
- //triggers logger array
- _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer > _timeout) {
+ if (_fsm_timer > _timeout) {
pc().printf("FL: timed out\r\n");
_state = FLOAT_BROADCAST;
- timer.reset();
+ _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);
_state = FLOAT_BROADCAST;
- timer.reset();
+ _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(), timer.read());
+ 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());
batt().setPosition_mm(pitchLoop().getOutput());
break;
@@ -505,8 +472,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -516,19 +483,13 @@
// what are the commands?
bce().setPosition_mm(_bceFloatPosition); // 320.0
batt().setPosition_mm(_battFloatPosition); // 73.0
-
- //create the log file (works only if the file is closed)
- //createNewFile();
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer > _timeout) {
+ if (_fsm_timer > _timeout) {
pc().printf("FB: timed out\r\n");
_state = SIT_IDLE;
- timer.reset();
+ _fsm_timer.reset();
//stop recording data
//mbedLogger().closeFile();
@@ -539,7 +500,7 @@
(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());
_state = SIT_IDLE;
- timer.reset();
+ _fsm_timer.reset();
//stop recording data
//mbedLogger().closeFile();
@@ -548,7 +509,7 @@
}
// 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(), timer.read(), bce().getSetPosition_mm(),batt().getSetPosition_mm());
+ 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());
break;
@@ -556,8 +517,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: MULTI-DIVE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -574,27 +535,24 @@
pc().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
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer > _timeout) {
- pc().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", timer.read());
+ if (_fsm_timer > _timeout) {
+ pc().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
_state = MULTI_RISE; //new behavior 11/17/2017
- timer.reset();
+ _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());
_state = MULTI_RISE;
- timer.reset();
+ _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(), timer.read());
+ 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());
bce().setPosition_mm(depthLoop().getOutput());
batt().setPosition_mm(pitchLoop().getOutput());
@@ -606,8 +564,8 @@
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: MULTI-RISE\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
@@ -625,19 +583,13 @@
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());
-
- //create the log file (works only if the file is closed)
- //createNewFile();
-
- //triggers logger array
- _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again
}
// how exit?
- if (timer > _timeout) {
- pc().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", timer.read());
+ if (_fsm_timer > _timeout) {
+ pc().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
_state = EMERGENCY_CLIMB;
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
//reset multi-dive sequence to start
@@ -674,7 +626,7 @@
}
// 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(), timer.read());
+ 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());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
@@ -685,8 +637,8 @@
case TX_MBED_LOG:
if (!_isTimeoutRunning) {
pc().printf("\r\n\nstate: TX_MBED_LOG\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _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
@@ -695,28 +647,43 @@
//function to read the file and get number of lines (packets to transmit)
_timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
- //transmit_packet_number = mbedLogger().getNumberOfPackets(); //for comparison to end transmit sequence from python program
mbedLogger().setTransmitPacketNumber(0); //reset to zero
}
//TIMED OUT
- if (timer.read() > _timeout) {
+ if (_fsm_timer.read() > _timeout) {
pc().printf("\r\nTX_MBED_LOG: timed out!\r\n");
//STATE
_state = SIT_IDLE;
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
- mbedLogger().closeLogFile();
+ //mbedLogger().closeLogFile();
pc().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
}
+ //received end transmission packet (if this is true)
+ if (mbedLogger().endTransmitPacket()) {
+ //STATE
+ led3() = !led3();
+
+ _state = SIT_IDLE;
+
+ //reset timer
+ _fsm_timer.reset();
+
+ //mbedLogger().closeLogFile();
+
+ pc().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
+ }
+
//What is active?
