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
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StateMachine.cpp
00001 #include "StateMachine.hpp" 00002 #include "StaticDefs.hpp" 00003 00004 StateMachine::StateMachine() { 00005 _timeout = 20; // generic timeout for every state, seconds 00006 _yo_time = 40; // previously= 400 ; timeout for a dive or rise yo, not set for other ops 00007 _state_transition_time = 20; // previously =60; time to allow motors to come to rest in float_broadcast 00008 _pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state 00009 00010 _bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm) 00011 _battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm) 00012 00013 _disconnect_batt_pos_mm = _battFloatPosition; // all the way forward 00014 _batt_flying_pos_mm = 22.0; 00015 _timeout_splashdown = 120; // two minutes?? 00016 _motorDisconnect_triggered = 0; 00017 _depth_command = 2.0; // user keyboard depth (default) 00018 _pitch_command = -20.0; // user keyboard pitch (default) 00019 _heading_command = 0.0; 00020 _start_swim_entry = SIT_IDLE; 00021 _neutral_entry_state = SIT_IDLE; 00022 //new commands 00023 _BCE_dive_offset = 0.0; //starting at the limits 00024 _BMM_dive_offset = 0.0; 00025 //new commands 00026 00027 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM 00028 _neutral_success = 0; // used if find neutral has not been run and neutral_setval is also not 1 from neutral.txt file 00029 ////////////////////////////// 00030 00031 _state = SIT_IDLE; // select starting state here 00032 _isTimeoutRunning = false; // default timer to not running 00033 _isSubStateTimerRunning = false; // default timer to not running 00034 ///////////////////////////// 00035 _multi_dive_counter = 0; 00036 _multi_leg_counter = 0; 00037 _depth_KP = depthLoop().getControllerP(); // load current depth value 00038 _depth_KI = depthLoop().getControllerI(); // load current depth value 00039 _depth_KD = depthLoop().getControllerD(); // load current depth value 00040 00041 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value 00042 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value 00043 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value 00044 00045 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset 00046 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset 00047 00048 _state_array_counter = 1; //used to iterate through and record states 00049 _substate_array_counter = 0; //used to iterate through and record substates 00050 00051 _state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this 00052 00053 _substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING 00054 _previous_substate = -1; //to start sub-FSM 00055 _previous_state = -1; //for tracking FSM states 00056 00057 _max_recorded_depth_neutral = -99; //float to record max depth 00058 _max_recorded_depth_dive = -99; //float to record max depth 00059 00060 _max_recorded_auto_neutral_depth = -99; 00061 00062 _debug_menu_on = false; //toggle between debug and simple menu screens 00063 00064 //new file stuff 00065 _pitch_filter_freq = pitchLoop().getFilterFrequency(); 00066 _pitch_deadband = pitchLoop().getDeadband(); 00067 00068 _depth_filter_freq = depthLoop().getFilterFrequency(); 00069 _depth_deadband = depthLoop().getDeadband(); 00070 } 00071 00072 //Finite State Machine (FSM) 00073 int StateMachine::runStateMachine() { // ends about line 1022 00074 // finite state machine ... each state has at least one exit criteria 00075 static int lpd_oneshots=0; 00076 static int lpr_oneshots=0; 00077 static int finish_leg=0; // allow a rise to complete ( if it takes less than a yo_time, then exit to FB) 00078 static float leg_max_depth = 0; 00079 static float leg_min_depth =0; 00080 static float leg_heading = 90; //go east! 00081 char buf[256]; 00082 switch (_state) { 00083 case ENDLEG_WAIT: 00084 if(!_isTimeoutRunning) { 00085 _yotimer.reset(); _yotimer.start(); _fsm_timer.reset(); _fsm_timer.start(); 00086 _isTimeoutRunning = 1; 00087 } 00088 keyboard(); //keyboard function now needs to know about this state and its timeout 00089 break; 00090 case FLYING_IDLE: // wait for some signal and the move the battery by a known amount 00091 // then wait until you drop to START_SWIM on a timeout 00092 if (!_isTimeoutRunning) { // start in the correct state, tell it once where to move 00093 _fsm_timer.reset(); 00094 _fsm_timer.start(); 00095 _isTimeoutRunning = 1; 00096 batt().unpause(); 00097 batt().setPosition_mm(_batt_flying_pos_mm); // do nothing - may include not bothering to log data - yes both SIT_IDLE and FLYING_IDLE do not log 27mar2019 00098 sprintf(buf, "FLYING_IDLE started in statemachine\n\n\r"); 00099 mbedLogger().appendDiagFile(buf,0); 00100 } 00101 if (motorDisconnect().read() || (_fsm_timer > 13)) { // for real case, only test is motorDisconnect().read(), timeout check is for testing only 00102 _motorDisconnect_triggered = 1; // once hardware has switched once, do not need it again 00103 // move the battery 00104 // reset and start the timer for post disconnect wait 00105 sprintf(buf, "FLYING_IDLE: motorDisconnect.read() at timeout=13sec, to end\n\r"); 00106 mbedLogger().appendDiagFile(buf,0); 00107 _fsm_timer.reset(); 00108 _fsm_timer.start(); 00109 _isTimeoutRunning = 1; 00110 batt().unpause(); //this is now active 00111 batt().setPosition_mm(_disconnect_batt_pos_mm); 00112 00113 } 00114 _timeout_splashdown = 6; // timeout_splashdown reduced to 6 seconds for testing, usually 120 sec 00115 if( _motorDisconnect_triggered && _isTimeoutRunning) { 00116 // how end - timeout 00117 if (_fsm_timer > _timeout_splashdown) { // timeout_splashdown reduced to 6 seconds for testing, usually 120 sec 00118 xbee().printf("FLYING_IDLE ended: timed out! Go to START_SWIM \r\n"); // go to start_swim 00119 //tare the pressure sensor 00120 depth().tare(); // tares to ambient (do on surface) 00121 _state = START_SWIM; // alternately, go into the legStruct and set start_swim now? rather than leg, or leg_position_dive 00122 _start_swim_entry = FLYING_IDLE; 00123 sprintf(buf, "FLYING_IDLE ended on splashdown timeout go to Start_swim\n\n\r"); 00124 mbedLogger().appendDiagFile(buf,3); 00125 00126 //sprintf(buf, "FLYING_IDLE ended on splashdown timeout. FOR testing go to ENDLEG_WAIT instead of go to Start_swim\n\n\r"); 00127 //mbedLogger().appendDiagFile(buf,0); 00128 //_state = ENDLEG_WAIT; 00129 _fsm_timer.reset(); 00130 _isTimeoutRunning = false; 00131 } 00132 } 00133 break; 00134 case SIT_IDLE: // sit_idle and fb_exit fall through to keyboard actions, since they do not have break statements 00135 case FB_EXIT: 00136 case KEYBOARD : 00137 // there actually is no timeout test for SIT_IDLE, but this enables some one-shot actions 00138 if (!_isTimeoutRunning) { // presumably the first time back in this block, whatever ended stopped the timeout_running. 00139 //tare pressure sensor 00140 depth().tare(); // tares to ambient (do on surface) 00141 00142 if (_debug_menu_on) 00143 printDebugMenu(); 00144 else 00145 printSimpleMenu(); 00146 xbee().printf("\r\n\nstate: SIT_IDLE\r\n"); 00147 _isTimeoutRunning = true; 00148 00149 // what is active? 00150 bce().pause(); 00151 batt().pause(); 00152 00153 //reset sub FSM 00154 _isSubStateTimerRunning = false; 00155 } 00156 00157 // how exit? 00158 keyboard(); // keyboard function will change the state if needed 00159 break; 00160 00161 case CHECK_TUNING : // state used to check the tuning of the pressure vessel 00162 // start local state timer and init any other one-shot actions 00163 if (!_isTimeoutRunning) { 00164 xbee().printf("\r\n\nstate: CHECK_TUNING\r\n"); 00165 _fsm_timer.reset(); // timer goes back to zero 00166 _fsm_timer.start(); // background timer starts running 00167 _isTimeoutRunning = true; 00168 00169 // what needs to be started? 00170 bce().unpause(); //this is now active 00171 batt().unpause(); //this is now active 00172 00173 // what are the commands? (DRIVE THE MOTORS "DIRECTLY") 00174 bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization 00175 batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization 00176 00177 // getSetPosition_mm is the commanded position in the LinearActuator class 00178 00179 xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm()); 00180 xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm()); 00181 } 00182 00183 // how exit? 00184 if (_fsm_timer > _timeout) { 00185 xbee().printf("CHECK_TUNING: timed out!\r\n"); 00186 _state = FLOAT_BROADCAST; 00187 _fsm_timer.reset(); 00188 _isTimeoutRunning = false; 00189 } 00190 00191 //WHAT IS ACTIVE? 00192 // the inner loop position controls are maintaining the positions of the linear actuators 00193 00194 //print status to screen continuously 00195 xbee().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f m,pitch: %0.1f deg,heading: %0.1f) [%0.1f sec]\r", 00196 bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(), 00197 pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read()); 00198 00199 break; 00200 00201 case EMERGENCY_CLIMB : 00202 // start local state timer and init any other one-shot actions 00203 if (!_isTimeoutRunning) { 00204 xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n"); 00205 _fsm_timer.reset(); // timer goes back to zero 00206 _fsm_timer.start(); // background timer starts running 00207 _yotimer.reset(); 00208 _yotimer.start(); 00209 _isTimeoutRunning = true; 00210 00211 // what needs to be started? 00212 bce().unpause(); 00213 batt().unpause(); 00214 00215 // what are the commands? 00216 bce().setPosition_mm(bce().getTravelLimit()); 00217 batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy) 00218 } 00219 00220 // how exit? 00221 if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) { 00222 xbee().printf("EC: timed out\r\n"); 00223 _state = FLOAT_BROADCAST; 00224 _fsm_timer.reset(); _yotimer.reset(); 00225 _isTimeoutRunning = false; 00226 } 00227 else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast 00228 _state = FLOAT_BROADCAST; 00229 _fsm_timer.reset(); _yotimer.reset(); 00230 _isTimeoutRunning = false; 00231 sprintf(buf, "EMERGENCY_CLIMB - at surface ... now go to FLOAT_BROADCAST\n\n\r"); 00232 mbedLogger().appendDiagFile(buf,3); 00233 } 00234 00235 //WHAT IS ACTIVE? 00236 //print status to screen continuously 00237 xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read()); 00238 00239 break; 00240 00241 case FIND_NEUTRAL : 00242 // start local state timer and init any other one-shot actions 00243 if (!_isTimeoutRunning) { 00244 xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n"); 00245 _fsm_timer.reset(); // timer goes back to zero 00246 _fsm_timer.start(); // background timer starts running 00247 _isTimeoutRunning = true; 00248 00249 // what needs to be started? 00250 bce().unpause(); 00251 batt().unpause(); 00252 00253 //start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much 00254 float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0; 00255 //float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0; 00256 00257 bce().setPosition_mm(bce_find_neutral_mm); 00258 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position 00259 00260 //first iteration goes into Neutral Finding Sub-FSM 00261 //set the first state of the FSM, and start the sub-FSM 00262 _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking 00263 _previous_substate = -1; 00264 00265 //save this state to the array 00266 _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array 00267 _substate_array_counter++; 00268 00269 runNeutralStateMachine(); 00270 } 00271 00272 // how exit? (exit with the timer, if timer still running continue processing sub FSM) 00273 if (_fsm_timer > _timeout) { 00274 xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read()); 00275 sprintf(buf, "FIND_NEUTRAL - timed out roll=%f depth = %f now exit to EMERG_CLIMB\n\n", imu().getRoll(), depthLoop().getPosition()); 00276 mbedLogger().appendDiagFile(buf,3); 00277 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces) 00278 _fsm_timer.reset(); 00279 sprintf(buf, "FN: timed out [time:%0.1f sec], _neutral_success = -1 for info to float_broadcast\n", _fsm_timer.read()); 00280 mbedLogger().appendDiagFile(buf,3); 00281 _fsm_timer.reset(); 00282 _neutral_success = -1; 00283 _isTimeoutRunning = false; 00284 00285 //record this to the NEUTRAL sub-FSM tracker 00286 _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array 00287 _substate_array_counter++; 00288 } 00289 00290 00291 //what is active? (neutral finding sub-function runs until completion) 00292 //check if substate returned exit state, if so stop running the sub-FSM 00293 00294 else if (runNeutralStateMachine() == NEUTRAL_EXIT) { // but this line will repeatedly runneutralstatemachine as long as the overall state is FIND_NEUTRAL 00295 //if successful, FIND_NEUTRAL then goes to RISE 00296 xbee().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n"); 00297 sprintf(buf, "FIND_NEUTRAL - at Neutral EXIT now go to RISE\n\n"); 00298 mbedLogger().appendDiagFile(buf,3); 00299 if(_neutral_success == 0 ) { // failed in finding neutral - bad exit states 00300 configFileIO().report_no_neutral_found( bce().getPosition_mm(), batt().getPosition_mm()); // this is a message "no_float.txt" 00301 //to the raspberry Pi control computer 00302 } 00303 _state = RISE; // adjust this to leg_position_dive with an if statement - if not sent via keyboard 00304 // also set flags/structures that neutral was found successfully. 