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
StateMachine/StateMachine.cpp
- Committer:
- joel_ssc
- Date:
- 2019-05-09
- Revision:
- 88:1813f583cee9
- Parent:
- 87:6d95f853dab3
File content as of revision 88:1813f583cee9:
#include "StateMachine.hpp"
#include "StaticDefs.hpp"
StateMachine::StateMachine() {
_timeout = 20; // generic timeout for every state, seconds
_yo_time = 40; // previously= 400 ; timeout for a dive or rise yo, not set for other ops
_state_transition_time = 20; // previously =60; time to allow motors to come to rest in float_broadcast
_pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state
_bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
_battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
_disconnect_batt_pos_mm = _battFloatPosition; // all the way forward
_batt_flying_pos_mm = 22.0;
_timeout_splashdown = 120; // two minutes??
_motorDisconnect_triggered = 0;
_depth_command = 2.0; // user keyboard depth (default)
_pitch_command = -20.0; // user keyboard pitch (default)
_heading_command = 0.0;
_start_swim_entry = SIT_IDLE;
_neutral_entry_state = SIT_IDLE;
//new commands
_BCE_dive_offset = 0.0; //starting at the limits
_BMM_dive_offset = 0.0;
//new commands
_neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
_neutral_success = 0; // used if find neutral has not been run and neutral_setval is also not 1 from neutral.txt file
//////////////////////////////
_state = SIT_IDLE; // select starting state here
_isTimeoutRunning = false; // default timer to not running
_isSubStateTimerRunning = false; // default timer to not running
/////////////////////////////
_multi_dive_counter = 0;
_multi_leg_counter = 0;
_depth_KP = depthLoop().getControllerP(); // load current depth value
_depth_KI = depthLoop().getControllerI(); // load current depth value
_depth_KD = depthLoop().getControllerD(); // load current depth value
_pitch_KP = pitchLoop().getControllerP(); // load current pitch value
_pitch_KI = pitchLoop().getControllerI(); // load current pitch value
_pitch_KD = pitchLoop().getControllerD(); // load current pitch value
_neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
_neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
_state_array_counter = 1; //used to iterate through and record states
_substate_array_counter = 0; //used to iterate through and record substates
_state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this
_substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING
_previous_substate = -1; //to start sub-FSM
_previous_state = -1; //for tracking FSM states
_max_recorded_depth_neutral = -99; //float to record max depth
_max_recorded_depth_dive = -99; //float to record max depth
_max_recorded_auto_neutral_depth = -99;
_debug_menu_on = false; //toggle between debug and simple menu screens
//new file stuff
_pitch_filter_freq = pitchLoop().getFilterFrequency();
_pitch_deadband = pitchLoop().getDeadband();
_depth_filter_freq = depthLoop().getFilterFrequency();
_depth_deadband = depthLoop().getDeadband();
}
//Finite State Machine (FSM)
int StateMachine::runStateMachine() { // ends about line 1022
// finite state machine ... each state has at least one exit criteria
static int lpd_oneshots=0;
static int lpr_oneshots=0;
static int finish_leg=0; // allow a rise to complete ( if it takes less than a yo_time, then exit to FB)
static float leg_max_depth = 0;
static float leg_min_depth =0;
static float leg_heading = 90; //go east!
char buf[256];
switch (_state) {
case ENDLEG_WAIT:
if(!_isTimeoutRunning) {
_yotimer.reset(); _yotimer.start(); _fsm_timer.reset(); _fsm_timer.start();
_isTimeoutRunning = 1;
}
keyboard(); //keyboard function now needs to know about this state and its timeout
break;
case FLYING_IDLE: // wait for some signal and the move the battery by a known amount
// then wait until you drop to START_SWIM on a timeout
if (!_isTimeoutRunning) { // start in the correct state, tell it once where to move
_fsm_timer.reset();
_fsm_timer.start();
_isTimeoutRunning = 1;
batt().unpause();
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
sprintf(buf, "FLYING_IDLE started in statemachine\n\n\r");
mbedLogger().appendDiagFile(buf,0);
}
if (motorDisconnect().read() || (_fsm_timer > 13)) { // for real case, only test is motorDisconnect().read(), timeout check is for testing only
_motorDisconnect_triggered = 1; // once hardware has switched once, do not need it again
// move the battery
// reset and start the timer for post disconnect wait
sprintf(buf, "FLYING_IDLE: motorDisconnect.read() at timeout=13sec, to end\n\r");
mbedLogger().appendDiagFile(buf,0);
_fsm_timer.reset();
_fsm_timer.start();
_isTimeoutRunning = 1;
batt().unpause(); //this is now active
batt().setPosition_mm(_disconnect_batt_pos_mm);
}
_timeout_splashdown = 6; // timeout_splashdown reduced to 6 seconds for testing, usually 120 sec
if( _motorDisconnect_triggered && _isTimeoutRunning) {
// how end - timeout
if (_fsm_timer > _timeout_splashdown) { // timeout_splashdown reduced to 6 seconds for testing, usually 120 sec
xbee().printf("FLYING_IDLE ended: timed out! Go to START_SWIM \r\n"); // go to start_swim
//tare the pressure sensor
depth().tare(); // tares to ambient (do on surface)
_state = START_SWIM; // alternately, go into the legStruct and set start_swim now? rather than leg, or leg_position_dive
_start_swim_entry = FLYING_IDLE;
sprintf(buf, "FLYING_IDLE ended on splashdown timeout go to Start_swim\n\n\r");
mbedLogger().appendDiagFile(buf,3);
//sprintf(buf, "FLYING_IDLE ended on splashdown timeout. FOR testing go to ENDLEG_WAIT instead of go to Start_swim\n\n\r");
//mbedLogger().appendDiagFile(buf,0);
//_state = ENDLEG_WAIT;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
}
break;
case SIT_IDLE: // sit_idle and fb_exit fall through to keyboard actions, since they do not have break statements
case FB_EXIT:
case KEYBOARD :
// there actually is no timeout test for SIT_IDLE, but this enables some one-shot actions
if (!_isTimeoutRunning) { // presumably the first time back in this block, whatever ended stopped the timeout_running.
//tare pressure sensor
depth().tare(); // tares to ambient (do on surface)
if (_debug_menu_on)
printDebugMenu();
else
printSimpleMenu();
xbee().printf("\r\n\nstate: SIT_IDLE\r\n");
_isTimeoutRunning = true;
// what is active?
bce().pause();
batt().pause();
//reset sub FSM
_isSubStateTimerRunning = false;
}
// how exit?
keyboard(); // keyboard function will change the state if needed
break;
case CHECK_TUNING : // state used to check the tuning of the pressure vessel
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: CHECK_TUNING\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause(); //this is now active
batt().unpause(); //this is now active
// what are the commands? (DRIVE THE MOTORS "DIRECTLY")
bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
// getSetPosition_mm is the commanded position in the LinearActuator class
xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
}
// how exit?
if (_fsm_timer > _timeout) {
xbee().printf("CHECK_TUNING: timed out!\r\n");
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
//WHAT IS ACTIVE?
// the inner loop position controls are maintaining the positions of the linear actuators
//print status to screen continuously
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",
bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),
pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
break;
case EMERGENCY_CLIMB :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_yotimer.reset();
_yotimer.start();
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
// what are the commands?
bce().setPosition_mm(bce().getTravelLimit());
batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
}
// how exit?
if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) {
xbee().printf("EC: timed out\r\n");
_state = FLOAT_BROADCAST;
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
}
else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
_state = FLOAT_BROADCAST;
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
sprintf(buf, "EMERGENCY_CLIMB - at surface ... now go to FLOAT_BROADCAST\n\n\r");
mbedLogger().appendDiagFile(buf,3);
}
//WHAT IS ACTIVE?