- mbedLogger().fsmTransmitData();
+ //mbedLogger().fsmTransmitData();
mbedLogger().checkForPythonTransmitRequest();
+ led1() = !led1();
break;
@@ -725,15 +692,15 @@
if (!_isTimeoutRunning) {
pc().printf("RECEIVE_SEQUENCE _isTimeoutRunning\r\n");
- timer.reset(); // timer goes back to zero
- timer.start(); // background timer starts running
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
}
- if (timer.read() > _timeout) {
+ if (_fsm_timer.read() > _timeout) {
pc().printf("RECEIVE_SEQUENCE: timed out!\r\n");
_state = SIT_IDLE;
- timer.reset();
+ _fsm_timer.reset();
_isTimeoutRunning = false;
}
@@ -756,80 +723,69 @@
}
return _state;
-// //if the state is SIT_IDLE, return 0 / false (for recording)
-// if (_state == SIT_IDLE)
-// return 0;
-// else
-// return 1; //return true to indicate that you're recording
-}
+} /* end of runStateMachine */
// output the keyboard menu for user's reference
void StateMachine::printSimpleMenu() {
- pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (06/27/2018):\r\r\n"); //make sure depth sensor tares itself on startup
- pc().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f \r\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm);
+ 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 TX_MBED_LOG\r\n");
- pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
+ 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");
- pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
- pc().printf("A/S to decrease/increase depth setpoint: %3.1f (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
-
- pc().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
+ 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);
- 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");
+ 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");
- pc().printf(" '|' to tare the depth sensor (vertical bar)\r\n");
+ 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");
+ pc().printf(" ? to reset mbed\r\n");
+ pc().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
}
void StateMachine::printDebugMenu() {
- pc().printf("\r\r\n\nDEBUG KEYBOARD MENU (06/27/2018):\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(" O to transmit data.\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 (Current depth: %0.1f ft)\r\n",_depth_command, depthLoop().getPosition());
- pc().printf("9/0 to decrease/increase heading setpoint: %0.1f deg\r\n",_heading_command);
- pc().printf("k/l to decrease/increase BCE offset: %3.1f (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(";/' to decrease/increase BMM offset: %3.1f (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("\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);
-
-// FIXED WITH NEW CODE
- pc().printf(" 1 BCE PID sub-menu\r\n");
- pc().printf(" 2 BATT PID sub-menu\r\n");
- pc().printf(" 3 Depth PID sub-menu\r\n");
- pc().printf(" 4 Pitch PID sub-menu\r\n");
- pc().printf(" 5 Rudder (servo) sub-menu\r\n");
- pc().printf(" 6 HEADING PID sub-menu\r\n");
- pc().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE ***\r\n");
- //pc().printf(" 8 VIEW_OUTPUTS sub-menu (does not a have a timer!)\r\n");
- pc().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
-
-// FIXED WITH NEW CODE
+ 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");
pc().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
pc().printf(" ? to reset mbed\r\n");
@@ -844,9 +800,9 @@
case NEUTRAL_SINKING :
//start the 10 second timer
if (!_isSubStateTimerRunning) {
- _neutral_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds
+ _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, timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
+ 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());
// 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.
@@ -871,8 +827,8 @@
// what is active?
//once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
- if (timer.read() >= _neutral_timer) {
- pc().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", timer.read());
+ if (_fsm_timer.read() >= _neutral_timer) {
+ pc().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
}
@@ -885,9 +841,9 @@
case NEUTRAL_SLOWLY_RISE:
if (!_isSubStateTimerRunning) {
- _neutral_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
+ _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,timer.read());
+ pc().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)
@@ -909,15 +865,15 @@
}
//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", timer.read());
+ pc().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
}
// what is active?
//once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
- if (timer.read() >= _neutral_timer) {
- pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", timer.read());
+ if (_fsm_timer.read() >= _neutral_timer) {
+ pc().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
}
@@ -933,8 +889,8 @@
// start local state timer and init any other one-shot actions
if (!_isSubStateTimerRunning) {
- _neutral_timer = 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 - timer.read());
+ _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());
// what are the commands? (default: retract or extend 0.5 mm)
if (pitchLoop().getPosition() > 2) { // nose is high
@@ -971,9 +927,10 @@
pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
// save into the depth.txt and pitch.txt files
- configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset
- configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset
-
+
+ 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);
_substate = NEUTRAL_EXIT;
@@ -988,9 +945,9 @@
// what is active?