00305 if (_neutral_entry_state == START_SWIM ) { 00306 _state = EMERGENCY_CLIMB; finish_leg =1; 00307 sprintf(buf, "FN neutral_EXIT: but entry via start_swim, so radio call is next\n\n\r"); 00308 mbedLogger().appendDiagFile(buf,3); 00309 } //exit case when not entered by keyboard 00310 _isTimeoutRunning = false; 00311 } 00312 break; 00313 00314 case DIVE : 00315 // start local state timer and init any other one-shot actions 00316 00317 if (!_isTimeoutRunning) { 00318 xbee().printf("\r\n\nstate: DIVE\r\n"); 00319 _fsm_timer.reset(); // timer goes back to zero 00320 _fsm_timer.start(); // background timer starts running 00321 _isTimeoutRunning = true; 00322 00323 // what needs to be started? 00324 bce().unpause(); 00325 batt().unpause(); 00326 00327 // what are the commands? 00328 depthLoop().setCommand(_depth_command); 00329 pitchLoop().setCommand(_pitch_command); 00330 00331 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00332 00333 xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); 00334 xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); 00335 xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00336 00337 //reset max dive depth 00338 _max_recorded_depth_dive = -99; //float to record max depth 00339 } 00340 00341 // how exit? 00342 if (_fsm_timer.read() > _timeout) { 00343 xbee().printf("DIVE: timed out\r\n\n"); 00344 _state = RISE; //new behavior 11/17/2017 00345 _fsm_timer.reset(); 00346 _isTimeoutRunning = false; 00347 } 00348 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches 00349 xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00350 _state = RISE; 00351 _fsm_timer.reset(); 00352 _isTimeoutRunning = false; 00353 } 00354 00355 // WHAT IS ACTIVE? 00356 xbee().printf("DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", 00357 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(), 00358 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read()); 00359 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors 00360 batt().setPosition_mm(pitchLoop().getOutput()); 00361 00362 // ACTIVE RUDDER CONTROL 00363 rudder().setPosition_deg(headingLoop().getOutput()); 00364 00365 if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug 00366 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded 00367 } 00368 00369 break; 00370 case START_SWIM : 00371 // start local state timer and init any other one-shot actions 00372 if (!_isTimeoutRunning) { 00373 xbee().printf("\r\n\nstate: START_SWIM\r\n"); 00374 _fsm_timer.reset(); // timer goes back to zero 00375 _fsm_timer.start(); // background timer starts running 00376 sprintf(buf, "START_SWIM begun \n\r"); 00377 mbedLogger().appendDiagFile(buf,3); 00378 _yotimer.reset(); 00379 _yotimer.start(); 00380 _isTimeoutRunning = true; 00381 //tare the pressure sensor 00382 depth().tare(); // tares to ambient (do on surface) HOW certain am I that this tare only happens at surface? 00383 if( fabs(imu().getRoll()) > 70 && depthLoop().getPosition() < 9.0) { //inversion operations 00384 // what needs to be started? 00385 bce().unpause(); 00386 batt().unpause(); 00387 rudder().unpause(); 00388 _depth_command = 10; // this should be meters depth 00389 _heading_command = 90; 00390 _timeout = 180; 00391 sprintf(buf, "START_SWIM found upside down, starting to descend imu().getRoll()= %f \n\r", imu().getRoll()); 00392 mbedLogger().appendDiagFile(buf,3); 00393 00394 // what are the commands? (using inner loops except for heading outer loop) 00395 // These actions happen ONCE in the POSITION_DIVE sequence 00396 00397 //DEPTH and HEADING COMMANDS first 00398 depthLoop().setCommand(_depth_command); 00399 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00400 00401 // move BCE and batt to new target positions 00402 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors 00403 // depthloop().getOutput() will tell bce() to basically hold at neutral if you are at the desired depth ( assuming that zeroOffset for depth is correct) 00404 00405 batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise 00406 //batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); // dare not use neutral postions before knowing what neutral is 00407 //bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is 00408 00409 00410 00411 xbee().printf("START_SWIM: inversion BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //g 00412 xbee().printf("START_SWIM: inversion BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //g 00413 xbee().printf("START_SWIM: inversion starting roll = : %3.1f\r\n",imu().getRoll() ); //g 00414 } //end of inversion section 00415 if( fabs(imu().getRoll()) >70 && depthLoop().getPosition() > 9.0) { //still inverted 00416 // what needs to be started? 00417 bce().unpause(); 00418 batt().unpause(); 00419 rudder().unpause(); 00420 _depth_command = 9; 00421 _heading_command = 90; 00422 _timeout = 120; 00423 _pitch_command = 0; 00424 00425 //DEPTH COMMAND 00426 depthLoop().setCommand(_depth_command); 00427 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00428 00429 // what are the commands? (using inner loops except for heading outer loop) 00430 // These actions happen ONCE in the POSITION_DIVE sequence 00431 //batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); // is this right ?? looks like climb commands 00432 //bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is 00433 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors 00434 batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise 00435 00436 00437 xbee().printf("START_SWIM: inversion BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //g 00438 xbee().printf("START_SWIM: inversion BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //g 00439 xbee().printf("START_SWIM: inversion starting roll = : %3.1f\r\n",imu().getRoll() ); //g 00440 sprintf(buf, "START_SWIM still upside down but depth>9m, set up to limit descent: depth = %f roll=%f\n\n\r", depthLoop().getPosition(), imu().getRoll()); 00441 mbedLogger().appendDiagFile(buf,3); 00442 } 00443 if( fabs(imu().getRoll()) <70 && _start_swim_entry == FLYING_IDLE ) { // starts out right side up, still inside first call to start_swim 00444 finish_leg = 1; //this works to get to FB_EXIT, 00445 _state = FLOAT_BROADCAST; 00446 _fsm_timer.reset(); _yotimer.reset(); 00447 _isTimeoutRunning = false; 00448 sprintf(buf, "START_SWIM now upright, called by flying_idle, so end now. roll= %f depth = %f\n\r", imu().getRoll(), depthLoop().getPosition()); 00449 mbedLogger().appendDiagFile(buf,3); 00450 } 00451 if( fabs(imu().getRoll()) <70 && _start_swim_entry != FLYING_IDLE ) { // starts out right side up, on second on/off cycle 00452 _state = FIND_NEUTRAL; 00453 _neutral_entry_state = START_SWIM; 00454 _fsm_timer.reset(); _yotimer.reset(); 00455 _isTimeoutRunning = false; 00456 sprintf(buf, "START_SWIM not called by FLYING_IDLE, so go to find_neutral: depth= %f\n\r", depthLoop().getPosition()); 00457 mbedLogger().appendDiagFile(buf,3); 00458 } 00459 } //end of timeout running ==0 00460 00461 // how exit? keep diving and watching depth while also watching imu().getRoll() 00462 if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) { // this is bad, still upside down. 00463 xbee().printf("start_swim: timed out\r\n"); 00464 sprintf(buf, "start_swim timed out on yo_time or timeout - still upside down bad - go to FLOAT_BROADCAST roll=%f \n\n\r", imu().getRoll()); 00465 mbedLogger().appendDiagFile(buf,3); 00466 configFileIO().report_still_inverted( fabs(imu().getRoll()), _yo_time); // tells how long you waited, puts in file "inverted.txt" 00467 _state = FLOAT_BROADCAST; 00468 _fsm_timer.reset(); _yotimer.reset(); 00469 _isTimeoutRunning = false; 00470 } 00471 else if (fabs(imu().getRoll()) <30 ) { // pretty much righted itself go to FIND_NEUTRAL 00472 _state = FIND_NEUTRAL; 00473 _neutral_entry_state = START_SWIM; 00474 sprintf(buf, "START_SWIM - turned self upright roll=%f depth = %f , now go toFIND_NEUTRAL\n\n\r", imu().getRoll(), depthLoop().getPosition()); 00475 mbedLogger().appendDiagFile(buf,3); 00476 // print message ? 00477 _fsm_timer.reset(); _yotimer.reset(); 00478 _isTimeoutRunning = false; 00479 } 00480 00481 //WHAT IS ACTIVE? 00482 //print status to screen continuously 00483 xbee().printf("START_SWIM: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", 00484 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(), 00485 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read()); 00486 00487 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors 00488 batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise 00489 00490 break; 00491 00492 case RISE : 00493 // start local state timer and init any other one-shot actions 00494 00495 if (!_isTimeoutRunning) { 00496 xbee().printf("\r\n\nstate: RISE\r\n"); 00497 _fsm_timer.reset(); // timer goes back to zero 00498 _fsm_timer.start(); // background timer starts running 00499 _isTimeoutRunning = true; 00500 00501 // what needs to be started? 00502 bce().unpause(); 00503 batt().unpause(); 00504 00505 // what are the commands? 00506 depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool) 00507 pitchLoop().setCommand(-_pitch_command); 00508 00509 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00510 00511 xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); 00512 xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); 00513 xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00514 } 00515 00516 // how exit? 00517 if (_fsm_timer.read() > _timeout) { 00518 xbee().printf("RISE: timed out\r\n"); 00519 _state = EMERGENCY_CLIMB; 00520 _fsm_timer.reset(); 00521 _isTimeoutRunning = false; 00522 } 00523 00524 //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) 00525 //did not work correctly in bench test (stuck in rise state) 00526 else if (depthLoop().getPosition() < 0.5) { 00527 xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00528 sprintf(buf, "in RISE: at surface ... depth =%g ... now go to FLOAT_BROADCAST\n\n\r", depthLoop().getPosition()); 00529 mbedLogger().appendDiagFile(buf,3); 00530 _state = FLOAT_BROADCAST; 00531 _fsm_timer.reset(); 00532 _isTimeoutRunning = false; 00533 } 00534 00535 // WHAT IS ACTIVE? 00536 xbee().printf("RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", 00537 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(), 00538 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read()); 00539 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors 00540 batt().setPosition_mm(pitchLoop().getOutput()); 00541 00542 // ACTIVE RUDDER CONTROL 00543 rudder().setPosition_deg(headingLoop().getOutput()); 00544 00545 break; 00546 00547 // NEW DIVE AND RISE SEQUENCES 00548 case POSITION_DIVE : 00549 // start local state timer and init any other one-shot actions 00550 if (!_isTimeoutRunning) { 00551 xbee().printf("\r\n\nstate: POSITION DIVE\r\n"); 00552 _fsm_timer.reset(); // timer goes back to zero 00553 _fsm_timer.start(); // background timer starts running 00554 _isTimeoutRunning = true; 00555 00556 // what needs to be started? 00557 bce().unpause(); 00558 batt().unpause(); 00559 rudder().unpause(); 00560 00561 // what are the commands? (using inner loops except for heading outer loop) 00562 // These actions happen ONCE in the POSITION_DIVE sequence 00563 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); 00564 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset); 00565 00566 //DEPTH COMMAND 00567 depthLoop().setCommand(_depth_command); 00568 00569 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00570 00571 xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position 00572 xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position 00573 xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00574 00575 //reset max dive depth 00576 _max_recorded_depth_dive = -99; //float to record max depth 00577 } 00578 00579 // how exit? 00580 // timer runs out goes to POSITION_RISE 00581 if (_fsm_timer.read() > _timeout) { 00582 xbee().printf("POS DIVE timed out\r\n\n"); 00583 _state = POSITION_RISE; //new behavior 11/17/2017 00584 _fsm_timer.reset(); 00585 _isTimeoutRunning = false; 00586 } 00587 00588 // when you reach the dive threshold, surface 00589 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches 00590 xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00591 _state = POSITION_RISE; 00592 _fsm_timer.reset(); 00593 _isTimeoutRunning = false; 00594 } 00595 00596 // what is active? 00597 xbee().printf("POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", 00598 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(), 00599 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read()); 00600 00601 if (depthLoop().getPosition() > _max_recorded_depth_dive) { 00602 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values 00603 } 00604 00605 // ACTIVE RUDDER CONTROL 00606 rudder().setPosition_deg(headingLoop().getOutput()); 00607 00608 break; 00609 00610 case LEG_POSITION_DIVE : 00611 // start local state timer and init any other one-shot actions 00612 if (!_isTimeoutRunning) { 00613 xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n"); 00614 sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r"); 00615 mbedLogger().appendDiagFile(buf,0); 00616 _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw 00617 _fsm_timer.start(); // background timer starts running 00618 _isTimeoutRunning = true; 00619 _yotimer.reset(); 00620 _yotimer.start(); //sets the yo_timer running on the dive 00621 00622 // what needs to be started? 