//print status to screen continuously
xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
break;
case FIND_NEUTRAL :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
//start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much
float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0;
//float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0;
bce().setPosition_mm(bce_find_neutral_mm);
batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position
//first iteration goes into Neutral Finding Sub-FSM
//set the first state of the FSM, and start the sub-FSM
_substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
_previous_substate = -1;
//save this state to the array
_substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
_substate_array_counter++;
runNeutralStateMachine();
}
// how exit? (exit with the timer, if timer still running continue processing sub FSM)
if (_fsm_timer > _timeout) {
xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
sprintf(buf, "FIND_NEUTRAL - timed out roll=%f depth = %f now exit to EMERG_CLIMB\n\n", imu().getRoll(), depthLoop().getPosition());
mbedLogger().appendDiagFile(buf,3);
_state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
_fsm_timer.reset();
sprintf(buf, "FN: timed out [time:%0.1f sec], _neutral_success = -1 for info to float_broadcast\n", _fsm_timer.read());
mbedLogger().appendDiagFile(buf,3);
_fsm_timer.reset();
_neutral_success = -1;
_isTimeoutRunning = false;
//record this to the NEUTRAL sub-FSM tracker
_substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
_substate_array_counter++;
}
//what is active? (neutral finding sub-function runs until completion)
//check if substate returned exit state, if so stop running the sub-FSM
else if (runNeutralStateMachine() == NEUTRAL_EXIT) { // but this line will repeatedly runneutralstatemachine as long as the overall state is FIND_NEUTRAL
//if successful, FIND_NEUTRAL then goes to RISE
xbee().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
sprintf(buf, "FIND_NEUTRAL - at Neutral EXIT now go to RISE\n\n");
mbedLogger().appendDiagFile(buf,3);
if(_neutral_success == 0 ) { // failed in finding neutral - bad exit states
configFileIO().report_no_neutral_found( bce().getPosition_mm(), batt().getPosition_mm()); // this is a message "no_float.txt"
//to the raspberry Pi control computer
}
_state = RISE; // adjust this to leg_position_dive with an if statement - if not sent via keyboard
// also set flags/structures that neutral was found successfully.
if (_neutral_entry_state == START_SWIM ) {
_state = EMERGENCY_CLIMB; finish_leg =1;
sprintf(buf, "FN neutral_EXIT: but entry via start_swim, so radio call is next\n\n\r");
mbedLogger().appendDiagFile(buf,3);
} //exit case when not entered by keyboard
_isTimeoutRunning = false;
}
break;
case DIVE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: DIVE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
// what are the commands?
depthLoop().setCommand(_depth_command);
pitchLoop().setCommand(_pitch_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
//reset max dive depth
_max_recorded_depth_dive = -99; //float to record max depth
}
// how exit?
if (_fsm_timer.read() > _timeout) {
xbee().printf("DIVE: timed out\r\n\n");
_state = RISE; //new behavior 11/17/2017
_fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = RISE;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// WHAT IS ACTIVE?
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
_max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
}
break;
case START_SWIM :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: START_SWIM\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
sprintf(buf, "START_SWIM begun \n\r");
mbedLogger().appendDiagFile(buf,3);
_yotimer.reset();
_yotimer.start();
_isTimeoutRunning = true;
//tare the pressure sensor
depth().tare(); // tares to ambient (do on surface) HOW certain am I that this tare only happens at surface?
if( fabs(imu().getRoll()) > 70 && depthLoop().getPosition() < 9.0) { //inversion operations
// what needs to be started?
bce().unpause();
batt().unpause();
rudder().unpause();
_depth_command = 10; // this should be meters depth
_heading_command = 90;
_timeout = 180;
sprintf(buf, "START_SWIM found upside down, starting to descend imu().getRoll()= %f \n\r", imu().getRoll());
mbedLogger().appendDiagFile(buf,3);
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
//DEPTH and HEADING COMMANDS first
depthLoop().setCommand(_depth_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
// move BCE and batt to new target positions
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
// depthloop().getOutput() will tell bce() to basically hold at neutral if you are at the desired depth ( assuming that zeroOffset for depth is correct)
batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
//batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); // dare not use neutral postions before knowing what neutral is
//bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is
xbee().printf("START_SWIM: inversion BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //g
xbee().printf("START_SWIM: inversion BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //g
xbee().printf("START_SWIM: inversion starting roll = : %3.1f\r\n",imu().getRoll() ); //g
} //end of inversion section
if( fabs(imu().getRoll()) >70 && depthLoop().getPosition() > 9.0) { //still inverted
// what needs to be started?
bce().unpause();
batt().unpause();
rudder().unpause();
_depth_command = 9;
_heading_command = 90;
_timeout = 120;
_pitch_command = 0;
//DEPTH COMMAND
depthLoop().setCommand(_depth_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
//batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); // is this right ?? looks like climb commands
//bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
xbee().printf("START_SWIM: inversion BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //g
xbee().printf("START_SWIM: inversion BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //g
xbee().printf("START_SWIM: inversion starting roll = : %3.1f\r\n",imu().getRoll() ); //g
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());
mbedLogger().appendDiagFile(buf,3);
}
if( fabs(imu().getRoll()) <70 && _start_swim_entry == FLYING_IDLE ) { // starts out right side up, still inside first call to start_swim
finish_leg = 1; //this works to get to FB_EXIT,
_state = FLOAT_BROADCAST;
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
sprintf(buf, "START_SWIM now upright, called by flying_idle, so end now. roll= %f depth = %f\n\r", imu().getRoll(), depthLoop().getPosition());
mbedLogger().appendDiagFile(buf,3);
}
if( fabs(imu().getRoll()) <70 && _start_swim_entry != FLYING_IDLE ) { // starts out right side up, on second on/off cycle
_state = FIND_NEUTRAL;
_neutral_entry_state = START_SWIM;
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
sprintf(buf, "START_SWIM not called by FLYING_IDLE, so go to find_neutral: depth= %f\n\r", depthLoop().getPosition());
mbedLogger().appendDiagFile(buf,3);
}
} //end of timeout running ==0
// how exit? keep diving and watching depth while also watching imu().getRoll()
if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) { // this is bad, still upside down.
xbee().printf("start_swim: timed out\r\n");
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());
mbedLogger().appendDiagFile(buf,3);
configFileIO().report_still_inverted( fabs(imu().getRoll()), _yo_time); // tells how long you waited, puts in file "inverted.txt"
_state = FLOAT_BROADCAST;
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
}
else if (fabs(imu().getRoll()) <30 ) { // pretty much righted itself go to FIND_NEUTRAL
_state = FIND_NEUTRAL;
_neutral_entry_state = START_SWIM;
sprintf(buf, "START_SWIM - turned self upright roll=%f depth = %f , now go toFIND_NEUTRAL\n\n\r", imu().getRoll(), depthLoop().getPosition());
mbedLogger().appendDiagFile(buf,3);
// print message ?
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
}
//WHAT IS ACTIVE?
//print status to screen continuously
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
break;
case RISE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: RISE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
// what are the commands?
depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
pitchLoop().setCommand(-_pitch_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
}
// how exit?
if (_fsm_timer.read() > _timeout) {
xbee().printf("RISE: timed out\r\n");
_state = EMERGENCY_CLIMB;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
//modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
//did not work correctly in bench test (stuck in rise state)
else if (depthLoop().getPosition() < 0.5) {
xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
sprintf(buf, "in RISE: at surface ... depth =%g ... now go to FLOAT_BROADCAST\n\n\r", depthLoop().getPosition());
mbedLogger().appendDiagFile(buf,3);
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// WHAT IS ACTIVE?
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break;
// NEW DIVE AND RISE SEQUENCES
case POSITION_DIVE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: POSITION DIVE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
rudder().unpause();
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
//DEPTH COMMAND
depthLoop().setCommand(_depth_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
//reset max dive depth
_max_recorded_depth_dive = -99; //float to record max depth
}
// how exit?
// timer runs out goes to POSITION_RISE
if (_fsm_timer.read() > _timeout) {
xbee().printf("POS DIVE timed out\r\n\n");
_state = POSITION_RISE; //new behavior 11/17/2017
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// when you reach the dive threshold, surface
else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = POSITION_RISE;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
if (depthLoop().getPosition() > _max_recorded_depth_dive) {
_max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
}
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break;
case LEG_POSITION_DIVE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n");
sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r");
mbedLogger().appendDiagFile(buf,0);
_fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
_yotimer.reset();
_yotimer.start(); //sets the yo_timer running on the dive
// what needs to be started?
bce().unpause();
batt().unpause();
rudder().unpause();
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
//retrieve commands from structs (loaded from legfile.txt file)
stateMachine().getLegParams();
leg_max_depth = currentLegStateStruct.max_depth;
leg_heading = currentLegStateStruct.heading;
//DEPTH COMMAND
//depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
//headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
//reset max dive depth
_max_recorded_depth_dive = -99; //float to record max depth
lpd_oneshots = 1;
}
if (!lpd_oneshots) {
xbee().printf("\r\n\nstate: LEG POSITION DIVE oneshots\r\n");
// _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
// sm_timer.start(); // background timer starts running
_yotimer.reset(); //sets the yo_timer running on the NEW dive
_yotimer.start();
//_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
rudder().unpause();
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
//retrieve commands from structs (loaded from missionleg.cfg file)
leg_max_depth = currentLegStateStruct.max_depth;
leg_heading = currentLegStateStruct.heading;
sprintf(buf, "LEG POSITION DIVE entered via Leg_pos_rise - lpd_oneshots, only restart _yotimer\n\n\r");
mbedLogger().appendDiagFile(buf,0);
//DEPTH COMMAND
//depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
//headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
lpd_oneshots = 1;
//reset max dive depth
//_max_recorded_depth_dive = -99; //float to record max depth
} // lpd_oneshots if timer is already running
// how exit?