//once timer complete, reset the timeout so the state one-shot entry will move the setpoint
- if (timer.read() >= _neutral_timer) {
+ 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(), timer.read());
+ pc().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
}
@@ -1072,6 +1029,36 @@
pc().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");
+// rudder().pwm_pulse_off();
+// }
+//////////////////// TEST
+
+ else if (user_input == 'U') {
+ pc().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
+
+ mbedLogger().transmitMultiplePackets();
+ }
+
+ else if (user_input == 'H') {
+ pc().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
+ wait(1);
+ mbedLogger().blastData();
+
+ mbedLogger().transmitMultiplePackets();
+ }
+
+ else if (user_input == 'G') {
+ pc().printf("(G) BLAST DATA TEST! \n\r");
+ wait(1);
+ mbedLogger().blastData();
+
+ _keyboard_state = TX_MBED_LOG;
+ }
+
else if (user_input == '8') {
keyboard_menu_STREAM_STATUS();
}
@@ -1095,6 +1082,45 @@
_timeout = fabs(getFloatUserInput());
}
+ else if (user_input == 'C' or user_input == 'c') {
+
+ pc().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());
+ // 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("\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);
+
+ 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());
+ }
+
/***************************** COMMON COMMANDS *****************************/
/***************************** DEBUG MENU *****************************/
@@ -1151,10 +1177,6 @@
else if (user_input == 'X') {
mbedLogger().printMbedDirectory(); //print all log files to the screen
}
- else if (user_input == 'G') {
- wait(1);
- _keyboard_state = TX_MBED_LOG;
- }
else if (user_input == 'I') {
mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files
}
@@ -1215,7 +1237,7 @@
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);
+ configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
}
//BCE/DEPTH
@@ -1225,17 +1247,17 @@
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);
+ configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband);
}
// change settings
//heading is in the common controls
else if (user_input == 'Q') {
- pc().printf(">> Please enter the desired depth (ft).\r\n");
+ pc().printf(">> Please enter the desired PITCH (deg).\r\n");
_pitch_command = getFloatUserInput();
}
else if (user_input == 'A') {
- pc().printf(">> Please enter the desired pitch (deg).\r\n");
+ pc().printf(">> Please enter the desired DEPTH (ft).\r\n");
_depth_command = getFloatUserInput();
}
@@ -1252,9 +1274,9 @@
keyboard_menu_MANUAL_TUNING();
}
- else if (user_input == 'U') {
- keyboard_menu_POSITION_READINGS();
- }
+// else if (user_input == 'U') {
+// keyboard_menu_POSITION_READINGS();
+// }
// go to sub-menus for the PID gains (this is blocking)
else if (user_input == '1') {
@@ -1269,49 +1291,7 @@
else if (user_input == '4') {
keyboard_menu_PITCH_PID_settings();
}
-
- else if (user_input == 'C' or user_input == 'c') {
-
- pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
-
- // 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("\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);
-
- pc().printf("\r\n");
- 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());
- }
+
else if (user_input == '*') {
pc().printf("SWITCHING TO SIMPLE MENU!\r\n");
wait(2);
@@ -1344,65 +1324,11 @@
//printCurrentSdLog();
mbedLogger().printCurrentLogFile(); //print the current log file to the screen
}
- else if (user_input == 'G') {
- wait(1);
- _keyboard_state = TX_MBED_LOG;
- }
else if (user_input == '~') {
pc().printf("ERASING MBED LOG FILE\r\n");
mbedLogger().eraseFile();
}
- else if (user_input == 'C' or user_input == 'c') {
-
- pc().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
-
- // Testing out ADC
- float vref = 5.6;
- float vmeasured = 0;
- unsigned int raw = adc().readCh5();
- vmeasured = ((float)raw)/4095.0*vref;
-
- //same equations in mbed logger
- float press_xducer_PSI = (22.029*(5.0*adc().readCh5()/4095.0) + 10.884) * 0.145038; // Press_Xducer (on-board)
- float voltage_input = (adc().readCh6()/4095.0) * 5.0 * 7.8; //tnh
- float current_input = adc().readCh7()/4095.0;
-
- 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(),press_xducer_PSI);
- //pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
- pc().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),voltage_input);
- pc().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), current_input);
- 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("\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);
-
- pc().printf("\r\n");
- 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 == 'Q') {
pc().printf(">> Please enter the desired BMM offset (mm).\r\n");
@@ -1412,6 +1338,11 @@
pc().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");
+ _depth_command = getFloatUserInput();
+ }
//POSITION DIVE COMMANDS
else if (user_input == '*') {
@@ -1444,29 +1375,8 @@