00623 bce().unpause(); 00624 batt().unpause(); 00625 rudder().unpause(); 00626 00627 // what are the commands? (using inner loops except for heading outer loop) 00628 // These actions happen ONCE in the POSITION_DIVE sequence 00629 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); 00630 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset); 00631 00632 00633 //retrieve commands from structs (loaded from legfile.txt file) 00634 stateMachine().getLegParams(); 00635 00636 leg_max_depth = currentLegStateStruct.max_depth; 00637 leg_heading = currentLegStateStruct.heading; 00638 00639 00640 //DEPTH COMMAND 00641 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct 00642 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct 00643 00644 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00645 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code) 00646 00647 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position 00648 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position 00649 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00650 00651 //reset max dive depth 00652 _max_recorded_depth_dive = -99; //float to record max depth 00653 lpd_oneshots = 1; 00654 } 00655 00656 if (!lpd_oneshots) { 00657 xbee().printf("\r\n\nstate: LEG POSITION DIVE oneshots\r\n"); 00658 // _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw 00659 // sm_timer.start(); // background timer starts running 00660 _yotimer.reset(); //sets the yo_timer running on the NEW dive 00661 _yotimer.start(); 00662 //_isTimeoutRunning = true; 00663 00664 // what needs to be started? 00665 bce().unpause(); 00666 batt().unpause(); 00667 rudder().unpause(); 00668 00669 // what are the commands? (using inner loops except for heading outer loop) 00670 // These actions happen ONCE in the POSITION_DIVE sequence 00671 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); 00672 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset); 00673 //retrieve commands from structs (loaded from missionleg.cfg file) 00674 leg_max_depth = currentLegStateStruct.max_depth; 00675 leg_heading = currentLegStateStruct.heading; 00676 sprintf(buf, "LEG POSITION DIVE entered via Leg_pos_rise - lpd_oneshots, only restart _yotimer\n\n\r"); 00677 mbedLogger().appendDiagFile(buf,0); 00678 00679 //DEPTH COMMAND 00680 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct 00681 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct 00682 00683 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00684 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code) 00685 00686 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position 00687 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position 00688 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00689 00690 lpd_oneshots = 1; 00691 //reset max dive depth 00692 //_max_recorded_depth_dive = -99; //float to record max depth 00693 } // lpd_oneshots if timer is already running 00694 00695 // how exit? 00696 // timer runs out goes to LEG_POSITION_RISE but finish_leg flag is turned on. 00697 if (_fsm_timer.read() > _timeout) { 00698 xbee().printf("LEG POSITION DIVE timed out for overall leg time\r\n\n"); 00699 _state = LEG_POSITION_RISE; // now start a timer on yo_timer for rise 00700 finish_leg =1; 00701 lpr_oneshots=0; 00702 sprintf(buf, "go to LEG POSITION DIVE on overall leg timeout, set finish_leg=1\n\n\r"); 00703 mbedLogger().appendDiagFile(buf,0); 00704 // _fsm_timer.reset(); 00705 // _isTimeoutRunning = false; 00706 } 00707 00708 // when you reach the dive threshold, surface 00709 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches 00710 xbee().printf("LEG POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00711 _state = LEG_POSITION_RISE; 00712 lpr_oneshots = 0; 00713 00714 // _fsm_timer.reset(); // reset time if still inside legg long timeout? 00715 // _isTimeoutRunning = false; 00716 } else if(_yotimer.read() > _yo_time ) { 00717 xbee().printf("LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00718 sprintf(buf, "LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE\n\n\r"); 00719 mbedLogger().appendDiagFile(buf,3); 00720 _state = LEG_POSITION_RISE; 00721 finish_leg =1; 00722 //_yotimer.reset(); 00723 //_yotimer.start(); // restart the yo timer for next yo in rise mode -- test if depth is small fraction of max_depth and exit to EC if small enough?? 00724 lpr_oneshots=0; 00725 if (depthLoop().getPosition() < 0.7* depthLoop().getCommand()) { //too slow - exit 00726 _state = EMERGENCY_CLIMB; // overridden here for testing 00727 finish_leg = 1; 00728 xbee().printf("LEG POS DIVE:descent too slow (<0.7*maxdepth) - go to EMERGENCY_CLIMB actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00729 sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb but not really for testing\n\n\r"); 00730 mbedLogger().appendDiagFile(buf,3); 00731 _state = LEG_POSITION_RISE; 00732 // _fsm_timer.reset(); 00733 // _isTimeoutRunning = false; 00734 } 00735 } 00736 00737 // what is active? 00738 xbee().printf("LEG POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", 00739 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(), 00740 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read()); 00741 00742 if (depthLoop().getPosition() > _max_recorded_depth_dive) { 00743 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values 00744 } 00745 00746 // ACTIVE RUDDER CONTROL 00747 rudder().setPosition_deg(headingLoop().getOutput()); 00748 00749 break; // end LEG POSITION DIVE 00750 00751 case POSITION_RISE : 00752 // start local state timer and init any other one-shot actions 00753 00754 if (!_isTimeoutRunning) { 00755 xbee().printf("\r\n\nstate: POSITION RISE\r\n"); 00756 _fsm_timer.reset(); // timer goes back to zero 00757 _fsm_timer.start(); // background timer starts running 00758 _isTimeoutRunning = true; 00759 00760 // what needs to be started? 00761 bce().unpause(); 00762 batt().unpause(); 00763 00764 // what are the commands? (using inner loops except for heading outer loop) 00765 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions 00766 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions 00767 00768 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 00769 00770 xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position 00771 xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position 00772 xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00773 } 00774 00775 // how exit? 00776 if (_fsm_timer.read() > _timeout) { 00777 xbee().printf("POS RISE: timed out\r\n"); 00778 _state = EMERGENCY_CLIMB; 00779 _fsm_timer.reset(); 00780 _isTimeoutRunning = false; 00781 } 00782 else if (depthLoop().getPosition() < 0.5) { 00783 xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00784 _state = FLOAT_BROADCAST; 00785 _fsm_timer.reset(); 00786 _isTimeoutRunning = false; 00787 } 00788 00789 // what is active? 00790 xbee().printf("POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", 00791 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(), 00792 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read()); 00793 00794 // ACTIVE RUDDER CONTROL 00795 rudder().setPosition_deg(headingLoop().getOutput()); 00796 00797 break; //end of POS RISE 00798 00799 case LEG_POSITION_RISE : 00800 // start local state timer and init any other one-shot actions 00801 leg_min_depth = currentLegStateStruct.min_depth; 00802 leg_heading = currentLegStateStruct.heading; 00803 00804 if (!_isTimeoutRunning) { // this should never occur. the only entry into this case is from LEG_POSITION_DIVE exit 00805 xbee().printf("\r\n\nstate: LEG POSITION RISE\r\n"); 00806 sprintf(buf, "state: LEG POSITION RISE entered with timeout NOT running should not happen\n\n\r"); 00807 mbedLogger().appendDiagFile(buf,3); 00808 // go and read the legparams just in case 00809 00810 //retrieve commands from structs (loaded from legfile.txt file) 00811 stateMachine().getLegParams(); 00812 leg_min_depth = currentLegStateStruct.min_depth; 00813 leg_heading = currentLegStateStruct.heading; 00814 00815 //_fsm_timer.reset(); // timer goes back to zero --no 00816 _fsm_timer.start(); // background timer starts running 00817 _isTimeoutRunning = true; 00818 _yotimer.reset(); //reset yo_timer; 00819 _yotimer.start(); //and start it 00820 00821 // what needs to be started? 00822 bce().unpause(); 00823 batt().unpause(); 00824 stateMachine().getLegParams(); 00825 00826 // what are the commands? (using inner loops except for heading outer loop) 00827 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions 00828 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions 00829 //retrieve commands from structs (loaded from missionleg.cfg file) 00830 00831 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code) 00832 00833 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position 00834 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position 00835 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00836 lpr_oneshots = 1; 00837 } 00838 if (!lpr_oneshots) { 00839 xbee().printf("\r\n\nstate: LEG POSITION RISE entered via LEG_POSiTION_DIVE finish\r\n"); 00840 sprintf(buf, "state: LEG POSITION RISE entered via LEG_POSITION_DIVE\n\n\r"); 00841 mbedLogger().appendDiagFile(buf,3); 00842 //_fsm_timer.reset(); // timer goes back to zero --no 00843 _yotimer.reset(); //reset yo_timer; 00844 _yotimer.start(); //and start it 00845 //_fsm_timer.start(); timer is already running // background timer starts running 00846 // _isTimeoutRunning = true; 00847 00848 // what needs to be started? 00849 bce().unpause(); 00850 batt().unpause(); 00851 00852 // what are the commands? (using inner loops except for heading outer loop) 00853 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions 00854 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions 00855 //retrieve commands from structs (loaded from missionleg.cfg file) 00856 00857 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code) 00858 00859 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position 00860 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position 00861 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand()); 00862 lpr_oneshots = 1; 00863 } // end if(!lpr_oneshots) 00864 00865 // how exit? 00866 if (_fsm_timer.read() > _timeout) { 00867 xbee().printf("LEG POS RISE: timed out on overall timeout\r\n"); 00868 // _state = EMERGENCY_CLIMB; 00869 finish_leg = 1; // not going immediately to Emergency_climb and not resetting timers means it will take 1 yo-time of rising first 00870 // _fsm_timer.reset(); 00871 sprintf(buf, "LEG POSITION DIVE Ended via overall timeout\n\n\r"); 00872 mbedLogger().appendDiagFile(buf,0); 00873 // _isTimeoutRunning = false; 00874 } 00875 else if (depthLoop().getPosition() < leg_min_depth - 0.5 ) { // add in check for finish_leg. Don't flip flop between states in that case 00876 xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00877 _state = LEG_POSITION_DIVE; 00878 sprintf(buf, "LEG POSITION RISE flip-flops to LEG_POSITION_DIVE on near surface pressure \n\n\r"); 00879 mbedLogger().appendDiagFile(buf,0); 00880 //_fsm_timer.reset(); 00881 //_isTimeoutRunning = false; 00882 lpd_oneshots=0; 00883 if(finish_leg ==1) { 00884 _state = EMERGENCY_CLIMB; 00885 _fsm_timer.reset(); _yotimer.reset(); 00886 _isTimeoutRunning = false; 00887 sprintf(buf, "LEG POSITION RISE ... ENDS, and since finish_leg=1, go to Emergency climb\n\n\r"); 00888 mbedLogger().appendDiagFile(buf,0); 00889 } 00890 } 00891 else if(_yotimer.read() > _yo_time ) { 00892 xbee().printf("LEG POS RISE: yo_time timed out - go to Emergency_CLIMB. Actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 00893 _state = EMERGENCY_CLIMB; // add diagnostics message 00894 finish_leg = 1; 00895 _fsm_timer.reset(); _yotimer.reset(); 00896 _isTimeoutRunning = false; 00897 sprintf(buf, "LEG POSITION DIVE ... ENDS on yo_time too long, exit to emergnecy climb + finish_leg=1\n\n\r"); 00898 mbedLogger().appendDiagFile(buf,0); 00899 } 00900 00901 // what is active? 00902 xbee().printf("LEG POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", 00903 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(), 00904 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read()); 00905 00906 // ACTIVE RUDDER CONTROL 00907 rudder().setPosition_deg(headingLoop().getOutput()); 00908 00909 break; // end LEG POS RISE 00910 // NEW DIVE AND RISE SEQUENCES 00911 00912 case FLOAT_LEVEL : 00913 // start local state timer and init any other one-shot actions 00914 if (!_isTimeoutRunning) { 00915 xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n"); 00916 _fsm_timer.reset(); // timer goes back to zero 00917 _fsm_timer.start(); // background timer starts running 00918 _isTimeoutRunning = true; 00919 00920 // what needs to be started? 00921 bce().unpause(); 00922 batt().unpause(); 00923 00924 // what are the commands? 00925 bce().setPosition_mm(_bceFloatPosition); 00926 pitchLoop().setCommand(0.0); 00927 } 00928 00929 // how exit? 00930 if (_fsm_timer > _timeout) { 00931 xbee().printf("FL: timed out\r\n"); 00932 _state = FLOAT_BROADCAST; 00933 _fsm_timer.reset(); 00934 _isTimeoutRunning = false; 00935 } 00936 else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees 00937 xbee().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance); 00938 _state = FLOAT_BROADCAST; 00939 _fsm_timer.reset(); 00940 _isTimeoutRunning = false; 00941 } 00942 00943 // what is active? 00944 xbee().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), _fsm_timer.read()); 00945 batt().setPosition_mm(pitchLoop().getOutput()); 00946 00947 break; 00948 00949 case FLOAT_BROADCAST : 00950 // start local state timer and init any other one-shot actions 00951 if (!