// timer runs out goes to LEG_POSITION_RISE but finish_leg flag is turned on.
if (_fsm_timer.read() > _timeout) {
xbee().printf("LEG POSITION DIVE timed out for overall leg time\r\n\n");
_state = LEG_POSITION_RISE; // now start a timer on yo_timer for rise
finish_leg =1;
lpr_oneshots=0;
sprintf(buf, "go to LEG POSITION DIVE on overall leg timeout, set finish_leg=1\n\n\r");
mbedLogger().appendDiagFile(buf,0);
// _fsm_timer.reset();
// _isTimeoutRunning = false;
}
// when you reach the dive threshold, surface
else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
xbee().printf("LEG POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = LEG_POSITION_RISE;
lpr_oneshots = 0;
// _fsm_timer.reset(); // reset time if still inside legg long timeout?
// _isTimeoutRunning = false;
} else if(_yotimer.read() > _yo_time ) {
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());
sprintf(buf, "LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE\n\n\r");
mbedLogger().appendDiagFile(buf,3);
_state = LEG_POSITION_RISE;
finish_leg =1;
//_yotimer.reset();
//_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??
lpr_oneshots=0;
if (depthLoop().getPosition() < 0.7* depthLoop().getCommand()) { //too slow - exit
_state = EMERGENCY_CLIMB; // overridden here for testing
finish_leg = 1;
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());
sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb but not really for testing\n\n\r");
mbedLogger().appendDiagFile(buf,3);
_state = LEG_POSITION_RISE;
// _fsm_timer.reset();
// _isTimeoutRunning = false;
}
}
// what is active?
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
if (depthLoop().getPosition() > _max_recorded_depth_dive) {
_max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
}
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break; // end LEG POSITION DIVE
case POSITION_RISE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: POSITION RISE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
// what are the commands? (using inner loops except for heading outer loop)
batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
}
// how exit?
if (_fsm_timer.read() > _timeout) {
xbee().printf("POS RISE: timed out\r\n");
_state = EMERGENCY_CLIMB;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (depthLoop().getPosition() < 0.5) {
xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break; //end of POS RISE
case LEG_POSITION_RISE :
// start local state timer and init any other one-shot actions
leg_min_depth = currentLegStateStruct.min_depth;
leg_heading = currentLegStateStruct.heading;
if (!_isTimeoutRunning) { // this should never occur. the only entry into this case is from LEG_POSITION_DIVE exit
xbee().printf("\r\n\nstate: LEG POSITION RISE\r\n");
sprintf(buf, "state: LEG POSITION RISE entered with timeout NOT running should not happen\n\n\r");
mbedLogger().appendDiagFile(buf,3);
// go and read the legparams just in case
//retrieve commands from structs (loaded from legfile.txt file)
stateMachine().getLegParams();
leg_min_depth = currentLegStateStruct.min_depth;
leg_heading = currentLegStateStruct.heading;
//_fsm_timer.reset(); // timer goes back to zero --no
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
_yotimer.reset(); //reset yo_timer;
_yotimer.start(); //and start it
// what needs to be started?
bce().unpause();
batt().unpause();
stateMachine().getLegParams();
// what are the commands? (using inner loops except for heading outer loop)
batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
//retrieve commands from structs (loaded from missionleg.cfg file)
headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
lpr_oneshots = 1;
}
if (!lpr_oneshots) {
xbee().printf("\r\n\nstate: LEG POSITION RISE entered via LEG_POSiTION_DIVE finish\r\n");
sprintf(buf, "state: LEG POSITION RISE entered via LEG_POSITION_DIVE\n\n\r");
mbedLogger().appendDiagFile(buf,3);
//_fsm_timer.reset(); // timer goes back to zero --no
_yotimer.reset(); //reset yo_timer;
_yotimer.start(); //and start it
//_fsm_timer.start(); timer is already running // background timer starts running
// _isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
// what are the commands? (using inner loops except for heading outer loop)
batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
//retrieve commands from structs (loaded from missionleg.cfg file)
headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
lpr_oneshots = 1;
} // end if(!lpr_oneshots)
// how exit?
if (_fsm_timer.read() > _timeout) {
xbee().printf("LEG POS RISE: timed out on overall timeout\r\n");
// _state = EMERGENCY_CLIMB;
finish_leg = 1; // not going immediately to Emergency_climb and not resetting timers means it will take 1 yo-time of rising first
// _fsm_timer.reset();
sprintf(buf, "LEG POSITION DIVE Ended via overall timeout\n\n\r");
mbedLogger().appendDiagFile(buf,0);
// _isTimeoutRunning = false;
}
else if (depthLoop().getPosition() < leg_min_depth - 0.5 ) { // add in check for finish_leg. Don't flip flop between states in that case
xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = LEG_POSITION_DIVE;
sprintf(buf, "LEG POSITION RISE flip-flops to LEG_POSITION_DIVE on near surface pressure \n\n\r");
mbedLogger().appendDiagFile(buf,0);
//_fsm_timer.reset();
//_isTimeoutRunning = false;
lpd_oneshots=0;
if(finish_leg ==1) {
_state = EMERGENCY_CLIMB;
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
sprintf(buf, "LEG POSITION RISE ... ENDS, and since finish_leg=1, go to Emergency climb\n\n\r");
mbedLogger().appendDiagFile(buf,0);
}
}
else if(_yotimer.read() > _yo_time ) {
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());
_state = EMERGENCY_CLIMB; // add diagnostics message
finish_leg = 1;
_fsm_timer.reset(); _yotimer.reset();
_isTimeoutRunning = false;
sprintf(buf, "LEG POSITION DIVE ... ENDS on yo_time too long, exit to emergnecy climb + finish_leg=1\n\n\r");
mbedLogger().appendDiagFile(buf,0);
}
// what is active?
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break; // end LEG POS RISE
// NEW DIVE AND RISE SEQUENCES
case FLOAT_LEVEL :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
// what are the commands?
bce().setPosition_mm(_bceFloatPosition);
pitchLoop().setCommand(0.0);
}
// how exit?
if (_fsm_timer > _timeout) {
xbee().printf("FL: timed out\r\n");
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
xbee().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
_state = FLOAT_BROADCAST;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
xbee().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), _fsm_timer.read());
batt().setPosition_mm(pitchLoop().getOutput());
break;
case FLOAT_BROADCAST :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_yotimer.reset();
_yotimer.start();
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
// what are the commands?
bce().setPosition_mm(_bceFloatPosition); // 320.0
batt().setPosition_mm(_battFloatPosition); // 73.0
//set rudder to center
rudder().setPosition_deg(0.0); //set rudder to center, zero degrees
}
// how exit?
if (_fsm_timer > _timeout || ( _yotimer > _state_transition_time)) {
xbee().printf("FB: timed out\r\n");
sprintf(buf, "in FLOAT_BRADCAST timed out ... go to SIT_IDLE\n\n");
mbedLogger().appendDiagFile(buf,3);
_state = SIT_IDLE;
_fsm_timer.reset();
//stop recording data
//mbedLogger().closeFile();
_isTimeoutRunning = false;
if(finish_leg == 1) {
_state = ENDLEG_WAIT;
sprintf(buf, "in FLOAT_BROADCAST still timed out .... but also finish_leg==1 so go to ENDLEG_WAIT\n\n");
mbedLogger().appendDiagFile(buf,3);
} // allows wait at surface for xbee messaging to not close program
}
//fix on float_broadcast to account for BCE stopping early in current hardware
else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) and
(fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
xbee().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband());
_state = SIT_IDLE;
_fsm_timer.reset();
_isTimeoutRunning = false;
//stop recording data
//mbedLogger().closeFile();
if(finish_leg == 1) { _state = ENDLEG_WAIT; } // allows exit via wait at surface first
}
// what is active?
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",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
// if (finish_leg == 1) { _state = FB_EXIT;}
break;
case MULTI_DIVE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: MULTI-DIVE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
//retrieve commands from structs (loaded from sequence.cfg file)
float sequence_depth_command = currentStateStruct.depth;
float sequence_pitch_command = currentStateStruct.pitch;
// what are the commands?
depthLoop().setCommand(sequence_depth_command);
pitchLoop().setCommand(sequence_pitch_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("MULTI-DIVE: depth cmd: %3.1f m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
//no max depth recording right now
}
// how exit?
if (_fsm_timer > _timeout) {
xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
_state = MULTI_RISE; //new behavior 11/17/2017
_fsm_timer.reset();
_isTimeoutRunning = false;
}
else if (depthLoop().getPosition() > depthLoop().getCommand()) {
xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = MULTI_RISE;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// WHAT IS ACTIVE?