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 [0(%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 (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",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("\n0(%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());
-
-
- //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);
-// pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition());
-// pc().printf("pitch: %3.1f deg\r\n",imu().getPitch());
-// pc().printf("heading (rudder): %3.1f deg\r\n",rudderLoop().getPosition()); //for heading
-
-// 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("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
-//
-// pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
-// pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
+// 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());
continue; // didn't get a user input, so keep waiting for it
}
@@ -1560,68 +1470,8 @@
}
}
-void StateMachine::keyboard_menu_HEADING_PID_settings() {
- char HEADING_PID_key;
-
- float heading_KP = headingLoop().getControllerP();
- float heading_KI = headingLoop().getControllerI();
- float heading_KD = headingLoop().getControllerD();
- float heading_offset_deg = headingLoop().getOutputOffset();
-
- // print the menu
- pc().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
- pc().printf("\n\r Adjust PID settings with the following keys: P and I and D");
- 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, offset: %3.1f mm \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset());
-
- // 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();
- }
- else {
- continue; // didn't get a user input, so keep waiting for it
- }
-
- // handle the user's key input
- if (HEADING_PID_key == 'S') { // user wants to save the modified values
- // set global values
- headingLoop().setControllerP(heading_KP);
- headingLoop().setControllerI(heading_KI);
- headingLoop().setControllerD(heading_KD);
- headingLoop().setOutputOffset(heading_offset_deg);
-
- // save pitch PID values for outer loop (must save neutral position also)
- configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg); //_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());
- }
- else if (HEADING_PID_key == 'X') {
- break; //exit the while loop
- }
-
- else if (HEADING_PID_key == 'P') {
- heading_KP = getFloatUserInput();;
- }
- else if (HEADING_PID_key == 'I') {
- heading_KI = getFloatUserInput();
- }
- else if (HEADING_PID_key == 'D') {
- heading_KD = getFloatUserInput();
- }
- else if (HEADING_PID_key == 'O') {
- heading_offset_deg = getFloatUserInput();
- }
-
- else {
- pc().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
- }
- }
-}
-
void StateMachine::keyboard_menu_COUNTS_STATUS() {
-
+ // DELETE REMOVE
}
void StateMachine::keyboard_menu_MANUAL_TUNING() {
@@ -1757,60 +1607,43 @@
}
}
-void StateMachine::keyboard_menu_POSITION_READINGS() {
- char TUNING_key;
-
- // show the menu
- pc().printf("\r\n9: BCE and BMM POSITION 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 {
- // Testing out ADC
- wait(0.5);
- float vref = 5.6;
- float vmeasured = 0;
- 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) \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());
- //pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);
- // End of ADC Test
-
-// 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());
-
- 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("\r\n9: BCE and BMM POSITION 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 {
+// // Testing out ADC
+// wait(0.5);
+// float vref = 5.6;
+// float vmeasured = 0;
+// 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());
+//
+// continue; // didn't get a user input, so keep waiting for it
+// }
+// }
+//}
void StateMachine::keyboard_menu_BCE_PID_settings() {
- char PID_key;
+ char BCE_PID_key;
float bce_KP = bce().getControllerP(); // load current value
float bce_KI = bce().getControllerI(); // load current global value
@@ -1818,54 +1651,64 @@
// show the menu
pc().printf("\n\rBuoyancy Engine PID gain settings (MENU)");
- pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
+ 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, zero %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());
+ 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());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (pc().readable()) {
- PID_key = pc().getc();
+ BCE_PID_key = pc().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
- if (PID_key == 'S') { // user wants to save these modified values
+ if (BCE_PID_key == 'S') { // user wants to save these modified values
// set values
bce().setControllerP(bce_KP);
bce().setControllerI(bce_KI);
bce().setControllerD(bce_KD);
- // save to "BATT.TXT" file
- configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD);
+ // 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());
}
- else if (PID_key == 'X') {
+ else if (BCE_PID_key == 'X') {
break; //exit the while loop
}