_isTimeoutRunning) { 00952 xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n"); 00953 _fsm_timer.reset(); // timer goes back to zero 00954 _fsm_timer.start(); // background timer starts running 00955 _yotimer.reset(); 00956 _yotimer.start(); 00957 _isTimeoutRunning = true; 00958 00959 // what needs to be started? 00960 bce().unpause(); 00961 batt().unpause(); 00962 00963 // what are the commands? 00964 bce().setPosition_mm(_bceFloatPosition); // 320.0 00965 batt().setPosition_mm(_battFloatPosition); // 73.0 00966 00967 //set rudder to center 00968 rudder().setPosition_deg(0.0); //set rudder to center, zero degrees 00969 } 00970 00971 // how exit? 00972 00973 if (_fsm_timer > _timeout || ( _yotimer > _state_transition_time)) { 00974 xbee().printf("FB: timed out\r\n"); 00975 sprintf(buf, "in FLOAT_BRADCAST timed out ... go to SIT_IDLE\n\n"); 00976 mbedLogger().appendDiagFile(buf,3); 00977 _state = SIT_IDLE; 00978 _fsm_timer.reset(); 00979 00980 //stop recording data 00981 //mbedLogger().closeFile(); 00982 00983 _isTimeoutRunning = false; 00984 if(finish_leg == 1) { 00985 _state = ENDLEG_WAIT; 00986 sprintf(buf, "in FLOAT_BROADCAST still timed out .... but also finish_leg==1 so go to ENDLEG_WAIT\n\n"); 00987 mbedLogger().appendDiagFile(buf,3); 00988 } // allows wait at surface for xbee messaging to not close program 00989 } 00990 00991 //fix on float_broadcast to account for BCE stopping early in current hardware 00992 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) and 00993 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) { 00994 xbee().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband()); 00995 _state = SIT_IDLE; 00996 _fsm_timer.reset(); 00997 _isTimeoutRunning = false; 00998 00999 //stop recording data 01000 //mbedLogger().closeFile(); 01001 if(finish_leg == 1) { _state = ENDLEG_WAIT; } // allows exit via wait at surface first 01002 } 01003 01004 // what is active? 01005 xbee().printf("FB: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r", 01006 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(), 01007 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read()); 01008 01009 // if (finish_leg == 1) { _state = FB_EXIT;} 01010 break; 01011 01012 case MULTI_DIVE : 01013 // start local state timer and init any other one-shot actions 01014 if (!_isTimeoutRunning) { 01015 xbee().printf("\r\n\nstate: MULTI-DIVE\r\n"); 01016 _fsm_timer.reset(); // timer goes back to zero 01017 _fsm_timer.start(); // background timer starts running 01018 _isTimeoutRunning = true; 01019 01020 // what needs to be started? 01021 bce().unpause(); 01022 batt().unpause(); 01023 01024 //retrieve commands from structs (loaded from sequence.cfg file) 01025 float sequence_depth_command = currentStateStruct.depth; 01026 float sequence_pitch_command = currentStateStruct.pitch; 01027 01028 // what are the commands? 01029 depthLoop().setCommand(sequence_depth_command); 01030 pitchLoop().setCommand(sequence_pitch_command); 01031 01032 01033 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 01034 xbee().printf("MULTI-DIVE: depth cmd: %3.1f m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand()); 01035 01036 //no max depth recording right now 01037 } 01038 01039 // how exit? 01040 if (_fsm_timer > _timeout) { 01041 xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read()); 01042 _state = MULTI_RISE; //new behavior 11/17/2017 01043 _fsm_timer.reset(); 01044 _isTimeoutRunning = false; 01045 } 01046 else if (depthLoop().getPosition() > depthLoop().getCommand()) { 01047 xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 01048 _state = MULTI_RISE; 01049 _fsm_timer.reset(); 01050 _isTimeoutRunning = false; 01051 } 01052 01053 // WHAT IS ACTIVE? 01054 xbee().printf("MD: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read()); 01055 bce().setPosition_mm(depthLoop().getOutput()); 01056 batt().setPosition_mm(pitchLoop().getOutput()); 01057 01058 // ACTIVE RUDDER CONTROL 01059 rudder().setPosition_deg(headingLoop().getOutput()); 01060 01061 break; 01062 01063 case MULTI_RISE : 01064 // start local state timer and init any other one-shot actions 01065 if (!_isTimeoutRunning) { 01066 xbee().printf("\r\n\nstate: MULTI-RISE\r\n"); 01067 _fsm_timer.reset(); // timer goes back to zero 01068 _fsm_timer.start(); // background timer starts running 01069 _isTimeoutRunning = true; 01070 01071 // what needs to be started? 01072 bce().unpause(); 01073 batt().unpause(); 01074 01075 //NEW: retrieve depth and pitch commands from config file struct 01076 // concept is to load this each time the multi-dive restarts 01077 stateMachine().getDiveSequence(); 01078 01079 //retrieve just pitch command from struct 01080 float sequence_pitch_command = currentStateStruct.pitch; 01081 01082 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017 01083 depthLoop().setCommand(0.5); 01084 pitchLoop().setCommand(-sequence_pitch_command); 01085 01086 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code) 01087 xbee().printf("MULTI-RISE: depth cmd: 0.0 m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand()); 01088 } 01089 01090 // how exit? 01091 if (_fsm_timer > _timeout) { 01092 xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read()); 01093 _state = EMERGENCY_CLIMB; 01094 _fsm_timer.reset(); 01095 _isTimeoutRunning = false; 01096 01097 //reset multi-dive sequence to start 01098 _multi_dive_counter = 0; 01099 01100 // //Reload the dive sequence on exit 01101 // sequenceController().loadSequence(); 01102 } 01103 else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level) 01104 xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); 01105 01106 //going to next state 01107 _isTimeoutRunning = false; 01108 01109 //successful dive-rise sequence CONTINUES the multi-dive sequence 01110 _multi_dive_counter++; 01111 01112 //UPDATE THE SEQUENCE DATA HERE 01113 stateMachine().getDiveSequence(); 01114 01115 //check if this is the end of the dive sequence 01116 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST) 01117 if (currentStateStruct.state == FLOAT_BROADCAST) { 01118 // //Reload the dive sequence on exit 01119 // sequenceController().loadSequence(); 01120 01121 _state = FLOAT_BROADCAST; 01122 } 01123 01124 else 01125 _state = MULTI_DIVE; //Note: need to test if this else statement is necessary 01126 01127 //have to stop this with the _multi_dive_counter variable! 01128 } 01129 01130 // WHAT IS ACTIVE? 01131 xbee().printf("MR: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read()); 01132 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors 01133 batt().setPosition_mm(pitchLoop().getOutput()); 01134 01135 // ACTIVE RUDDER CONTROL 01136 rudder().setPosition_deg(headingLoop().getOutput()); 01137 01138 break; 01139 01140 case TX_MBED_LOG: 01141 if (!_isTimeoutRunning) { 01142 xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n"); 01143 _fsm_timer.reset(); // timer goes back to zero 01144 _fsm_timer.start(); // background timer starts running 01145 _isTimeoutRunning = true; 01146 01147 //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file 01148 01149 xbee().printf("TX_MBED_LOG set to zero\n\r"); 01150 01151 //function to read the file and get number of lines (packets to transmit) 01152 _timeout = mbedLogger().getNumberOfPacketsInCurrentLog(); 01153 01154 mbedLogger().setTransmitPacketNumber(0); //reset to zero 01155 } 01156 01157 //TIMED OUT 01158 if (_fsm_timer.read() > _timeout) { 01159 xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n"); 01160 01161 //STATE 01162 _state = SIT_IDLE; 01163 01164 _fsm_timer.reset(); 01165 _isTimeoutRunning = false; 01166 01167 //mbedLogger().closeLogFile(); 01168 xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n"); 01169 } 01170 01171 //received end transmission packet (if this is true) 01172 if (mbedLogger().endTransmitPacket()) { 01173 //STATE 01174 led3() = !led3(); 01175 01176 _state = SIT_IDLE; 01177 01178 //reset timer 01179 _fsm_timer.reset(); 01180 01181 //mbedLogger().closeLogFile(); 01182 01183 xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n"); 01184 } 01185 01186 //What is active? 01187 //mbedLogger().fsmTransmitData(); 01188 mbedLogger().checkForPythonTransmitRequest(); 01189 led1() = !led1(); 01190 01191 break; 01192 01193 case RX_SEQUENCE : 01194 xbee().printf("state: RX_SEQUENCE\r\n"); 01195 01196 if (!_isTimeoutRunning) { 01197 xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n"); 01198 _fsm_timer.reset(); // timer goes back to zero 01199 _fsm_timer.start(); // background timer starts running 01200 _isTimeoutRunning = true; 01201 } 01202 01203 if (_fsm_timer.read() > _timeout) { 01204 xbee().printf("RX_SEQUENCE: timed out!\r\n"); 01205 _state = SIT_IDLE; 01206 _fsm_timer.reset(); 01207 _isTimeoutRunning = false; 01208 } 01209 01210 // what is active? 01211 xbee().printf("Receive sequence active?\r\n"); 01212 01213 break; 01214 01215 default : 01216 xbee().printf("DEBUG: SIT_IDLE\r\n"); 01217 _state = SIT_IDLE; 01218 } 01219 01220 //save the state to print to user 01221 if (_previous_state != _state) { 01222 _state_array[_state_array_counter] = _state; //save to state array 01223 _state_array_counter++; 01224 01225 _previous_state = _state; 01226 } 01227 01228 return _state; 01229 } /* end of runStateMachine */ 01230 01231 // output the keyboard menu for user's reference 01232 void StateMachine::printSimpleMenu() { 01233 xbee().printf("\r\r\n\nSIMPLE KEYBOARD MENU (08/13/2018):\r\r\n"); //make sure depth sensor tares itself on startup 01234 xbee().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit()); 01235 01236 xbee().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n"); 01237 xbee().printf(" J to float level\r\n"); 01238 xbee().printf(" B to float at broadcast pitch\r\n"); 01239 xbee().printf(" E to initiate emergency climb\r\n"); 01240 xbee().printf(" P to print the current log file.\r\n"); 01241 xbee().printf(" G to transmit MBED log file\r\n"); 01242 xbee().printf(" I to receive multi-dive sequence file\r\n"); 01243 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n"); 01244 01245 xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset); 01246 xbee().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = dive)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset); 01247 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading()); 01248 xbee().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition()); 01249 xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout); 01250 01251 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n"); 01252 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n"); 01253 xbee().printf(" ? to reset mbed\r\n"); 01254 xbee().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n"); 01255 } 01256 01257 void StateMachine::printDebugMenu() { 01258 xbee().printf("\r\r\n\nDEBUG KEYBOARD MENU (08/08/2018):\r\r\n"); 01259 xbee().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n"); 01260 xbee().printf(" N to find neutral\r\n"); 01261 xbee().printf(" M to initiate multi-dive cycle\r\n"); 01262 xbee().printf(" D to initiate dive cycle\r\n"); 01263 xbee().printf(" R to initiate rise\r\n"); 01264 xbee().printf(" J to float level\r\n"); 01265 xbee().printf(" B to float at broadcast pitch\r\n"); 01266 xbee().printf(" E to initiate emergency climb\r\n"); 01267 xbee().printf(" '}' to HOME the BCE (5 second delay)\r\n"); 01268 xbee().printf(" '|' to HOME the BMM (5 second delay)\r\n"); 01269 xbee().printf(" Z to show FSM and sub-FSM states.\r\n"); 01270 xbee().printf(" P to print the current log file.\r\n"); 01271 xbee().printf(" X to print the list of log files.\r\n"); 01272 xbee().printf(" I to receive data.\r\n"); 01273 xbee().printf(" G to transmit MBED log file (60 second timeout)\r\n"); 01274 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n"); 01275 xbee().printf("; or : to TYPE in the BCE neutral position: %0.1f\r\n", _neutral_bce_pos_mm); 01276 xbee().printf("[ or { to TYPE in the BMM neutral position: %0.1f\r\n", _neutral_batt_pos_mm); 01277 xbee().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch()); 01278 xbee().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition()); 01279 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading()); 01280 xbee().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout); 01281 01282 xbee().printf(" 1 BCE PID sub-menu (type in inputs)\r\n"); 01283 xbee().printf(" 2 BATT PID sub-menu (type in inputs)\r\n"); 01284 xbee().printf(" 3 Depth PID sub-menu (type in inputs)\r\n"); 01285 xbee().printf(" 4 Pitch PID sub-menu (type in inputs)\r\n"); 01286 xbee().printf(" 5 Rudder (servo) sub-menu\r\n"); 01287 xbee().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n"); 01288 xbee().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE *** (bce 200, bmm 40, rudder 1640)\r\n"); 01289 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n"); 01290 01291 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n"); 01292 xbee().printf(" ? to reset mbed\r\n"); 01293 xbee().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n"); 01294 } 01295 01296 //FIND_NEUTRAL sub-Finite State Machine (sub-FSM) 01297 // Note: the sub-FSM only moves the pistons once at the start of each timer loop 01298 // (timer completes, moves piston, timer completes, moves piston, etc) 01299 int StateMachine::runNeutralStateMachine() { 01300 char buf[256]; 01301 switch (_substate) { 01302 case NEUTRAL_SINKING : 01303 //start the 10 second timer 01304 if (!