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());
bce().setPosition_mm(depthLoop().getOutput());
batt().setPosition_mm(pitchLoop().getOutput());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break;
case MULTI_RISE :
// start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: MULTI-RISE\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
// what needs to be started?
bce().unpause();
batt().unpause();
//NEW: retrieve depth and pitch commands from config file struct
// concept is to load this each time the multi-dive restarts
stateMachine().getDiveSequence();
//retrieve just pitch command from struct
float sequence_pitch_command = currentStateStruct.pitch;
// what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
depthLoop().setCommand(0.5);
pitchLoop().setCommand(-sequence_pitch_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("MULTI-RISE: depth cmd: 0.0 m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
}
// how exit?
if (_fsm_timer > _timeout) {
xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
_state = EMERGENCY_CLIMB;
_fsm_timer.reset();
_isTimeoutRunning = false;
//reset multi-dive sequence to start
_multi_dive_counter = 0;
// //Reload the dive sequence on exit
// sequenceController().loadSequence();
}
else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
//going to next state
_isTimeoutRunning = false;
//successful dive-rise sequence CONTINUES the multi-dive sequence
_multi_dive_counter++;
//UPDATE THE SEQUENCE DATA HERE
stateMachine().getDiveSequence();
//check if this is the end of the dive sequence
//CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
if (currentStateStruct.state == FLOAT_BROADCAST) {
// //Reload the dive sequence on exit
// sequenceController().loadSequence();
_state = FLOAT_BROADCAST;
}
else
_state = MULTI_DIVE; //Note: need to test if this else statement is necessary
//have to stop this with the _multi_dive_counter variable!
}
// WHAT IS ACTIVE?
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());
bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
batt().setPosition_mm(pitchLoop().getOutput());
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break;
case TX_MBED_LOG:
if (!_isTimeoutRunning) {
xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
//mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
xbee().printf("TX_MBED_LOG set to zero\n\r");
//function to read the file and get number of lines (packets to transmit)
_timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
mbedLogger().setTransmitPacketNumber(0); //reset to zero
}
//TIMED OUT
if (_fsm_timer.read() > _timeout) {
xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n");
//STATE
_state = SIT_IDLE;
_fsm_timer.reset();
_isTimeoutRunning = false;
//mbedLogger().closeLogFile();
xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
}
//received end transmission packet (if this is true)
if (mbedLogger().endTransmitPacket()) {
//STATE
led3() = !led3();
_state = SIT_IDLE;
//reset timer
_fsm_timer.reset();
//mbedLogger().closeLogFile();
xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
}
//What is active?
//mbedLogger().fsmTransmitData();
mbedLogger().checkForPythonTransmitRequest();
led1() = !led1();
break;
case RX_SEQUENCE :
xbee().printf("state: RX_SEQUENCE\r\n");
if (!_isTimeoutRunning) {
xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n");
_fsm_timer.reset(); // timer goes back to zero
_fsm_timer.start(); // background timer starts running
_isTimeoutRunning = true;
}
if (_fsm_timer.read() > _timeout) {
xbee().printf("RX_SEQUENCE: timed out!\r\n");
_state = SIT_IDLE;
_fsm_timer.reset();
_isTimeoutRunning = false;
}
// what is active?
xbee().printf("Receive sequence active?\r\n");
break;
default :
xbee().printf("DEBUG: SIT_IDLE\r\n");
_state = SIT_IDLE;
}
//save the state to print to user
if (_previous_state != _state) {
_state_array[_state_array_counter] = _state; //save to state array
_state_array_counter++;
_previous_state = _state;
}
return _state;
} /* end of runStateMachine */
// output the keyboard menu for user's reference
void StateMachine::printSimpleMenu() {
xbee().printf("\r\r\n\nSIMPLE KEYBOARD MENU (08/13/2018):\r\r\n"); //make sure depth sensor tares itself on startup
xbee().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit());
xbee().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
xbee().printf(" J to float level\r\n");
xbee().printf(" B to float at broadcast pitch\r\n");
xbee().printf(" E to initiate emergency climb\r\n");
xbee().printf(" P to print the current log file.\r\n");
xbee().printf(" G to transmit MBED log file\r\n");
xbee().printf(" I to receive multi-dive sequence file\r\n");
xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset);
xbee().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = dive)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
xbee().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition());
xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
xbee().printf(" ? to reset mbed\r\n");
xbee().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
}
void StateMachine::printDebugMenu() {
xbee().printf("\r\r\n\nDEBUG KEYBOARD MENU (08/08/2018):\r\r\n");
xbee().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
xbee().printf(" N to find neutral\r\n");
xbee().printf(" M to initiate multi-dive cycle\r\n");
xbee().printf(" D to initiate dive cycle\r\n");
xbee().printf(" R to initiate rise\r\n");
xbee().printf(" J to float level\r\n");
xbee().printf(" B to float at broadcast pitch\r\n");
xbee().printf(" E to initiate emergency climb\r\n");
xbee().printf(" '}' to HOME the BCE (5 second delay)\r\n");
xbee().printf(" '|' to HOME the BMM (5 second delay)\r\n");
xbee().printf(" Z to show FSM and sub-FSM states.\r\n");
xbee().printf(" P to print the current log file.\r\n");
xbee().printf(" X to print the list of log files.\r\n");
xbee().printf(" I to receive data.\r\n");
xbee().printf(" G to transmit MBED log file (60 second timeout)\r\n");
xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
xbee().printf("; or : to TYPE in the BCE neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
xbee().printf("[ or { to TYPE in the BMM neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
xbee().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch());
xbee().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition());
xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
xbee().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
xbee().printf(" 1 BCE PID sub-menu (type in inputs)\r\n");
xbee().printf(" 2 BATT PID sub-menu (type in inputs)\r\n");
xbee().printf(" 3 Depth PID sub-menu (type in inputs)\r\n");
xbee().printf(" 4 Pitch PID sub-menu (type in inputs)\r\n");
xbee().printf(" 5 Rudder (servo) sub-menu\r\n");
xbee().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n");
xbee().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE *** (bce 200, bmm 40, rudder 1640)\r\n");
xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
xbee().printf(" ? to reset mbed\r\n");
xbee().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
}
//FIND_NEUTRAL sub-Finite State Machine (sub-FSM)
// Note: the sub-FSM only moves the pistons once at the start of each timer loop
// (timer completes, moves piston, timer completes, moves piston, etc)
int StateMachine::runNeutralStateMachine() {
char buf[256];
switch (_substate) {
case NEUTRAL_SINKING :
//start the 10 second timer
if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read() + 5; //record the time when this block is first entered and add 5 seconds
xbee().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (BCE getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
// what are the commands? (BCE linear actuator active, no BMM or pitch movement)
bce().setPosition_mm(bce().getSetPosition_mm() - 2.5);
xbee().printf("NEUTRAL_SINKING: Retracting piston 2.5 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
_isSubStateTimerRunning = true; //disable this block after one iteration
}
// how exit?
//once reached the travel limit, no need to keep trying, so exit
if (bce().getPosition_mm() <= 0) {
xbee().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
sprintf(buf, "in RUNneutral: state failed at bce.getPosition()\n\n");
mbedLogger().appendDiagFile(buf,3);
_substate = NEUTRAL_EXIT;
_neutral_success = 0;
_isSubStateTimerRunning = false; // reset the sub state timer
}
//Troy: Pressure vessel went beyond set depth limit, goes to next state
//once deeper than the commanded setpoint...
else if (depthLoop().getPosition() > _depth_command) {
_substate = NEUTRAL_SLOWLY_RISE; // next state
_isSubStateTimerRunning = false; //reset the sub state timer
}
else if ( (depthLoop().getVelocity() > 0.05) && (depthLoop().getPosition() > 0.6 * _depth_command) ) { // need to code in FILTERED vertical velocity
_substate = NEUTRAL_SLOWLY_RISE; // next state
_isSubStateTimerRunning = false; //reset the sub state timer
}
// what is active?
//once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
xbee().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read());
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
// what is active? (only the buoyancy engine moved every 5 seconds at start)
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
//the BCE moves every 5 seconds. No BMM or rudder movement.
break;
case NEUTRAL_SLOWLY_RISE:
if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read());
// what are the commands?
//move piston at start of sequence (default: extend 2.0 mm)
//Pressure vessel should slowly rise
bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command, only motor position
//Troy: I commented out this command, we're finding pitch in the next state.
// it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
//pitchLoop().setCommand(0.0);
xbee().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 2.0 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
_isSubStateTimerRunning = true; //disable this block after one iteration
}
// how exit?