- else if (PID_key == 'P') {
+ else if (BCE_PID_key == 'P') {
pc().printf(">> Type in proportional gain with keyboard.\n\r");
bce_KP = getFloatUserInput();
}
- else if (PID_key == 'I') {
+ else if (BCE_PID_key == 'I') {
pc().printf(">> Type in integral gain with keyboard.\n\r");
bce_KI = getFloatUserInput();
}
- else if (PID_key == 'D') {
+ else if (BCE_PID_key == 'D') {
pc().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");
+ float bce_freq = getFloatUserInput();
+ bce().setFilterFrequency(bce_freq);
+ }
+ else if (BCE_PID_key == 'B') {
+ pc().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", PID_key);
+ pc().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
}
}
}
void StateMachine::keyboard_menu_BATT_PID_settings() {
- char PID_key;
+ char BMM_PID_key;
float batt_KP = batt().getControllerP(); // load current global value
float batt_KI = batt().getControllerI(); // load current global value
@@ -1873,7 +1716,7 @@
// print the menu
pc().printf("\n\rBattery Motor PID gain settings (MENU)");
- pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
+ 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());
@@ -1881,159 +1724,279 @@
while(1) {
// get the user's keystroke from either of the two inputs
if (pc().readable()) {
- PID_key = pc().getc();
+ BMM_PID_key = pc().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
- if (PID_key == 'S') { // user wants to save these modified values
+ if (BMM_PID_key == 'S') { // user wants to save these modified values
// set values
batt().setControllerP(batt_KP);
batt().setControllerI(batt_KI);
batt().setControllerD(batt_KD);
// save to "BATT.TXT" file
- configFileIO().saveBattData(batt_KP, batt_KI, batt_KD);
+ 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());
}
- else if (PID_key == 'X') {
+ else if (BMM_PID_key == 'X') {
break; //exit the while loop
}
- else if (PID_key == 'P') {
+ else if (BMM_PID_key == 'P') {
pc().printf(">> Type in proportional gain with keyboard.\n\r");
batt_KP = getFloatUserInput();
}
- else if (PID_key == 'I') {
+ else if (BMM_PID_key == 'I') {
pc().printf(">> Type in integral gain with keyboard.\n\r");
batt_KI = getFloatUserInput();
}
- else if (PID_key == 'D') {
+ else if (BMM_PID_key == 'D') {
pc().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");
+ float batt_freq = getFloatUserInput();
+ batt().setFilterFrequency(batt_freq);
+ }
+ else if (BMM_PID_key == 'B') {
+ pc().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", PID_key);
+ pc().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
}
}
}
void StateMachine::keyboard_menu_DEPTH_PID_settings() {
- char PID_key;
+ char DEPTH_PID_key;
float depth_KP = depthLoop().getControllerP(); // load current depth value
float depth_KI = depthLoop().getControllerI(); // load current depth value
float depth_KD = depthLoop().getControllerD(); // load current depth value
+ float depth_freq = depthLoop().getFilterFrequency();
+ float depth_deadband = depthLoop().getDeadband();
// print the menu
pc().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
- pc().printf("\n\r(Adjust PID settings with the following keys: P and I and D");
+ 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 \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
+ 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());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (pc().readable()) {
- PID_key = pc().getc();
+ DEPTH_PID_key = pc().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
- if (PID_key == 'S') { // user wants to save these modified values
+ if (DEPTH_PID_key == 'S') { // user wants to save these modified values
// set values
depthLoop().setControllerP(depth_KP);
depthLoop().setControllerI(depth_KI);
- depthLoop().setControllerD(depth_KD);
+ depthLoop().setControllerD(depth_KD);
+ depthLoop().setFilterFrequency(depth_freq);
+ depthLoop().setDeadband(depth_deadband);
// save to "DEPTH.TXT" file
- configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm);
- pc().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset());
+ 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());
//set class variables that will be used in find neutral sequence
_depth_KP = depthLoop().getControllerP(); // load current depth value
_depth_KI = depthLoop().getControllerI(); // load current depth value
_depth_KD = depthLoop().getControllerD(); // load current depth value
}
- else if (PID_key == 'X') {
+ else if (DEPTH_PID_key == 'X') {
break; //exit the while loop
}
- else if (PID_key == 'P') {
+ else if (DEPTH_PID_key == 'P') {
pc().printf(">> Type in proportional gain with keyboard.\n\r");
depth_KP = getFloatUserInput();
}
- else if (PID_key == 'I') {
+ else if (DEPTH_PID_key == 'I') {
pc().printf(">> Type in integral gain with keyboard.\n\r");
depth_KI = getFloatUserInput();
}
- else if (PID_key == 'D') {
+ else if (DEPTH_PID_key == 'D') {
pc().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");
+ depth_freq = getFloatUserInput();
+ }