_isSubStateTimerRunning) { 01305 _neutral_timer = _fsm_timer.read() + 5; //record the time when this block is first entered and add 5 seconds 01306 01307 xbee().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (BCE getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm()); 01308 01309 // what are the commands? (BCE linear actuator active, no BMM or pitch movement) 01310 bce().setPosition_mm(bce().getSetPosition_mm() - 2.5); 01311 01312 xbee().printf("NEUTRAL_SINKING: Retracting piston 2.5 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition()); 01313 01314 _isSubStateTimerRunning = true; //disable this block after one iteration 01315 } 01316 01317 // how exit? 01318 //once reached the travel limit, no need to keep trying, so exit 01319 if (bce().getPosition_mm() <= 0) { 01320 xbee().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm()); 01321 sprintf(buf, "in RUNneutral: state failed at bce.getPosition()\n\n"); 01322 mbedLogger().appendDiagFile(buf,3); 01323 _substate = NEUTRAL_EXIT; 01324 _neutral_success = 0; 01325 _isSubStateTimerRunning = false; // reset the sub state timer 01326 } 01327 01328 //Troy: Pressure vessel went beyond set depth limit, goes to next state 01329 //once deeper than the commanded setpoint... 01330 else if (depthLoop().getPosition() > _depth_command) { 01331 _substate = NEUTRAL_SLOWLY_RISE; // next state 01332 _isSubStateTimerRunning = false; //reset the sub state timer 01333 } 01334 else if ( (depthLoop().getVelocity() > 0.05) && (depthLoop().getPosition() > 0.6 * _depth_command) ) { // need to code in FILTERED vertical velocity 01335 _substate = NEUTRAL_SLOWLY_RISE; // next state 01336 _isSubStateTimerRunning = false; //reset the sub state timer 01337 } 01338 // what is active? 01339 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint 01340 if (_fsm_timer.read() >= _neutral_timer) { 01341 xbee().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read()); 01342 01343 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again 01344 } 01345 01346 // what is active? (only the buoyancy engine moved every 5 seconds at start) 01347 xbee().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f m)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug 01348 01349 //the BCE moves every 5 seconds. No BMM or rudder movement. 01350 01351 break; 01352 01353 case NEUTRAL_SLOWLY_RISE: 01354 if (!_isSubStateTimerRunning) { 01355 _neutral_timer = _fsm_timer.read()+ 5; //record the time when this block is first entered and add 5 seconds 01356 01357 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read()); 01358 01359 // what are the commands? 01360 //move piston at start of sequence (default: extend 2.0 mm) 01361 //Pressure vessel should slowly rise 01362 bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command, only motor position 01363 01364 //Troy: I commented out this command, we're finding pitch in the next state. 01365 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state 01366 //pitchLoop().setCommand(0.0); 01367 01368 xbee().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 2.0 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition()); 01369 01370 _isSubStateTimerRunning = true; //disable this block after one iteration 01371 } 01372 01373 // how exit? 01374 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit 01375 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) { 01376 _substate = NEUTRAL_EXIT; 01377 sprintf(buf, "in RUNneutral: SLOWLY RISE state failed at bce.getsetPosition()\n\n"); 01378 mbedLogger().appendDiagFile(buf,3); 01379 _neutral_success =0; //another failed state 01380 _isSubStateTimerRunning = false; // reset the sub state timer 01381 } 01382 //Troy: Depth rate will go negative as the pressure vessel starts rising 01383 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration 01384 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s should now be m/s 01385 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 m/s [time: %0.1f]\r\n", _fsm_timer.read()); 01386 _substate = NEUTRAL_CHECK_PITCH; 01387 _isSubStateTimerRunning = false; // reset the sub state timer 01388 } 01389 // what is active? 01390 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint 01391 if (_fsm_timer.read() >= _neutral_timer) { 01392 xbee().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read()); 01393 01394 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again 01395 } 01396 01397 // what is active? (only the buoyancy engine moved every 5 seconds) 01398 xbee().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug 01399 01400 break; 01401 01402 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired 01403 // start local state timer and init any other one-shot actions 01404 01405 if (!_isSubStateTimerRunning) { 01406 _neutral_timer = _fsm_timer.read() + 10; // record time when this block is entered and add several seconds 01407 xbee().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read()); 01408 01409 // what are the commands? (default: retract or extend 0.5 mm) 01410 if (pitchLoop().getPosition() > 2) { // nose is high (extend batteries) 01411 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator) 01412 xbee().printf("\r\nNeutral Check Pitch: moving battery FWD in 0.5 mm increments\r\n\n"); 01413 } 01414 else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries) 01415 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator) 01416 xbee().printf("\r\nNeutral Check Pitch: moving battery AFT in 0.5 mm increments\r\n\n"); 01417 } 01418 01419 _isSubStateTimerRunning = true; //disable this block after one iteration 01420 } 01421 01422 // how exit? 01423 //pitch angle and pitch rate within small tolerance 01424 //benchtop tests confirm angle needs to be around 2 degrees 01425 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) { 01426 xbee().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug 01427 // found level, but don't need to save anything this time 01428 01429 if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug 01430 _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded 01431 } 01432 01433 // found level and at depth too, so save it all now 01434 if (_substate == NEUTRAL_CHECK_PITCH) { 01435 //save positions locally 01436 _neutral_batt_pos_mm = batt().getPosition_mm(); 01437 _neutral_bce_pos_mm = bce().getPosition_mm(); 01438 01439 //set the neutral positions in each outer loop 01440 depthLoop().setOutputOffset(_neutral_bce_pos_mm); 01441 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); 01442 01443 // save into the depth.txt and pitch.txt files 01444 01445 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset 01446 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); //P,I,D, bce zeroOffset 01447 01448 xbee().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm); 01449 01450 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again 01451 _substate = NEUTRAL_EXIT; 01452 sprintf(buf, "in RUNneutral: state succeeded! at NEUTRAL_CHECK PITCH line 1452\n\n"); 01453 mbedLogger().appendDiagFile(buf,3); 01454 _neutral_success = 1; 01455 configFileIO().saveNeutralStatus(_neutral_success, _neutral_bce_pos_mm, _neutral_batt_pos_mm); // saves to tell re-started program neutral has been found 01456 01457 } 01458 01459 else { 01460 xbee().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n"); 01461 _substate = NEUTRAL_EXIT; 01462 sprintf(buf, "in RUNneutral: state failed at final fallthrough point line 1462\n\n"); 01463 mbedLogger().appendDiagFile(buf,3); 01464 } 01465 } 01466 01467 // what is active? 01468 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint 01469 if (_fsm_timer.read() >= _neutral_timer) { 01470 xbee().printf("\r\n\nlevel timer COMPLETE!"); 01471 xbee().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), _fsm_timer.read()); 01472 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again 01473 } 01474 01475 break; 01476 01477 //this state could be removed, it is only used as a transition but is needed to stop entering this function 01478 case NEUTRAL_EXIT : 01479 xbee().printf("substate: NEUTRAL_EXIT\r\n"); 01480 break; 01481 01482 default : 01483 xbee().printf("how did we get to substate: default?\r\n"); //debug 01484 //a default within the sub-state machine 01485 _substate = NEUTRAL_EXIT; 01486 break; 01487 } 01488 01489 // reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence) 01490 if (_substate == NEUTRAL_EXIT) { 01491 xbee().printf("******************************** EXITING sub-FSM! *******************************\r\n\n"); 01492 01493 //reset internal sub-state back to first entry conditions (first state is immediately sinking) 01494 _substate = NEUTRAL_SINKING; 01495 _isSubStateTimerRunning = false; // reset the sub state timer 01496 01497 //record sub-states to view after sequence 01498 _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array 01499 _substate_array_counter++; 01500 01501 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit) 01502 _previous_substate = -1; 01503 01504 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed 01505 return NEUTRAL_EXIT; // message to calling function we just exited 01506 } 01507 else { 01508 //record sub-states to view after sequence (when changed) 01509 if (_previous_substate != _substate) { 01510 _substate_array[_substate_array_counter] = _substate; //save current state to state array 01511 _substate_array_counter++; 01512 01513 //record the current substate for comparison 01514 _previous_substate = _substate; 01515 } 01516 01517 return _substate; // message to calling function of what sub-state it's in 01518 } 01519 } 01520 01521 /* keyboard runs independently of the state machine, handling one key at a time 01522 keyboard updates the desired _keyboard_state that is used in the state machine 01523 and only allows input when the state is "idle" */ 01524 01525 void StateMachine::keyboard() { 01526 char user_input; 01527 char buf[256]; 01528 01529 // check keyboard and make settings changes as requested 01530 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE) 01531 01532 //TEST 01533 int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state 01534 static int yocount = -3; 01535 static float htime = 0.0; 01536 if(_state == ENDLEG_WAIT) { 01537 yocount = int(_yotimer.read()); 01538 if ( ( (yocount % 5) == 0 ) && ( _yotimer.read() > 2.5+htime) ) { // send out a heartbeat message, need to cast as an int from float 01539 xbee().printf("FSG on surface at end of leg, hit c to wake up\r\n"); 01540 sprintf(buf, "ENDLEG WAIT heartbeat message sent yotimer=%f \n\n\r", _yotimer.read()); 01541 mbedLogger().appendDiagFile(buf,0); 01542 htime = _yotimer.read(); 01543 } 01544 if( _yotimer > _state_transition_time) { 01545 _keyboard_state = FB_EXIT; 01546 _state = FB_EXIT; 01547 } 01548 } 01549 if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD || _state == ENDLEG_WAIT)) { //ends at very end of function 1740 01550 // then get the key 01551 user_input = xbee().getc(); 01552 // and exit from ENDLEG_WAIT - you got a keyboard input 01553 if(_state == ENDLEG_WAIT) { 01554 _keyboard_state = SIT_IDLE; // this is installed in _state at end of function 01555 } 01556 01557 //record that the keyboard was used 01558 _state_array[_state_array_counter] = KEYBOARD; 01559 _state_array_counter++; 01560 01561 // keyboard has to reset timer each time it's used 01562 _isTimeoutRunning = false; 01563 01564 // check command against desired control buttons 01565 01566 /***************************** COMMON COMMANDS *****************************/ 01567 if (user_input == 'W') { 01568 xbee().printf(">> Please enter the heading (deg).\r\n"); 01569 _heading_command = getFloatUserInput(); 01570 } 01571 01572 //////////////////// TEST 01573 // else if (user_input == 'l') { 01574 // xbee().printf("CUT OFF RUDDER SERVO????\n\r"); 01575 // rudder().pwm_pulse_off(); 01576 // } 01577 //////////////////// TEST 01578 01579 else if (user_input == 'K') { 01580 xbee().printf("(K) BLAST DATA AND EXIT! \n\r"); 01581 mbedLogger().blastData(); 01582 } 01583 01584 else if (user_input == 'U') { 01585 xbee().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r"); 01586 01587 mbedLogger().transmitMultiplePackets(); 01588 } 01589 01590 else if (user_input == 'H') { 01591 xbee().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r"); 01592 wait(1); 01593 mbedLogger().blastData(); 01594 01595 mbedLogger().transmitMultiplePackets(); 01596 } 01597 01598 else if (user_input == 'G') { 01599 xbee().printf("(G) BLAST DATA TEST and use FSM! \n\r"); 01600 wait(1); 01601 mbedLogger().blastData(); 01602 01603 _keyboard_state = TX_MBED_LOG; 01604 } 01605 01606 else if (user_input == 'I') { 01607 xbee().printf("(I) Receive Multi-Dive Sequence! \n\r"); 01608 mbedLogger().receiveSequenceFile(); //receive sequence.txt files 01609 } 01610 01611 else if (user_input == '8') { 01612 keyboard_menu_STREAM_STATUS(); 01613 } 01614 01615 else if (user_input == '?') { 01616 xbee().printf("\n\n\n>>> Resetting MBED <<<\n\n\n"); 01617 wait(0.5); 01618 mbed_reset(); 01619 } 01620 01621 else if (user_input == 'T') { 01622 xbee().printf("Please enter the timeout (timer) value below: \n\r"); 01623 _timeout = fabs(getFloatUserInput()); 01624 } 01625 01626 else if (user_input == '~') { 01627 xbee().printf("MBED LOG FILE MENU!\r\n"); 01628 stateMachine().logFileMenu(); 01629 01630 //xbee().printf("ERASING MBED LOG FILE\r\n"); //legacy method 01631 //mbedLogger().eraseFile(); 01632 } 01633 01634 else if (user_input == 'C' or user_input == 'c') { 01635 01636 xbee().