//once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
_substate = NEUTRAL_EXIT;
sprintf(buf, "in RUNneutral: SLOWLY RISE state failed at bce.getsetPosition()\n\n");
mbedLogger().appendDiagFile(buf,3);
_neutral_success =0; //another failed state
_isSubStateTimerRunning = false; // reset the sub state timer
}
//Troy: Depth rate will go negative as the pressure vessel starts rising
//depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
else if (depthLoop().getVelocity() < 0) { //less than zero ft/s should now be m/s
xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 m/s [time: %0.1f]\r\n", _fsm_timer.read());
_substate = NEUTRAL_CHECK_PITCH;
_isSubStateTimerRunning = false; // reset the sub state timer
}
// what is active?
//once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
xbee().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read());
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
// what is active? (only the buoyancy engine moved every 5 seconds)
xbee().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
break;
case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
// start local state timer and init any other one-shot actions
if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read() + 10; // record time when this block is entered and add several seconds
xbee().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read());
// what are the commands? (default: retract or extend 0.5 mm)
if (pitchLoop().getPosition() > 2) { // nose is high (extend batteries)
batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
xbee().printf("\r\nNeutral Check Pitch: moving battery FWD in 0.5 mm increments\r\n\n");
}
else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries)
batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
xbee().printf("\r\nNeutral Check Pitch: moving battery AFT in 0.5 mm increments\r\n\n");
}
_isSubStateTimerRunning = true; //disable this block after one iteration
}
// how exit?
//pitch angle and pitch rate within small tolerance
//benchtop tests confirm angle needs to be around 2 degrees
if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
xbee().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
// found level, but don't need to save anything this time
if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
_max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
}
// found level and at depth too, so save it all now
if (_substate == NEUTRAL_CHECK_PITCH) {
//save positions locally
_neutral_batt_pos_mm = batt().getPosition_mm();
_neutral_bce_pos_mm = bce().getPosition_mm();
//set the neutral positions in each outer loop
depthLoop().setOutputOffset(_neutral_bce_pos_mm);
pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
// save into the depth.txt and pitch.txt files
configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); //P,I,D, bce zeroOffset
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);
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
_substate = NEUTRAL_EXIT;
sprintf(buf, "in RUNneutral: state succeeded! at NEUTRAL_CHECK PITCH line 1452\n\n");
mbedLogger().appendDiagFile(buf,3);
_neutral_success = 1;
configFileIO().saveNeutralStatus(_neutral_success, _neutral_bce_pos_mm, _neutral_batt_pos_mm); // saves to tell re-started program neutral has been found
}
else {
xbee().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
_substate = NEUTRAL_EXIT;
sprintf(buf, "in RUNneutral: state failed at final fallthrough point line 1462\n\n");
mbedLogger().appendDiagFile(buf,3);
}
}
// what is active?
//once timer complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
xbee().printf("\r\n\nlevel timer COMPLETE!");
xbee().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), _fsm_timer.read());
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
break;
//this state could be removed, it is only used as a transition but is needed to stop entering this function
case NEUTRAL_EXIT :
xbee().printf("substate: NEUTRAL_EXIT\r\n");
break;
default :
xbee().printf("how did we get to substate: default?\r\n"); //debug
//a default within the sub-state machine
_substate = NEUTRAL_EXIT;
break;
}
// reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
if (_substate == NEUTRAL_EXIT) {
xbee().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
//reset internal sub-state back to first entry conditions (first state is immediately sinking)
_substate = NEUTRAL_SINKING;
_isSubStateTimerRunning = false; // reset the sub state timer
//record sub-states to view after sequence
_substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
_substate_array_counter++;
//reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
_previous_substate = -1;
//NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
return NEUTRAL_EXIT; // message to calling function we just exited
}
else {
//record sub-states to view after sequence (when changed)
if (_previous_substate != _substate) {
_substate_array[_substate_array_counter] = _substate; //save current state to state array
_substate_array_counter++;
//record the current substate for comparison
_previous_substate = _substate;
}
return _substate; // message to calling function of what sub-state it's in
}
}
/* keyboard runs independently of the state machine, handling one key at a time
keyboard updates the desired _keyboard_state that is used in the state machine
and only allows input when the state is "idle" */
void StateMachine::keyboard() {
char user_input;
char buf[256];
// check keyboard and make settings changes as requested
// states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
//TEST
int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
static int yocount = -3;
static float htime = 0.0;
if(_state == ENDLEG_WAIT) {
yocount = int(_yotimer.read());
if ( ( (yocount % 5) == 0 ) && ( _yotimer.read() > 2.5+htime) ) { // send out a heartbeat message, need to cast as an int from float
xbee().printf("FSG on surface at end of leg, hit c to wake up\r\n");
sprintf(buf, "ENDLEG WAIT heartbeat message sent yotimer=%f \n\n\r", _yotimer.read());
mbedLogger().appendDiagFile(buf,0);
htime = _yotimer.read();
}
if( _yotimer > _state_transition_time) {
_keyboard_state = FB_EXIT;
_state = FB_EXIT;
}
}
if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD || _state == ENDLEG_WAIT)) { //ends at very end of function 1740
// then get the key
user_input = xbee().getc();
// and exit from ENDLEG_WAIT - you got a keyboard input
if(_state == ENDLEG_WAIT) {
_keyboard_state = SIT_IDLE; // this is installed in _state at end of function
}
//record that the keyboard was used
_state_array[_state_array_counter] = KEYBOARD;
_state_array_counter++;
// keyboard has to reset timer each time it's used
_isTimeoutRunning = false;
// check command against desired control buttons
/***************************** COMMON COMMANDS *****************************/
if (user_input == 'W') {
xbee().printf(">> Please enter the heading (deg).\r\n");
_heading_command = getFloatUserInput();
}
//////////////////// TEST
// else if (user_input == 'l') {
// xbee().printf("CUT OFF RUDDER SERVO????\n\r");
// rudder().pwm_pulse_off();
// }
//////////////////// TEST
else if (user_input == 'K') {
xbee().printf("(K) BLAST DATA AND EXIT! \n\r");
mbedLogger().blastData();
}
else if (user_input == 'U') {
xbee().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
mbedLogger().transmitMultiplePackets();
}
else if (user_input == 'H') {
xbee().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
wait(1);
mbedLogger().blastData();
mbedLogger().transmitMultiplePackets();
}
else if (user_input == 'G') {
xbee().printf("(G) BLAST DATA TEST and use FSM! \n\r");
wait(1);
mbedLogger().blastData();
_keyboard_state = TX_MBED_LOG;
}
else if (user_input == 'I') {
xbee().printf("(I) Receive Multi-Dive Sequence! \n\r");
mbedLogger().receiveSequenceFile(); //receive sequence.txt files
}
else if (user_input == '8') {
keyboard_menu_STREAM_STATUS();
}
else if (user_input == '?') {
xbee().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
wait(0.5);
mbed_reset();
}
else if (user_input == 'T') {
xbee().printf("Please enter the timeout (timer) value below: \n\r");
_timeout = fabs(getFloatUserInput());
}
else if (user_input == '~') {
xbee().printf("MBED LOG FILE MENU!\r\n");
stateMachine().logFileMenu();
//xbee().printf("ERASING MBED LOG FILE\r\n"); //legacy method
//mbedLogger().eraseFile();
}
else if (user_input == 'C' or user_input == 'c') {
xbee().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
xbee().printf("raw BCE pos: %d \r\n",adc().readCh0());
xbee().printf("raw BMM pos: %d \r\n",adc().readCh1());
xbee().printf("raw BCE current sense: %d \r\n",adc().readCh2());
xbee().printf("raw BMM current sense: %d \r\n",adc().readCh3());
xbee().printf("raw depth pressure: %d \r\n",adc().readCh4());
xbee().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),sensors().getInternalPressurePSI());
//xbee().printf("raw vessel pressure: %d \r\n",adc().readCh5());
xbee().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),sensors().getVoltageInput());
xbee().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), sensors().getCurrentInput());
xbee().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
xbee().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
xbee().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5());
// End of ADC Test
xbee().printf("depth: %3.1f m\r\n",depthLoop().getPosition());
xbee().printf("pitch: %3.1f deg\r\n",imu().getPitch());
xbee().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
xbee().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
xbee().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
xbee().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
xbee().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
xbee().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
xbee().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
xbee().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
xbee().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
xbee().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
xbee().printf("\r\n");
xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, 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());
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());
xbee().printf("rudder min_pwm:%6.1f, center_pwm:%6.1f, max_pwm:%6.1f (min_deg:%6.1f max_deg:%6.1f)\r\n",rudder().getMinPWM(),rudder().getCenterPWM(),rudder().getMaxPWM(),rudder().getMinDeg(),rudder().getMaxDeg());
xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
xbee().printf("heading P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
}
/***************************** COMMON COMMANDS *****************************/
/***************************** DEBUG MENU *****************************/
if (_debug_menu_on) { // ends around +175 lines
if (user_input == 'D') {
_keyboard_state = DIVE;
}
else if (user_input == '}') {
xbee().printf("HOMING the BCE (5 second delay)\r\n");
wait(5);
bce().homePiston();
}
else if (user_input == '|') {
xbee().printf("HOMING the BMM (5 second delay)\r\n");
wait(5);
batt().homePiston();
}
else if (user_input == 'N') {
_keyboard_state = FIND_NEUTRAL;
}
else if (user_input == 'M') {
//currently does not run if there is no file.