+ else if (DEPTH_PID_key == 'B') {
+ pc().printf(">> Type in DEADBAND with keyboard.\n\r");
+ depth_deadband = getFloatUserInput();
+ }
else {
- pc().printf("\n\rDEPTH: [%c] This key does nothing here. \r", PID_key);
+ pc().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
}
}
}
void StateMachine::keyboard_menu_PITCH_PID_settings() {
- char PID_key;
+ char PITCH_PID_key;
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_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\r(Adjust PID settings with the following keys: P and I and D");
+ 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 \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
+ 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());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (pc().readable()) {
- PID_key = pc().getc();
+ PITCH_PID_key = pc().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
- if (PID_key == 'S') { // user wants to save these modified values
+ if (PITCH_PID_key == 'S') { // user wants to save these modified values
// set values
pitchLoop().setControllerP(pitch_KP);
pitchLoop().setControllerI(pitch_KI);
- pitchLoop().setControllerD(pitch_KD);
+ pitchLoop().setControllerD(pitch_KD);
+ pitchLoop().setFilterFrequency(pitch_freq);
+ pitchLoop().setDeadband(pitch_deadband);
- // save to "PITCH.TXT" file
- configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm);
- pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset());
-
+ // 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());
+
_pitch_KP = pitchLoop().getControllerP(); // load current pitch value
_pitch_KI = pitchLoop().getControllerI(); // load current pitch value
_pitch_KD = pitchLoop().getControllerD(); // load current pitch value
}
- else if (PID_key == 'X') {
+ else if (PITCH_PID_key == 'X') {
break; //exit the while loop
}
- else if (PID_key == 'P') {
+ else if (PITCH_PID_key == 'P') {
pc().printf(">> Type in proportional gain with keyboard.\n\r");
pitch_KP = getFloatUserInput();
}
- else if (PID_key == 'I') {
+ else if (PITCH_PID_key == 'I') {
pc().printf(">> Type in integral gain with keyboard.\n\r");
pitch_KI = getFloatUserInput();
}
- else if (PID_key == 'D') {
+ else if (PITCH_PID_key == 'D') {
pc().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");
+ pitch_freq = getFloatUserInput();
+ }
+ else if (PITCH_PID_key == 'B') {
+ pc().printf(">> Type in DEADBAND with keyboard.\n\r");
+ pitch_deadband = getFloatUserInput();
+ }
else {
- pc().printf("\n\rPITCH: [%c] This key does nothing here. \r", PID_key);
+ pc().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
+ }
+ }
+}
+
+void StateMachine::keyboard_menu_HEADING_PID_settings() {
+ char HEADING_PID_key;
+
+ float heading_KP = headingLoop().getControllerP();
+ float heading_KI = headingLoop().getControllerI();
+ float heading_KD = headingLoop().getControllerD();
+ float heading_offset_deg = headingLoop().getOutputOffset();
+ float heading_freq = headingLoop().getFilterFrequency();
+ 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());
+
+ // 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();
+ }
+ else {
+ continue; // didn't get a user input, so keep waiting for it
+ }
+
+ // handle the user's key input
+ if (HEADING_PID_key == 'S') { // user wants to save the modified values
+ // set global values
+ headingLoop().setControllerP(heading_KP);
+ headingLoop().setControllerI(heading_KI);
+ headingLoop().setControllerD(heading_KD);
+ headingLoop().setOutputOffset(heading_offset_deg);
+
+ // 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());
+ }
+ else if (HEADING_PID_key == 'X') {
+ break; //exit the while loop
+ }
+
+ else if (HEADING_PID_key == 'P') {
+ heading_KP = getFloatUserInput();;
+ }
+ else if (HEADING_PID_key == 'I') {
+ heading_KI = getFloatUserInput();
+ }
+ else if (HEADING_PID_key == 'D') {
+ heading_KD = getFloatUserInput();
+ }
+ else if (HEADING_PID_key == 'F') {
+ pc().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");
+ 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);
}
}
}
@@ -2060,6 +2023,8 @@
void StateMachine::setState(int input_state) {
_state = input_state;
+
+ _isTimeoutRunning = false; //to start each state you have to reset this
}
int StateMachine::getState() {
@@ -2085,10 +2050,6 @@
pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
}
-int StateMachine::timeoutRunning() {
- return _isTimeoutRunning;
-}
-
//process one state at a time
void StateMachine::getDiveSequence() {
//iterate through this sequence using the FSM
@@ -2105,15 +2066,6 @@
//might be worth saving the last few logs to the MBED...
}
-//check if the file is still opened
-void StateMachine::createNewFile() {
- if (_file_closed) {
- //mbedLogger().createFile(); //create a new MBED file
-
- _file_closed = false; //file is still open until you get to SIT_IDLE
- }
-}
-
// 06/06/2018
float StateMachine::getFloatUserInput() {
float float_conversion = 0.0;
@@ -2164,4 +2116,8 @@
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