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n"); 01637 01638 xbee().printf("raw BCE pos: %d \r\n",adc().readCh0()); 01639 xbee().printf("raw BMM pos: %d \r\n",adc().readCh1()); 01640 xbee().printf("raw BCE current sense: %d \r\n",adc().readCh2()); 01641 xbee().printf("raw BMM current sense: %d \r\n",adc().readCh3()); 01642 xbee().printf("raw depth pressure: %d \r\n",adc().readCh4()); 01643 xbee().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),sensors().getInternalPressurePSI()); 01644 //xbee().printf("raw vessel pressure: %d \r\n",adc().readCh5()); 01645 xbee().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),sensors().getVoltageInput()); 01646 xbee().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), sensors().getCurrentInput()); 01647 xbee().printf("raw BCE limit switch: %d \r\n",bce().getSwitch()); 01648 xbee().printf("raw BMM limit switch: %d \r\n",batt().getSwitch()); 01649 xbee().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5()); 01650 // End of ADC Test 01651 01652 xbee().printf("depth: %3.1f m\r\n",depthLoop().getPosition()); 01653 xbee().printf("pitch: %3.1f deg\r\n",imu().getPitch()); 01654 xbee().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm()); 01655 xbee().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm()); 01656 xbee().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm()); 01657 xbee().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm()); 01658 xbee().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand()); 01659 xbee().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand()); 01660 01661 xbee().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm); 01662 xbee().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset()); 01663 xbee().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset()); 01664 xbee().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth); 01665 01666 xbee().printf("\r\n"); 01667 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband()); 01668 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband()); 01669 xbee().printf("rudder min_pwm:%6.1f, center_pwm:%6.1f, max_pwm:%6.1f (min_deg:%6.1f max_deg:%6.1f)\r\n",rudder().getMinPWM(),rudder().getCenterPWM(),rudder().getMaxPWM(),rudder().getMinDeg(),rudder().getMaxDeg()); 01670 xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband()); 01671 xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband()); 01672 xbee().printf("heading P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband()); 01673 } 01674 01675 /***************************** COMMON COMMANDS *****************************/ 01676 01677 /***************************** DEBUG MENU *****************************/ 01678 if (_debug_menu_on) { // ends around +175 lines 01679 if (user_input == 'D') { 01680 _keyboard_state = DIVE; 01681 } 01682 01683 else if (user_input == '}') { 01684 xbee().printf("HOMING the BCE (5 second delay)\r\n"); 01685 wait(5); 01686 bce().homePiston(); 01687 } 01688 01689 else if (user_input == '|') { 01690 xbee().printf("HOMING the BMM (5 second delay)\r\n"); 01691 wait(5); 01692 batt().homePiston(); 01693 } 01694 01695 else if (user_input == 'N') { 01696 _keyboard_state = FIND_NEUTRAL; 01697 } 01698 else if (user_input == 'M') { 01699 //currently does not run if there is no file. 01700 01701 //need to add method to Sequence Controller that returns -1 01702 // or some check that insures you cannot run the dive sequence without a file 01703 01704 //load sequence from file 01705 _multi_dive_counter = 0; 01706 sequenceController().loadSequence(); 01707 wait(1); //test if this resets the sequence 01708 01709 stateMachine().getDiveSequence(); //get first sequence on keyboard press 01710 _keyboard_state = currentStateStruct.state; 01711 01712 xbee().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles 01713 } 01714 else if (user_input == 'R') { 01715 _keyboard_state = RISE; 01716 } 01717 else if (user_input == 'J') { 01718 _keyboard_state = FLOAT_LEVEL; 01719 } 01720 else if (user_input == 'B') { 01721 _keyboard_state = FLOAT_BROADCAST; 01722 } 01723 else if (user_input == 'E') { 01724 _keyboard_state = EMERGENCY_CLIMB; 01725 } 01726 01727 else if (user_input == 'Y') { 01728 _keyboard_state = CHECK_TUNING; 01729 } 01730 01731 // some debug tools below 01732 else if (user_input == 'P') { 01733 //Print current SD card log file 01734 //printCurrentSdLog(); 01735 mbedLogger().printCurrentLogFile(); //print the current log file to the screen 01736 } 01737 else if (user_input == 'X') { 01738 mbedLogger().printMbedDirectory(); //print all log files to the screen 01739 } 01740 else if (user_input == 'Z') { 01741 xbee().printf("FSG FSM States: \r\n"); 01742 string string_state; 01743 01744 for (int i = 0; i < _state_array_counter; i++) { 01745 if (_state_array[i] == SIT_IDLE) 01746 string_state = "SIT_IDLE <END>"; 01747 else if (_state_array[i] == FIND_NEUTRAL) 01748 string_state = "FIND_NEUTRAL"; 01749 else if (_state_array[i] == DIVE) 01750 string_state = "DIVE"; 01751 else if (_state_array[i] == RISE) 01752 string_state = "RISE"; 01753 else if (_state_array[i] == FLOAT_LEVEL) 01754 string_state = "FLOAT_LEVEL"; 01755 else if (_state_array[i] == FLOAT_BROADCAST) 01756 string_state = "FLOAT_BROADCAST"; 01757 else if (_state_array[i] == EMERGENCY_CLIMB) 01758 string_state = "EMERGENCY_CLIMB"; 01759 else if (_state_array[i] == MULTI_DIVE) 01760 string_state = "MULTI_DIVE"; 01761 else if (_state_array[i] == MULTI_RISE) 01762 string_state = "MULTI_RISE"; 01763 else if (_state_array[i] == KEYBOARD) 01764 string_state = "KEYBOARD"; 01765 else if (_state_array[i] == LEG_POSITION_DIVE) 01766 string_state = "LEG_POS_DIVE"; 01767 else if (_state_array[i] == LEG_POSITION_RISE) 01768 string_state = "LEG_POS_RISE"; 01769 else if (_state_array[i] == FB_EXIT) 01770 string_state = "FB_EXIT"; 01771 else if (_state_array[i] == ENDLEG_WAIT) 01772 string_state = "ENDLEG_WAIT"; 01773 xbee().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str()); 01774 } 01775 01776 xbee().printf("\r\nNeutral sub-FSM States: \r\n"); 01777 string string_substate; 01778 01779 for (int i = 0; i < _substate_array_counter; i++) { 01780 if (_substate_array[i] == NEUTRAL_SINKING) 01781 string_substate = "NEUTRAL_SINKING"; 01782 else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE) 01783 string_substate = "NEUTRAL_SLOWLY_RISE"; 01784 else if (_substate_array[i] == NEUTRAL_CHECK_PITCH) 01785 string_substate = "NEUTRAL_CHECK_PITCH"; 01786 else if (_substate_array[i] == NEUTRAL_EXIT) 01787 string_substate = "NEUTRAL_EXIT <-- "; 01788 else if (_substate_array[i] == EMERGENCY_CLIMB) 01789 string_substate = " -- > EMERGENCY_CLIMB <-- "; 01790 xbee().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str()); 01791 } 01792 xbee().printf("\r\n"); //make space between printouts 01793 } 01794 //BATTERY/PITCH 01795 else if (user_input == '[' or user_input == '{') { 01796 xbee().printf("Please TYPE in the new BATT neutral position.\n\r"); 01797 _neutral_batt_pos_mm = getFloatUserInput(); 01798 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint 01799 xbee().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset()); 01800 // save neutral pitch value to config file 01801 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset 01802 } 01803 01804 //BCE/DEPTH 01805 else if (user_input == ';' or user_input == ':') { 01806 xbee().printf("Please TYPE in the new BCE neutral position.\n\r"); 01807 _neutral_bce_pos_mm = getFloatUserInput(); 01808 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint 01809 xbee().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset()); 01810 // save neutral depth value to config file 01811 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); 01812 } 01813 01814 // change settings 01815 //heading is in the common controls 01816 else if (user_input == 'Q') { 01817 xbee().printf(">> Please enter the desired PITCH (deg).\r\n"); 01818 _pitch_command = getFloatUserInput(); 01819 } 01820 else if (user_input == 'A') { 01821 xbee().printf(">> Please enter the desired DEPTH (m).\r\n"); 01822 _depth_command = getFloatUserInput(); 01823 } 01824 01825 else if (user_input == '5') { 01826 keyboard_menu_RUDDER_SERVO_settings(); 01827 } 01828 01829 else if (user_input == '6') { 01830 keyboard_menu_HEADING_PID_settings(); 01831 } 01832 01833 // go to tuning sub-menu 01834 else if (user_input == '7') { 01835 keyboard_menu_MANUAL_TUNING(); 01836 } 01837 01838 // else if (user_input == 'U') { 01839 // keyboard_menu_POSITION_READINGS(); 01840 // } 01841 01842 // go to sub-menus for the PID gains (this is blocking) 01843 else if (user_input == '1') { 01844 keyboard_menu_BCE_PID_settings(); 01845 } 01846 else if (user_input == '2') { 01847 keyboard_menu_BATT_PID_settings(); 01848 } 01849 else if (user_input == '3') { 01850 keyboard_menu_DEPTH_PID_settings(); 01851 } 01852 else if (user_input == '4') { 01853 keyboard_menu_PITCH_PID_settings(); 01854 } 01855 01856 else if (user_input == '*') { 01857 xbee().printf("SWITCHING TO SIMPLE MENU!\r\n"); 01858 wait(1); 01859 _debug_menu_on = false; 01860 } 01861 } //end of debug menu matches line 1445 approx -180 01862 /***************************** DEBUG MENU *****************************/ 01863 01864 /***************************** SIMPLE MENU *****************************/ 01865 else { 01866 if (user_input == 'V') { 01867 _keyboard_state = POSITION_DIVE; 01868 } 01869 else if (user_input == 'N') { 01870 _keyboard_state = FIND_NEUTRAL; 01871 } 01872 else if (user_input == 'J') { 01873 _keyboard_state = FLOAT_LEVEL; 01874 } 01875 else if (user_input == 'B') { 01876 _keyboard_state = FLOAT_BROADCAST; 01877 } 01878 else if (user_input == 'E') { 01879 _keyboard_state = EMERGENCY_CLIMB; 01880 } 01881 01882 // some debug tools below 01883 else if (user_input == 'P') { 01884 //Print current SD card log file 01885 //printCurrentSdLog(); 01886 mbedLogger().printCurrentLogFile(); //print the current log file to the screen 01887 } 01888 01889 //POSITION DIVE COMMANDS 01890 else if (user_input == 'Q') { 01891 xbee().printf(">> Please enter the desired BMM offset (mm).\r\n"); 01892 _BMM_dive_offset = getFloatUserInput(); 01893 } 01894 else if (user_input == 'A') { 01895 xbee().printf(">> Please enter the desired BCE offset (mm).\r\n"); 01896 _BCE_dive_offset = getFloatUserInput(); 01897 } 01898 01899 else if (user_input == 'S') { 01900 xbee().printf(">> Please enter the desired DEPTH (m).\r\n"); 01901 _depth_command = getFloatUserInput(); 01902 } 01903 //POSITION DIVE COMMANDS 01904 01905 else if (user_input == '*') { 01906 xbee().printf("SWITCHING TO DEBUG MENU!\r\n"); 01907 _debug_menu_on = true; 01908 wait(1); 01909 } 01910 } 01911 /***************************** END SIMPLE MENU *****************************/ 01912 01913 //when you read the keyboard successfully, change the state 01914 _state = _keyboard_state; //set state at the end of this function 01915 //xbee().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state); 01916 } //matches very top of function - first if() 01917 } 01918 01919 void StateMachine::keyboard_menu_STREAM_STATUS() { 01920 char STATUS_key; 01921 01922 // show the menu 01923 xbee().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n"); 01924 01925 while (1) { 01926 if (xbee().readable()) { 01927 STATUS_key = xbee().getc(); //get each keystroke 01928 } 01929 01930 else { 01931 01932 wait(1); 01933 01934 01935 // xbee().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_m: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus()); 01936 xbee().printf("BCE POS: %0.1f (cmd %0.1f) BATT POS: %0.1f (cmd %0.1f) PRESS_psi: %0.2f [depth_m: %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", 01937 bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(), 01938 depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(), 01939 adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(), 01940 adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(), 01941 bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus()); 01942 01943 continue; // didn't get a user input, so keep waiting for it 01944 } 01945 01946 // process the keys 01947 if (STATUS_key == 'X') { 01948 xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n"); 01949 break; //exit the while loop 01950 } 01951 01952 else { 01953 xbee().printf("\r\nThis key (%c) does nothing here. ", STATUS_key); 01954 } 01955 } 01956 } 01957 01958 void StateMachine::keyboard_menu_RUDDER_SERVO_settings() { 01959 //load current parameters from the rudder 01960 float rudder_min_pwm = rudder().getMinPWM(); 01961 float rudder_max_pwm = rudder().getMaxPWM(); 01962 float rudder_ctr_pwm = rudder().getCenterPWM(); 01963 float rudder_min_deg = rudder().getMinDeg(); 01964 float rudder_max_deg = rudder().getMaxDeg(); 01965 01966 char RUDDER_PID_key; 01967 01968 // print the menu 01969 xbee().printf("\r\nRUDDER (servo driver) settings (MENU)"); 01970 xbee().printf("\r\nAdjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L"); 01971 xbee().printf("\r\nHit shift + X to exit w/o saving. Hit shift + S to save.