//need to add method to Sequence Controller that returns -1
// or some check that insures you cannot run the dive sequence without a file
//load sequence from file
_multi_dive_counter = 0;
sequenceController().loadSequence();
wait(1); //test if this resets the sequence
stateMachine().getDiveSequence(); //get first sequence on keyboard press
_keyboard_state = currentStateStruct.state;
xbee().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
}
else if (user_input == 'R') {
_keyboard_state = RISE;
}
else if (user_input == 'J') {
_keyboard_state = FLOAT_LEVEL;
}
else if (user_input == 'B') {
_keyboard_state = FLOAT_BROADCAST;
}
else if (user_input == 'E') {
_keyboard_state = EMERGENCY_CLIMB;
}
else if (user_input == 'Y') {
_keyboard_state = CHECK_TUNING;
}
// some debug tools below
else if (user_input == 'P') {
//Print current SD card log file
//printCurrentSdLog();
mbedLogger().printCurrentLogFile(); //print the current log file to the screen
}
else if (user_input == 'X') {
mbedLogger().printMbedDirectory(); //print all log files to the screen
}
else if (user_input == 'Z') {
xbee().printf("FSG FSM States: \r\n");
string string_state;
for (int i = 0; i < _state_array_counter; i++) {
if (_state_array[i] == SIT_IDLE)
string_state = "SIT_IDLE <END>";
else if (_state_array[i] == FIND_NEUTRAL)
string_state = "FIND_NEUTRAL";
else if (_state_array[i] == DIVE)
string_state = "DIVE";
else if (_state_array[i] == RISE)
string_state = "RISE";
else if (_state_array[i] == FLOAT_LEVEL)
string_state = "FLOAT_LEVEL";
else if (_state_array[i] == FLOAT_BROADCAST)
string_state = "FLOAT_BROADCAST";
else if (_state_array[i] == EMERGENCY_CLIMB)
string_state = "EMERGENCY_CLIMB";
else if (_state_array[i] == MULTI_DIVE)
string_state = "MULTI_DIVE";
else if (_state_array[i] == MULTI_RISE)
string_state = "MULTI_RISE";
else if (_state_array[i] == KEYBOARD)
string_state = "KEYBOARD";
else if (_state_array[i] == LEG_POSITION_DIVE)
string_state = "LEG_POS_DIVE";
else if (_state_array[i] == LEG_POSITION_RISE)
string_state = "LEG_POS_RISE";
else if (_state_array[i] == FB_EXIT)
string_state = "FB_EXIT";
else if (_state_array[i] == ENDLEG_WAIT)
string_state = "ENDLEG_WAIT";
xbee().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
}
xbee().printf("\r\nNeutral sub-FSM States: \r\n");
string string_substate;
for (int i = 0; i < _substate_array_counter; i++) {
if (_substate_array[i] == NEUTRAL_SINKING)
string_substate = "NEUTRAL_SINKING";
else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
string_substate = "NEUTRAL_SLOWLY_RISE";
else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
string_substate = "NEUTRAL_CHECK_PITCH";
else if (_substate_array[i] == NEUTRAL_EXIT)
string_substate = "NEUTRAL_EXIT <-- ";
else if (_substate_array[i] == EMERGENCY_CLIMB)
string_substate = " -- > EMERGENCY_CLIMB <-- ";
xbee().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
}
xbee().printf("\r\n"); //make space between printouts
}
//BATTERY/PITCH
else if (user_input == '[' or user_input == '{') {
xbee().printf("Please TYPE in the new BATT neutral position.\n\r");
_neutral_batt_pos_mm = getFloatUserInput();
pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
xbee().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
// save neutral pitch value to config file
configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
}
//BCE/DEPTH
else if (user_input == ';' or user_input == ':') {
xbee().printf("Please TYPE in the new BCE neutral position.\n\r");
_neutral_bce_pos_mm = getFloatUserInput();
depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
xbee().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
// save neutral depth value to config file
configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband);
}
// change settings
//heading is in the common controls
else if (user_input == 'Q') {
xbee().printf(">> Please enter the desired PITCH (deg).\r\n");
_pitch_command = getFloatUserInput();
}
else if (user_input == 'A') {
xbee().printf(">> Please enter the desired DEPTH (m).\r\n");
_depth_command = getFloatUserInput();
}
else if (user_input == '5') {
keyboard_menu_RUDDER_SERVO_settings();
}
else if (user_input == '6') {
keyboard_menu_HEADING_PID_settings();
}
// go to tuning sub-menu
else if (user_input == '7') {
keyboard_menu_MANUAL_TUNING();
}
// else if (user_input == 'U') {
// keyboard_menu_POSITION_READINGS();
// }
// go to sub-menus for the PID gains (this is blocking)
else if (user_input == '1') {
keyboard_menu_BCE_PID_settings();
}
else if (user_input == '2') {
keyboard_menu_BATT_PID_settings();
}
else if (user_input == '3') {
keyboard_menu_DEPTH_PID_settings();
}
else if (user_input == '4') {
keyboard_menu_PITCH_PID_settings();
}
else if (user_input == '*') {
xbee().printf("SWITCHING TO SIMPLE MENU!\r\n");
wait(1);
_debug_menu_on = false;
}
} //end of debug menu matches line 1445 approx -180
/***************************** DEBUG MENU *****************************/
/***************************** SIMPLE MENU *****************************/
else {
if (user_input == 'V') {
_keyboard_state = POSITION_DIVE;
}
else if (user_input == 'N') {
_keyboard_state = FIND_NEUTRAL;
}
else if (user_input == 'J') {
_keyboard_state = FLOAT_LEVEL;
}
else if (user_input == 'B') {
_keyboard_state = FLOAT_BROADCAST;
}
else if (user_input == 'E') {
_keyboard_state = EMERGENCY_CLIMB;
}
// some debug tools below
else if (user_input == 'P') {
//Print current SD card log file
//printCurrentSdLog();
mbedLogger().printCurrentLogFile(); //print the current log file to the screen
}
//POSITION DIVE COMMANDS
else if (user_input == 'Q') {
xbee().printf(">> Please enter the desired BMM offset (mm).\r\n");
_BMM_dive_offset = getFloatUserInput();
}
else if (user_input == 'A') {
xbee().printf(">> Please enter the desired BCE offset (mm).\r\n");
_BCE_dive_offset = getFloatUserInput();
}
else if (user_input == 'S') {
xbee().printf(">> Please enter the desired DEPTH (m).\r\n");
_depth_command = getFloatUserInput();
}
//POSITION DIVE COMMANDS
else if (user_input == '*') {
xbee().printf("SWITCHING TO DEBUG MENU!\r\n");
_debug_menu_on = true;
wait(1);
}
}
/***************************** END SIMPLE MENU *****************************/
//when you read the keyboard successfully, change the state
_state = _keyboard_state; //set state at the end of this function
//xbee().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
} //matches very top of function - first if()
}
void StateMachine::keyboard_menu_STREAM_STATUS() {
char STATUS_key;
// show the menu
xbee().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
while (1) {
if (xbee().readable()) {
STATUS_key = xbee().getc(); //get each keystroke
}
else {
wait(1);
// 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());
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",
bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),
depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(),
adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),
adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),
bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
continue; // didn't get a user input, so keep waiting for it
}
// process the keys
if (STATUS_key == 'X') {
xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
break; //exit the while loop
}
else {
xbee().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
}
}
}
void StateMachine::keyboard_menu_RUDDER_SERVO_settings() {
//load current parameters from the rudder
float rudder_min_pwm = rudder().getMinPWM();
float rudder_max_pwm = rudder().getMaxPWM();
float rudder_ctr_pwm = rudder().getCenterPWM();
float rudder_min_deg = rudder().getMinDeg();
float rudder_max_deg = rudder().getMaxDeg();
char RUDDER_PID_key;
// print the menu
xbee().printf("\r\nRUDDER (servo driver) settings (MENU)");
xbee().printf("\r\nAdjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L");
xbee().printf("\r\nHit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
RUDDER_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
if (RUDDER_PID_key == 'S') { // user wants to save the modified values
// set global values
rudder().setMinPWM(rudder_min_pwm);
rudder().setMaxPWM(rudder_max_pwm);
rudder().setCenterPWM(rudder_ctr_pwm);
rudder().setMinDeg(rudder_min_deg);
rudder().setMaxDeg(rudder_max_deg);
// save rudder servo driver values for inner loop
configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
xbee().printf("Adjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L\r\n");
}
else if (RUDDER_PID_key == 'X') {
break; //exit the while loop
}
// MIN PWM
else if (RUDDER_PID_key == 'N') {
xbee().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
rudder_min_pwm = getFloatUserInput();
}
// MAX PWM
else if (RUDDER_PID_key == 'M') {
xbee().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
rudder_max_pwm = getFloatUserInput();
}
// CENTER PWM
else if (RUDDER_PID_key == 'C') {
xbee().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
rudder_ctr_pwm = getFloatUserInput();
}
// MIN DEG
else if (RUDDER_PID_key == 'K') {
xbee().printf(">> Type in rudder_min_deg with keyboard.\r\n");
rudder_min_deg = getFloatUserInput();
}
// MAX DEG
else if (RUDDER_PID_key == 'L') {
xbee().printf(">> Type in rudder_max_deg with keyboard.\r\n");
rudder_max_deg = getFloatUserInput();
}
else {
xbee().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
}
}
}
void StateMachine::keyboard_menu_COUNTS_STATUS() {
// DELETE REMOVE
}
void StateMachine::keyboard_menu_MANUAL_TUNING() {
char TUNING_key;
//made these into internal parameters
float _tuning_bce_pos_mm = 200.0; //safe starting position
float _tuning_batt_pos_mm = 40.0; //safe starting position
float _tuning_rudder_pos_deg = 0.0; //safe starting position
float _tuning_rudder_pwm = 1640.0;
//immediately start at those positions
bce().setPosition_mm(_tuning_bce_pos_mm);
batt().setPosition_mm(_tuning_batt_pos_mm);
rudder().setPosition_deg(_tuning_rudder_pos_deg);
// show the menu
xbee().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
xbee().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f 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());
// what needs to be started?