\r\n"); 01972 xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); 01973 01974 // handle the key presses 01975 while(1) { 01976 // get the user's keystroke from either of the two inputs 01977 if (xbee().readable()) { 01978 RUDDER_PID_key = xbee().getc(); 01979 } 01980 else { 01981 continue; // didn't get a user input, so keep waiting for it 01982 } 01983 01984 // handle the user's key input 01985 if (RUDDER_PID_key == 'S') { // user wants to save the modified values 01986 // set global values 01987 rudder().setMinPWM(rudder_min_pwm); 01988 rudder().setMaxPWM(rudder_max_pwm); 01989 rudder().setCenterPWM(rudder_ctr_pwm); 01990 rudder().setMinDeg(rudder_min_deg); 01991 rudder().setMaxDeg(rudder_max_deg); 01992 01993 // save rudder servo driver values for inner loop 01994 configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm); 01995 xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); 01996 xbee().printf("Adjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L\r\n"); 01997 } 01998 else if (RUDDER_PID_key == 'X') { 01999 break; //exit the while loop 02000 } 02001 // MIN PWM 02002 else if (RUDDER_PID_key == 'N') { 02003 xbee().printf(">> Type in rudder_min_pwm with keyboard.\r\n"); 02004 rudder_min_pwm = getFloatUserInput(); 02005 } 02006 // MAX PWM 02007 else if (RUDDER_PID_key == 'M') { 02008 xbee().printf(">> Type in rudder_max_pwm with keyboard.\r\n"); 02009 rudder_max_pwm = getFloatUserInput(); 02010 } 02011 // CENTER PWM 02012 else if (RUDDER_PID_key == 'C') { 02013 xbee().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n"); 02014 rudder_ctr_pwm = getFloatUserInput(); 02015 } 02016 // MIN DEG 02017 else if (RUDDER_PID_key == 'K') { 02018 xbee().printf(">> Type in rudder_min_deg with keyboard.\r\n"); 02019 rudder_min_deg = getFloatUserInput(); 02020 } 02021 // MAX DEG 02022 else if (RUDDER_PID_key == 'L') { 02023 xbee().printf(">> Type in rudder_max_deg with keyboard.\r\n"); 02024 rudder_max_deg = getFloatUserInput(); 02025 } 02026 else { 02027 xbee().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key); 02028 } 02029 } 02030 } 02031 02032 void StateMachine::keyboard_menu_COUNTS_STATUS() { 02033 // DELETE REMOVE 02034 } 02035 02036 void StateMachine::keyboard_menu_MANUAL_TUNING() { 02037 char TUNING_key; 02038 02039 //made these into internal parameters 02040 float _tuning_bce_pos_mm = 200.0; //safe starting position 02041 float _tuning_batt_pos_mm = 40.0; //safe starting position 02042 float _tuning_rudder_pos_deg = 0.0; //safe starting position 02043 float _tuning_rudder_pwm = 1640.0; 02044 02045 //immediately start at those positions 02046 bce().setPosition_mm(_tuning_bce_pos_mm); 02047 batt().setPosition_mm(_tuning_batt_pos_mm); 02048 rudder().setPosition_deg(_tuning_rudder_pos_deg); 02049 02050 // show the menu 02051 xbee().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n"); 02052 xbee().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n"); 02053 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02054 02055 // what needs to be started? 02056 bce().unpause(); //this is now active 02057 batt().unpause(); //this is now active 02058 rudder().unpause(); 02059 02060 while (1) { 02061 wait(0.1); 02062 02063 if (xbee().readable()) { 02064 TUNING_key = xbee().getc(); //get each keystroke 02065 } 02066 02067 else { 02068 //xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading()); 02069 continue; // didn't get a user input, so keep waiting for it 02070 } 02071 02072 // process the keys 02073 if (TUNING_key == 'X') { 02074 // STOP THE MOTORS BEFORE LEAVING! (Just in case.) 02075 bce().pause(); 02076 batt().pause(); 02077 rudder().pause(); 02078 02079 //right now the rudder is always active................................................hmm 02080 //deactivate the pin? new/delete? 02081 02082 break; //exit the while loop 02083 } 02084 02085 //Buoyancy Engine 02086 else if (TUNING_key == 'A' or TUNING_key == 'a') { 02087 _tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0; 02088 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization 02089 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); 02090 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02091 } 02092 02093 else if (TUNING_key == 'S' or TUNING_key == 's') { 02094 _tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0; 02095 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization 02096 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); 02097 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02098 } 02099 02100 //BATTERY 02101 else if (TUNING_key == 'Q' or TUNING_key == 'q') { 02102 _tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0; 02103 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization 02104 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); 02105 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02106 } 02107 02108 else if (TUNING_key == 'W' or TUNING_key == 'w') { 02109 _tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0; 02110 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization 02111 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); 02112 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02113 } 02114 02115 else if (TUNING_key == 'c' or TUNING_key == 'C') { 02116 xbee().printf("\r\nMT: (CURRENT POSITIONS) BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02117 } 02118 02119 //RUDER 02120 else if (TUNING_key == 'R' or TUNING_key == 'r') { 02121 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5; 02122 rudder().setPosition_deg(_tuning_rudder_pos_deg); 02123 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading()); 02124 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02125 } 02126 02127 else if (TUNING_key == 'E' or TUNING_key == 'e') { 02128 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5; 02129 rudder().setPosition_deg(_tuning_rudder_pos_deg); 02130 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading()); 02131 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02132 } 02133 02134 else if (TUNING_key == '-' or TUNING_key == '_') { 02135 _tuning_rudder_pwm -= 10.0; 02136 rudder().setPWM(_tuning_rudder_pwm); 02137 xbee().printf("MT: (-) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm()); 02138 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02139 } 02140 02141 else if (TUNING_key == '=' or TUNING_key == '+') { 02142 _tuning_rudder_pwm += 10.0; 02143 rudder().setPWM(_tuning_rudder_pwm); 02144 xbee().printf("MT: (+) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm()); 02145 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading()); 02146 } 02147 02148 else { 02149 xbee().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key); 02150 } 02151 } 02152 } 02153 02154 void StateMachine::keyboard_menu_CHANNEL_READINGS() { 02155 char TUNING_key; 02156 02157 // show the menu 02158 xbee().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)"); 02159 02160 while (1) { 02161 if (xbee().readable()) { 02162 TUNING_key = xbee().getc(); //get each keystroke 02163 } 02164 02165 // process the keys 02166 if (TUNING_key == 'X') { 02167 // STOP THE MOTORS BEFORE LEAVING! (Just in case.) 02168 bce().pause(); 02169 batt().pause(); 02170 02171 break; //exit the while loop 02172 } 02173 02174 else { 02175 wait(0.5); 02176 xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7()); 02177 continue; // didn't get a user input, so keep waiting for it 02178 } 02179 } 02180 } 02181 02182 void StateMachine::keyboard_menu_BCE_PID_settings() { 02183 char BCE_PID_key; 02184 02185 // load current values from files 02186 float bce_KP = bce().getControllerP(); 02187 float bce_KI = bce().getControllerI(); 02188 float bce_KD = bce().getControllerD(); 02189 02190 float bce_deadband = bce().getDeadband(); 02191 float bce_frequency = bce().getFilterFrequency(); 02192 int bce_zero_offset = bce().getZeroCounts(); 02193 //BCE frequency and deadband are hardcoded! 02194 02195 // show the menu 02196 xbee().printf("\n\rBuoyancy Engine PID gain settings (MENU). ADJUST WITH CARE!"); 02197 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B, zero offset = Z\n\r"); 02198 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); 02199 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband()); 02200 02201 // handle the key presses 02202 while(1) { 02203 // get the user's keystroke from either of the two inputs 02204 if (xbee().readable()) { 02205 BCE_PID_key = xbee().getc(); 02206 } 02207 else { 02208 continue; // didn't get a user input, so keep waiting for it 02209 } 02210 02211 // handle the user's key input 02212 if (BCE_PID_key == 'S') { // user wants to save these modified values 02213 // set values 02214 bce().setControllerP(bce_KP); 02215 bce().setControllerI(bce_KI); 02216 bce().setControllerD(bce_KD); 02217 02218 bce().setDeadband(bce_deadband); 02219 bce().setFilterFrequency(bce_frequency); 02220 bce().setZeroCounts(bce_zero_offset); //integer value 02221 02222 // save to "BCE.TXT" file 02223 //saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband) 02224 configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD, bce_zero_offset, bce_frequency, bce_deadband); 02225 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband()); 02226 } 02227 else if (BCE_PID_key == 'X') { 02228 break; //exit the while loop 02229 } 02230 else if (BCE_PID_key == 'P') { 02231 xbee().printf(">> Type in proportional gain with keyboard.\n\r"); 02232 bce_KP = getFloatUserInput(); 02233 } 02234 else if (BCE_PID_key == 'I') { 02235 xbee().printf(">> Type in integral gain with keyboard.\n\r"); 02236 bce_KI = getFloatUserInput(); 02237 } 02238 else if (BCE_PID_key == 'D') { 02239 xbee().printf(">> Type in derivative gain with keyboard.\n\r"); 02240 bce_KD = getFloatUserInput(); 02241 } 02242 else if (BCE_PID_key == 'F') { 02243 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r"); 02244 bce_frequency = getFloatUserInput(); 02245 } 02246 else if (BCE_PID_key == 'B') { 02247 xbee().printf(">> Type in DEADBAND with keyboard.\n\r"); 02248 bce_deadband = getFloatUserInput(); 02249 } 02250 else if (BCE_PID_key == 'Z') { 02251 xbee().printf(">> Type in zero count offset with keyboard.\n\r"); 02252 bce_zero_offset = (int)getFloatUserInput(); 02253 } 02254 else { 02255 xbee().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key); 02256 } 02257 } 02258 } 02259 02260 void StateMachine::keyboard_menu_BATT_PID_settings() { 02261 char BMM_PID_key; 02262 02263 // load current values from files 02264 float batt_KP = batt().getControllerP(); 02265 float batt_KI = batt().getControllerI(); 02266 float batt_KD = batt().getControllerD(); 02267 02268 float batt_deadband = batt().getDeadband(); 02269 float batt_frequency = batt().getFilterFrequency(); 02270 int batt_zero_offset = batt().getZeroCounts(); 02271 //BATT frequency and deadband are hardcoded! 02272 02273 // print the menu 02274 xbee().printf("\n\rBattery Motor PID gain settings (MENU)"); 02275 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r"); 02276 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); 02277 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband()); 02278 02279 // handle the key presses 02280 while(1) { 02281 // get the user's keystroke from either of the two inputs 02282 if (xbee().readable()) { 02283 BMM_PID_key = xbee().getc(); 02284 } 02285 else { 02286 continue; // didn't get a user input, so keep waiting for it 02287 } 02288 02289 // handle the user's key input 02290 if (BMM_PID_key == 'S') { // user wants to save these modified values 02291 // set values 02292 batt().setControllerP(batt_KP); 02293 batt().setControllerI(batt_KI); 02294 batt().setControllerD(batt_KD); 02295 02296 batt().setDeadband(batt_deadband); 02297 batt().setFilterFrequency(batt_frequency); 02298 batt().setZeroCounts(batt_zero_offset); //integer value 02299 02300 // save to "BATT.TXT" file 02301 //saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband) 02302 configFileIO().saveBattData(batt_KP, batt_KI, batt_KD, batt_zero_offset, batt_frequency, batt_deadband); 02303 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband()); 02304 } 02305 else if (BMM_PID_key == 'X') { 02306 break; //exit the while loop 02307 } 02308 else if (BMM_PID_key == 'P') { 02309 xbee().printf(">> Type in proportional gain with keyboard.\n\r"); 02310 batt_KP = getFloatUserInput(); 02311 } 02312 else if (BMM_PID_key == 'I') { 02313 xbee().printf(">> Type in integral gain with keyboard.\n\r"); 02314 batt_KI = getFloatUserInput(); 02315 } 02316 else if (BMM_PID_key == 'D') { 02317 xbee().printf(">> Type in derivative gain with keyboard.\n\r"); 02318 batt_KD = getFloatUserInput(); 02319 } 02320 else if (BMM_PID_key == 'F') { 02321 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r"); 02322 batt_frequency = getFloatUserInput(); 02323 } 02324 else if (BMM_PID_key == 'B') { 02325 xbee().printf(">> Type in DEADBAND with keyboard.\n\r"); 02326 batt_deadband = getFloatUserInput(); 02327 } 02328 else if (BMM_PID_key == 'Z') { 02329 xbee().printf(">> Type in zero count offset with keyboard.\n\r"); 02330 batt_zero_offset = (int)getFloatUserInput(); 02331 } 02332 else { 02333 xbee().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key); 02334 } 02335 } 02336 } 02337 02338 void StateMachine::keyboard_menu_DEPTH_PID_settings() { 02339 char DEPTH_PID_key; 02340 02341 float depth_KP = depthLoop().getControllerP(); // load current depth value 02342 float depth_KI = depthLoop().getControllerI(); // load current depth value 02343 float depth_KD = depthLoop().getControllerD(); // load current depth value 02344 02345 float depth_freq = depthLoop().getFilterFrequency(); 02346 float depth_deadband = depthLoop().getDeadband(); 02347 02348 // print the menu 02349 xbee().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)"); 02350 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r"); 02351 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); 02352 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband()); 02353 02354 // handle the key presses 02355 while(1) { 02356 // get the user's keystroke from either of the two inputs 02357 if (xbee().readable()) { 02358 DEPTH_PID_key = xbee().getc(); 02359 } 02360 else { 02361 continue; // didn't get a user input, so keep waiting for it 02362 } 02363 02364 // handle the user's key input 02365 if (DEPTH_PID_key == 'S') { // user wants to save these modified values 02366 // set values 02367 depthLoop().setControllerP(depth_KP); 02368 depthLoop().setControllerI(depth_KI); 02369 depthLoop().setControllerD(depth_KD); 02370 02371 depthLoop().setFilterFrequency(depth_freq); 02372 depthLoop().setDeadband(depth_deadband); 02373 02374 // save to "DEPTH.TXT" file 02375 configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm, depth_freq, depth_deadband); //P,I,D, bce zeroOffset 02376 02377 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband()); 02378 02379 //set class variables that will be used in find neutral sequence 02380 _depth_KP = depthLoop().getControllerP(); // load current depth value 02381 _depth_KI = depthLoop().getControllerI(); // load current depth value 02382 _depth_KD = depthLoop().getControllerD(); // load current depth value 02383 } 02384 else if (DEPTH_PID_key == 'X') { 02385 break; //exit the while loop 02386 } 02387 else if (DEPTH_PID_key == 'P') { 02388 xbee().printf(">> Type in proportional gain with keyboard.\n\r"); 02389 depth_KP = getFloatUserInput(); 02390 } 02391 else if (DEPTH_PID_key == 'I') { 02392 xbee().printf(">> Type in integral gain with keyboard.\n\r"); 02393 depth_KI = getFloatUserInput(); 02394 } 02395 else if (DEPTH_PID_key == 'D') { 02396 xbee().printf(">> Type in derivative gain with keyboard.\n\r"); 02397 depth_KD = getFloatUserInput(); 02398 } 02399 else if (DEPTH_PID_key == 'F') { 02400 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r"); 02401 depth_freq = getFloatUserInput(); 02402 } 02403 else if (DEPTH_PID_key == 'B') { 02404 xbee().printf(">> Type in DEADBAND with keyboard.\n\r"); 02405 depth_deadband = getFloatUserInput(); 02406 } 02407 else { 02408 xbee().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key); 02409 } 02410 } 02411 } 02412 02413 void StateMachine::keyboard_menu_PITCH_PID_settings() { 02414 char PITCH_PID_key; 02415 02416 float pitch_KP = pitchLoop().getControllerP(); // load current pitch value 02417 float pitch_KI = pitchLoop().getControllerI(); // load current pitch value 02418 float pitch_KD = pitchLoop().getControllerD(); // load current pitch value 02419 02420 float pitch_freq = pitchLoop().getFilterFrequency(); 02421 float pitch_deadband = pitchLoop().getDeadband(); 02422 02423 // print the menu 02424 xbee().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)"); 02425 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r"); 02426 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); 02427 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband()); 02428 02429 // handle the key presses 02430 while(1) { 02431 // get the user's keystroke from either of the two inputs 02432 if (xbee().readable()) { 02433 PITCH_PID_key = xbee().getc(); 02434 } 02435 else { 02436 continue; // didn't get a user input, so keep waiting for it 02437 } 02438 02439 // handle the user's key input 02440 if (PITCH_PID_key == 'S') { // user wants to save these modified values 02441 // set values 02442 pitchLoop().setControllerP(pitch_KP); 02443 pitchLoop().setControllerI(pitch_KI); 02444 pitchLoop().setControllerD(pitch_KD); 02445 02446 pitchLoop().setFilterFrequency(pitch_freq); 02447 pitchLoop().setDeadband(pitch_deadband); 02448 02449 // save to "PITCH.TXT" file (doesn't modify neutral position) 02450 configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm, pitch_freq, pitch_deadband); 02451 02452 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband()); 02453 02454 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value 02455 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value 02456 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value 02457 } 02458 else if (PITCH_PID_key == 'X') { 02459 break; //exit the while loop 02460 } 02461 else if (PITCH_PID_key == 'P') { 02462 xbee().printf(">> Type in proportional gain with keyboard.\n\r"); 02463 pitch_KP = getFloatUserInput(); 02464 } 02465 else if (PITCH_PID_key == 'I') { 02466 xbee().printf(">> Type in integral gain with keyboard.\n\r"); 02467 pitch_KI = getFloatUserInput(); 02468 } 02469 else if (PITCH_PID_key == 'D') { 02470 xbee().printf(">> Type in derivative gain with keyboard.\n\r"); 02471 pitch_KD = getFloatUserInput(); 02472 } 02473 else if (PITCH_PID_key == 'F') { 02474 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r"); 02475 pitch_freq = getFloatUserInput(); 02476 } 02477 else if (PITCH_PID_key == 'B') { 02478 xbee().printf(">> Type in DEADBAND with keyboard.\n\r"); 02479 pitch_deadband = getFloatUserInput(); 02480 } 02481 else { 02482 xbee().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key); 02483 } 02484 } 02485 } 02486 02487 void StateMachine::keyboard_menu_HEADING_PID_settings() { 02488 char HEADING_PID_key; 02489 02490 float heading_KP = headingLoop().getControllerP(); 02491 float heading_KI = headingLoop().getControllerI(); 02492 float heading_KD = headingLoop().getControllerD(); 02493 02494 float heading_offset_deg = headingLoop().getOutputOffset(); 02495 float heading_freq = headingLoop().getFilterFrequency(); 02496 float heading_deadband = headingLoop().getDeadband(); 02497 02498 // print the menu 02499 xbee().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)"); 02500 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r"); 02501 xbee().printf("\n\r Adjust zero offset with O (oh)."); 02502 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); 02503 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband()); 02504 02505 // handle the key presses 02506 while(1) { 02507 // get the user's keystroke from either of the two inputs 02508 if (xbee().readable()) { 02509 HEADING_PID_key = xbee().getc(); 02510 } 02511 else { 02512 continue; // didn't get a user input, so keep waiting for it 02513 } 02514 02515 // handle the user's key input 02516 if (HEADING_PID_key == 'S') { // user wants to save the modified values 02517 // set global values 02518 headingLoop().setControllerP(heading_KP); 02519 headingLoop().setControllerI(heading_KI); 02520 headingLoop().setControllerD(heading_KD); 02521 headingLoop().setOutputOffset(heading_offset_deg); 02522 headingLoop().setFilterFrequency(heading_freq); 02523 headingLoop().setDeadband(heading_deadband); 02524 02525 // save pitch PID values for outer loop (must save neutral position also) 02526 configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, heading_freq, heading_deadband); //_neutral_heading_pos_deg); 02527 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband()); 02528 } 02529 else if (HEADING_PID_key == 'X') { 02530 break; //exit the while loop 02531 } 02532 02533 else if (HEADING_PID_key == 'P') { 02534 heading_KP = getFloatUserInput();; 02535 } 02536 else if (HEADING_PID_key == 'I') { 02537 heading_KI = getFloatUserInput(); 02538 } 02539 else if (HEADING_PID_key == 'D') { 02540 heading_KD = getFloatUserInput(); 02541 } 02542 else if (HEADING_PID_key == 'F') { 02543 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r"); 02544 heading_freq = getFloatUserInput(); 02545 } 02546 else if (HEADING_PID_key == 'B') { 02547 xbee().printf(">> Type in DEADBAND with keyboard.\n\r"); 02548 heading_deadband = getFloatUserInput(); 02549 } 02550 else if (HEADING_PID_key == 'O') { 02551 heading_offset_deg = getFloatUserInput(); 02552 } 02553 else { 02554 xbee().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key); 02555 } 02556 } 02557 } 02558 02559 float StateMachine::getDepthCommand() { 02560 return _depth_command; 02561 } 02562 02563 float StateMachine::getPitchCommand() { 02564 return _pitch_command; 02565 } 02566 02567 float StateMachine::getDepthReading() { 02568 return _depth_reading; 02569 } 02570 02571 float StateMachine::getPitchReading() { 02572 return _pitch_reading; 02573 } 02574 02575 float StateMachine::getTimerReading() { 02576 return _timer_reading; 02577 } 02578 02579 void StateMachine::setState(int input_state) { 02580 _state = input_state; 02581 02582 _isTimeoutRunning = false; //to start each state you have to reset this 02583 } 02584 02585 int StateMachine::getState() { 02586 return _state; //return the current state of the system 02587 } 02588 02589 void StateMachine::setTimeout(float input_timeout) { 02590 _timeout = input_timeout; 02591 } 02592 02593 void StateMachine::setDepthCommand(float input_depth_command) { 02594 _depth_command = input_depth_command; 02595 } 02596 02597 void StateMachine::setPitchCommand(float input_pitch_command) { 02598 _pitch_command = input_pitch_command; 02599 } 02600 02601 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) { 02602 _neutral_batt_pos_mm = batt_pos_mm; 02603 _neutral_bce_pos_mm = bce_pos_mm; 02604 02605 xbee().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm); 02606 } 02607 02608 //process one state at a time 02609 void StateMachine::getDiveSequence() { 02610 //iterate through this sequence using the FSM 02611 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state; 02612 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout; 02613 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth; 02614 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch; 02615 02616 _timeout = currentStateStruct.timeout; //set timeout before exiting this function 02617 } 02618 //process one state at a time 02619 void StateMachine::getLegParams() { 02620 //iterate through this sequence using the FSM 02621 currentLegStateStruct.state = legController().legStructLoaded[_multi_leg_counter].state; 02622 currentLegStateStruct.timeout = legController().legStructLoaded[_multi_leg_counter].timeout; 02623 currentLegStateStruct.yo_time = legController().legStructLoaded[_multi_leg_counter].yo_time; //timer for each up/down segment 02624 currentLegStateStruct.min_depth = legController().legStructLoaded[_multi_leg_counter].min_depth; 02625 currentLegStateStruct.max_depth = legController().legStructLoaded[_multi_leg_counter].max_depth; 02626 currentLegStateStruct.heading = legController().legStructLoaded[_multi_leg_counter].heading; 02627 02628 _timeout = currentLegStateStruct.timeout; //set timeout before exiting this function 02629 _yo_time = currentLegStateStruct.yo_time; 02630 _state = currentLegStateStruct.state; 02631 // _multi_leg_counter += 1; // this is wrong, because this subroutine is called multiple times on the same leg, I need indicator of 'next_leg', first. 02632 } 02633 void StateMachine::setstate_frommain(int set_state_val, int new_timeout) { // used for setting state from main, when find_neutral has not been run 02634 _state = set_state_val; 02635 _timeout = new_timeout; 02636 } 02637 02638 02639 void StateMachine::printCurrentSdLog() { 02640 xbee().printf("SD card log work in progress\r\n"); 02641 //might be worth saving the last few logs to the MBED... 02642 } 02643 02644 // 06/06/2018 02645 float StateMachine::getFloatUserInput() { 02646 float float_conversion = 0.0; 02647 02648 while(1) { 02649 bool valid_input = false; //flag for valid or invalid input 02650 02651 xbee().printf("\n\rPlease enter your number below and press ENTER:\r\n"); 02652 char user_string [80]; //variable to store input as a character array 02653 02654 xbee().scanf("%s", user_string); //read formatted data from stdin 02655 xbee().printf("\n\n\ruser_string was <%s>\r\n", user_string); 02656 02657 //check through the string for invalid characters (decimal values 43 through 57) 02658 for (int c = 0; c < strlen(user_string); c++) { 02659 //xbee().printf("character is [%c]\r\n", user_string[c]); //debug 02660 if (user_string[c] >= 43 and user_string[c] <= 57) { 02661 //xbee().printf("VALID CHARACTER!\r\n"); //debug 02662 ; 02663 } 02664 else { 02665 xbee().printf("INVALID INPUT!\r\n"); 02666 break; 02667 } 02668 02669 if (c == (strlen(user_string) - 1)) { 02670 valid_input = true; 02671 } 02672 } 02673 02674 if (valid_input) { 02675 float_conversion = atof(user_string); 02676 xbee().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion); 02677 break; 02678 } 02679 } 02680 02681 return float_conversion; 02682 } 02683 02684 float StateMachine::getTimerValue() { 02685 return _fsm_timer; 02686 } 02687 02688 void StateMachine::logFileMenu() { 02689 char FILE_MENU_key; 02690 02691 // print the menu 02692 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r"); 02693 02694 // handle the key presses 02695 while(1) { 02696 // get the user's keystroke from either of the two inputs 02697 if (xbee().readable()) { 02698 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r"); 02699 FILE_MENU_key = xbee().getc(); 02700 } 02701 else { 02702 continue; // didn't get a user input, so keep waiting for it 02703 } 02704 02705 // handle the user's key input 02706 if (FILE_MENU_key == 'P') { // user wants to save these modified values 02707 xbee().printf("\n\r>> Printing log file size!\n\r"); 02708 wait(2); 02709 mbedLogger().getFileSize("/local/LOG000.csv"); 02710 } 02711 else if (FILE_MENU_key == 'Y') { 02712 xbee().printf("\n\r>> Erasing MBED LOG FILE!\n\r"); 02713 wait(2); 02714 mbedLogger().eraseFile(); 02715 break; 02716 } 02717 else if (FILE_MENU_key == 'N') { 02718 xbee().printf("\n\r>> EXITING MENU. Log file intact.\n\r"); 02719 wait(2); 02720 break; 02721 } 02722 else { 02723 xbee().printf("\n\r[%c] This key does nothing here. \r", FILE_MENU_key); 02724 } 02725 } 02726 }
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