bce().unpause(); //this is now active
batt().unpause(); //this is now active
rudder().unpause();
while (1) {
wait(0.1);
if (xbee().readable()) {
TUNING_key = xbee().getc(); //get each keystroke
}
else {
//xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading());
continue; // didn't get a user input, so keep waiting for it
}
// process the keys
if (TUNING_key == 'X') {
// STOP THE MOTORS BEFORE LEAVING! (Just in case.)
bce().pause();
batt().pause();
rudder().pause();
//right now the rudder is always active................................................hmm
//deactivate the pin? new/delete?
break; //exit the while loop
}
//Buoyancy Engine
else if (TUNING_key == 'A' or TUNING_key == 'a') {
_tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
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());
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());
}
else if (TUNING_key == 'S' or TUNING_key == 's') {
_tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
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());
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());
}
//BATTERY
else if (TUNING_key == 'Q' or TUNING_key == 'q') {
_tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
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());
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());
}
else if (TUNING_key == 'W' or TUNING_key == 'w') {
_tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
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());
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());
}
else if (TUNING_key == 'c' or TUNING_key == 'C') {
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());
}
//RUDER
else if (TUNING_key == 'R' or TUNING_key == 'r') {
_tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
rudder().setPosition_deg(_tuning_rudder_pos_deg);
xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f 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());
}
else if (TUNING_key == 'E' or TUNING_key == 'e') {
_tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
rudder().setPosition_deg(_tuning_rudder_pos_deg);
xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f 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());
}
else if (TUNING_key == '-' or TUNING_key == '_') {
_tuning_rudder_pwm -= 10.0;
rudder().setPWM(_tuning_rudder_pwm);
xbee().printf("MT: (-) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f 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());
}
else if (TUNING_key == '=' or TUNING_key == '+') {
_tuning_rudder_pwm += 10.0;
rudder().setPWM(_tuning_rudder_pwm);
xbee().printf("MT: (+) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f 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());
}
else {
xbee().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
}
}
}
void StateMachine::keyboard_menu_CHANNEL_READINGS() {
char TUNING_key;
// show the menu
xbee().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
while (1) {
if (xbee().readable()) {
TUNING_key = xbee().getc(); //get each keystroke
}
// process the keys
if (TUNING_key == 'X') {
// STOP THE MOTORS BEFORE LEAVING! (Just in case.)
bce().pause();
batt().pause();
break; //exit the while loop
}
else {
wait(0.5);
xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
continue; // didn't get a user input, so keep waiting for it
}
}
}
void StateMachine::keyboard_menu_BCE_PID_settings() {
char BCE_PID_key;
// load current values from files
float bce_KP = bce().getControllerP();
float bce_KI = bce().getControllerI();
float bce_KD = bce().getControllerD();
float bce_deadband = bce().getDeadband();
float bce_frequency = bce().getFilterFrequency();
int bce_zero_offset = bce().getZeroCounts();
//BCE frequency and deadband are hardcoded!
// show the menu
xbee().printf("\n\rBuoyancy Engine PID gain settings (MENU). ADJUST WITH CARE!");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B, zero offset = Z\n\r");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
xbee().printf("bce P:%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());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
BCE_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
if (BCE_PID_key == 'S') { // user wants to save these modified values
// set values
bce().setControllerP(bce_KP);
bce().setControllerI(bce_KI);
bce().setControllerD(bce_KD);
bce().setDeadband(bce_deadband);
bce().setFilterFrequency(bce_frequency);
bce().setZeroCounts(bce_zero_offset); //integer value
// save to "BCE.TXT" file
//saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband)
configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD, bce_zero_offset, bce_frequency, bce_deadband);
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());
}
else if (BCE_PID_key == 'X') {
break; //exit the while loop
}
else if (BCE_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
bce_KP = getFloatUserInput();
}
else if (BCE_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
bce_KI = getFloatUserInput();
}
else if (BCE_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
bce_KD = getFloatUserInput();
}
else if (BCE_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
bce_frequency = getFloatUserInput();
}
else if (BCE_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
bce_deadband = getFloatUserInput();
}
else if (BCE_PID_key == 'Z') {
xbee().printf(">> Type in zero count offset with keyboard.\n\r");
bce_zero_offset = (int)getFloatUserInput();
}
else {
xbee().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
}
}
}
void StateMachine::keyboard_menu_BATT_PID_settings() {
char BMM_PID_key;
// load current values from files
float batt_KP = batt().getControllerP();
float batt_KI = batt().getControllerI();
float batt_KD = batt().getControllerD();
float batt_deadband = batt().getDeadband();
float batt_frequency = batt().getFilterFrequency();
int batt_zero_offset = batt().getZeroCounts();
//BATT frequency and deadband are hardcoded!
// print the menu
xbee().printf("\n\rBattery Motor PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
xbee().printf("batt P:%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());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
BMM_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
if (BMM_PID_key == 'S') { // user wants to save these modified values
// set values
batt().setControllerP(batt_KP);
batt().setControllerI(batt_KI);
batt().setControllerD(batt_KD);
batt().setDeadband(batt_deadband);
batt().setFilterFrequency(batt_frequency);
batt().setZeroCounts(batt_zero_offset); //integer value
// save to "BATT.TXT" file
//saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband)
configFileIO().saveBattData(batt_KP, batt_KI, batt_KD, batt_zero_offset, batt_frequency, batt_deadband);
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());
}
else if (BMM_PID_key == 'X') {
break; //exit the while loop
}
else if (BMM_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
batt_KP = getFloatUserInput();
}
else if (BMM_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
batt_KI = getFloatUserInput();
}
else if (BMM_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
batt_KD = getFloatUserInput();
}
else if (BMM_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
batt_frequency = getFloatUserInput();
}
else if (BMM_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
batt_deadband = getFloatUserInput();
}
else if (BMM_PID_key == 'Z') {
xbee().printf(">> Type in zero count offset with keyboard.\n\r");
batt_zero_offset = (int)getFloatUserInput();
}
else {
xbee().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
}
}
}
void StateMachine::keyboard_menu_DEPTH_PID_settings() {
char DEPTH_PID_key;
float depth_KP = depthLoop().getControllerP(); // load current depth value
float depth_KI = depthLoop().getControllerI(); // load current depth value
float depth_KD = depthLoop().getControllerD(); // load current depth value
float depth_freq = depthLoop().getFilterFrequency();
float depth_deadband = depthLoop().getDeadband();
// print the menu
xbee().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
DEPTH_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
if (DEPTH_PID_key == 'S') { // user wants to save these modified values
// set values
depthLoop().setControllerP(depth_KP);
depthLoop().setControllerI(depth_KI);
depthLoop().setControllerD(depth_KD);
depthLoop().setFilterFrequency(depth_freq);
depthLoop().setDeadband(depth_deadband);
// save to "DEPTH.TXT" file
configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm, depth_freq, depth_deadband); //P,I,D, bce zeroOffset
xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
//set class variables that will be used in find neutral sequence
_depth_KP = depthLoop().getControllerP(); // load current depth value
_depth_KI = depthLoop().getControllerI(); // load current depth value
_depth_KD = depthLoop().getControllerD(); // load current depth value
}
else if (DEPTH_PID_key == 'X') {
break; //exit the while loop
}
else if (DEPTH_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
depth_KP = getFloatUserInput();
}
else if (DEPTH_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
depth_KI = getFloatUserInput();
}
else if (DEPTH_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
depth_KD = getFloatUserInput();
}
else if (DEPTH_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
depth_freq = getFloatUserInput();
}
else if (DEPTH_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
depth_deadband = getFloatUserInput();
}
else {
xbee().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
}
}
}
void StateMachine::keyboard_menu_PITCH_PID_settings() {
char PITCH_PID_key;
float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
float pitch_freq = pitchLoop().getFilterFrequency();
float pitch_deadband = pitchLoop().getDeadband();
// print the menu
xbee().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
PITCH_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
if (PITCH_PID_key == 'S') { // user wants to save these modified values
// set values
pitchLoop().setControllerP(pitch_KP);
pitchLoop().setControllerI(pitch_KI);
pitchLoop().setControllerD(pitch_KD);
pitchLoop().setFilterFrequency(pitch_freq);
pitchLoop().setDeadband(pitch_deadband);
// save to "PITCH.TXT" file (doesn't modify neutral position)
configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm, pitch_freq, pitch_deadband);
xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
_pitch_KP = pitchLoop().getControllerP(); // load current pitch value
_pitch_KI = pitchLoop().getControllerI(); // load current pitch value
_pitch_KD = pitchLoop().getControllerD(); // load current pitch value
}
else if (PITCH_PID_key == 'X') {
break; //exit the while loop
}
else if (PITCH_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
pitch_KP = getFloatUserInput();
}
else if (PITCH_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
pitch_KI = getFloatUserInput();
}
else if (PITCH_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
pitch_KD = getFloatUserInput();
}
else if (PITCH_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
pitch_freq = getFloatUserInput();
}
else if (PITCH_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
pitch_deadband = getFloatUserInput();
}
else {
xbee().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
}
}
}
void StateMachine::keyboard_menu_HEADING_PID_settings() {
char HEADING_PID_key;
float heading_KP = headingLoop().getControllerP();
float heading_KI = headingLoop().getControllerI();
float heading_KD = headingLoop().getControllerD();
float heading_offset_deg = headingLoop().getOutputOffset();
float heading_freq = headingLoop().getFilterFrequency();
float heading_deadband = headingLoop().getDeadband();
// print the menu
xbee().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
xbee().printf("\n\r Adjust zero offset with O (oh).");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
HEADING_PID_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
if (HEADING_PID_key == 'S') { // user wants to save the modified values
// set global values
headingLoop().setControllerP(heading_KP);
headingLoop().setControllerI(heading_KI);
headingLoop().setControllerD(heading_KD);
headingLoop().setOutputOffset(heading_offset_deg);
headingLoop().setFilterFrequency(heading_freq);
headingLoop().setDeadband(heading_deadband);
// save pitch PID values for outer loop (must save neutral position also)
configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, heading_freq, heading_deadband); //_neutral_heading_pos_deg);
xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
}
else if (HEADING_PID_key == 'X') {
break; //exit the while loop
}
else if (HEADING_PID_key == 'P') {
heading_KP = getFloatUserInput();;
}
else if (HEADING_PID_key == 'I') {
heading_KI = getFloatUserInput();
}
else if (HEADING_PID_key == 'D') {
heading_KD = getFloatUserInput();
}
else if (HEADING_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
heading_freq = getFloatUserInput();
}
else if (HEADING_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
heading_deadband = getFloatUserInput();
}
else if (HEADING_PID_key == 'O') {
heading_offset_deg = getFloatUserInput();
}
else {
xbee().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
}
}
}
float StateMachine::getDepthCommand() {
return _depth_command;
}
float StateMachine::getPitchCommand() {
return _pitch_command;
}
float StateMachine::getDepthReading() {
return _depth_reading;
}
float StateMachine::getPitchReading() {
return _pitch_reading;
}
float StateMachine::getTimerReading() {
return _timer_reading;
}
void StateMachine::setState(int input_state) {
_state = input_state;
_isTimeoutRunning = false; //to start each state you have to reset this
}
int StateMachine::getState() {
return _state; //return the current state of the system
}
void StateMachine::setTimeout(float input_timeout) {
_timeout = input_timeout;
}
void StateMachine::setDepthCommand(float input_depth_command) {
_depth_command = input_depth_command;
}
void StateMachine::setPitchCommand(float input_pitch_command) {
_pitch_command = input_pitch_command;
}
void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
_neutral_batt_pos_mm = batt_pos_mm;
_neutral_bce_pos_mm = bce_pos_mm;
xbee().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
}
//process one state at a time
void StateMachine::getDiveSequence() {
//iterate through this sequence using the FSM
currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
_timeout = currentStateStruct.timeout; //set timeout before exiting this function
}
//process one state at a time
void StateMachine::getLegParams() {
//iterate through this sequence using the FSM
currentLegStateStruct.state = legController().legStructLoaded[_multi_leg_counter].state;
currentLegStateStruct.timeout = legController().legStructLoaded[_multi_leg_counter].timeout;
currentLegStateStruct.yo_time = legController().legStructLoaded[_multi_leg_counter].yo_time; //timer for each up/down segment
currentLegStateStruct.min_depth = legController().legStructLoaded[_multi_leg_counter].min_depth;
currentLegStateStruct.max_depth = legController().legStructLoaded[_multi_leg_counter].max_depth;
currentLegStateStruct.heading = legController().legStructLoaded[_multi_leg_counter].heading;
_timeout = currentLegStateStruct.timeout; //set timeout before exiting this function
_yo_time = currentLegStateStruct.yo_time;
_state = currentLegStateStruct.state;
// _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.
}
void StateMachine::setstate_frommain(int set_state_val, int new_timeout) { // used for setting state from main, when find_neutral has not been run
_state = set_state_val;
_timeout = new_timeout;
}
void StateMachine::printCurrentSdLog() {
xbee().printf("SD card log work in progress\r\n");
//might be worth saving the last few logs to the MBED...
}
// 06/06/2018
float StateMachine::getFloatUserInput() {
float float_conversion = 0.0;
while(1) {
bool valid_input = false; //flag for valid or invalid input
xbee().printf("\n\rPlease enter your number below and press ENTER:\r\n");
char user_string [80]; //variable to store input as a character array
xbee().scanf("%s", user_string); //read formatted data from stdin
xbee().printf("\n\n\ruser_string was <%s>\r\n", user_string);
//check through the string for invalid characters (decimal values 43 through 57)
for (int c = 0; c < strlen(user_string); c++) {
//xbee().printf("character is [%c]\r\n", user_string[c]); //debug
if (user_string[c] >= 43 and user_string[c] <= 57) {
//xbee().printf("VALID CHARACTER!\r\n"); //debug
;
}
else {
xbee().printf("INVALID INPUT!\r\n");
break;
}
if (c == (strlen(user_string) - 1)) {
valid_input = true;
}
}
if (valid_input) {
float_conversion = atof(user_string);
xbee().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
break;
}
}
return float_conversion;
}
float StateMachine::getTimerValue() {
return _fsm_timer;
}
void StateMachine::logFileMenu() {
char FILE_MENU_key;
// print the menu
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");
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
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");
FILE_MENU_key = xbee().getc();
}
else {
continue; // didn't get a user input, so keep waiting for it
}
// handle the user's key input
if (FILE_MENU_key == 'P') { // user wants to save these modified values
xbee().printf("\n\r>> Printing log file size!\n\r");
wait(2);
mbedLogger().getFileSize("/local/LOG000.csv");
}
else if (FILE_MENU_key == 'Y') {
xbee().printf("\n\r>> Erasing MBED LOG FILE!\n\r");
wait(2);
mbedLogger().eraseFile();
break;
}
else if (FILE_MENU_key == 'N') {
xbee().printf("\n\r>> EXITING MENU. Log file intact.\n\r");
wait(2);
break;
}
else {
xbee().printf("\n\r[%c] This key does nothing here. \r", FILE_MENU_key);
}
}
}