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:
- tnhnrl
- Date:
- 2017-11-06
- Revision:
- 16:3363b9f14913
- Child:
- 17:7c16b5671d0e
File content as of revision 16:3363b9f14913:
#include "StateMachine.hpp" #include "StaticDefs.hpp" StateMachine::StateMachine() { timeout = 60; // generic timeout for every state, seconds depthTolerance = 0.25; // depth tolerance for neutral finding exit critera pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria bceFloatPosition = 300; // bce position for "float" states battFloatPosition = 50; // batt position for "broadcast" state depthCommand = 3.5; // user keyboard depth pitchCommand = -20.0; // user keyboard depth } void StateMachine::runStateMachine() { static int state = SIT_IDLE; // select starting state here static bool isTimeoutRunning = false; // default timer to not running // finite state machine ... each state has at least one exit criteria switch (state) { case SIT_IDLE : // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions if (!isTimeoutRunning) { showMenu(); pc().printf("\r\n\nstate: SIT_IDLE\r\n"); isTimeoutRunning = true; // what is active? bce().pause(); batt().pause(); } // how exit? if (pc().readable()) { state = KEYBOARD; isTimeoutRunning = false; } break; case KEYBOARD : pc().printf("\r\n\nstate: KEYBOARD\r\n"); if (pc().readable()) { state = keyboard(); // get new state command if (state == -1) { // error, that wasn't a new state command state = SIT_IDLE; } //pc().printf("new state is: %d \r\n",state); } break; case EMERGENCY_CLIMB : // start local state timer and init any other one-shot actions if (!isTimeoutRunning) { pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running isTimeoutRunning = true; // what needs to be started? bce().unpause(); batt().unpause(); // what is active? bce().setPosition_mm(bce().getTravelLimit()); batt().setPosition_mm(0.0); } // how exit? if (timer > timeout) { pc().printf("EC: timed out\r\n"); state = FLOAT_LEVEL; timer.reset(); isTimeoutRunning = false; } else if (depthLoop().getPosition() < 0.2) { pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read()); state = FLOAT_LEVEL; timer.reset(); isTimeoutRunning = false; } break; case FIND_NEUTRAL : // start local state timer and init any other one-shot actions if (!isTimeoutRunning) { pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running isTimeoutRunning = true; // what needs to be started? bce().unpause(); batt().unpause(); // what is active? depthLoop().setCommand(depthCommand); pitchLoop().setCommand(0.0); } // how exit? if (timer > timeout) { pc().printf("FN: timed out\r\n"); state = FLOAT_LEVEL; timer.reset(); isTimeoutRunning = false; } //depth tolerance of 0.25 feet, pitch tolerance of 1.0 degree else if ((abs(depthLoop().getPosition() - depthLoop().getCommand()) < depthTolerance) and (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) { state = RISE; timer.reset(); isTimeoutRunning = false; } // what is active? pc().printf("FN: bce pos: %3.1f mm, batt pos: %3.1f mm (pitchLoop: 0.0 deg)(depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); bce().setPosition_mm(depthLoop().getOutput()); batt().setPosition_mm(pitchLoop().getOutput()); break; case DIVE : // start local state timer and init any other one-shot actions if (!isTimeoutRunning) { pc().printf("\r\n\nstate: DIVE\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running isTimeoutRunning = true; // what needs to be started? bce().unpause(); batt().unpause(); // what are the commands? depthLoop().setCommand(depthCommand); pitchLoop().setCommand(pitchCommand); pc().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); pc().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); } // how exit? if (timer > timeout) { pc().printf("DIVE: timed out\r\n"); state = EMERGENCY_CLIMB; timer.reset(); isTimeoutRunning = false; } else if (depthLoop().getPosition() > depthLoop().getCommand()) { pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); state = RISE; timer.reset(); isTimeoutRunning = false; } // what is active? pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); bce().setPosition_mm(depthLoop().getOutput()); batt().setPosition_mm(pitchLoop().getOutput()); break; case RISE : // start local state timer and init any other one-shot actions if (!isTimeoutRunning) { pc().printf("\r\n\nstate: RISE\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running isTimeoutRunning = true; // what needs to be started? bce().unpause(); batt().unpause(); // what are the commands? depthLoop().setCommand(0.0); pitchLoop().setCommand(-pitchCommand); pc().printf("RISE: depth cmd: 0.0\r\n"); pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); } // how exit? if (timer > timeout) { pc().printf("RISE: timed out\r\n"); state = FLOAT_LEVEL; timer.reset(); isTimeoutRunning = false; } else if (depthLoop().getPosition() < depthLoop().getCommand()) { pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); state = FLOAT_LEVEL; timer.reset(); isTimeoutRunning = false; } pc().printf("RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); // what is active? bce().setPosition_mm(depthLoop().getOutput()); batt().setPosition_mm(pitchLoop().getOutput()); break; case FLOAT_LEVEL : // start local state timer and init any other one-shot actions if (!isTimeoutRunning) { pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running 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 (timer > timeout) { pc().printf("FL: timed out\r\n"); state = FLOAT_BROADCAST; timer.reset(); isTimeoutRunning = false; } else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) { pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance); state = FLOAT_BROADCAST; timer.reset(); isTimeoutRunning = false; } // what is active? pc().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), timer.read()); batt().setPosition_mm(pitchLoop().getOutput()); break; case FLOAT_BROADCAST : // start local state timer and init any other one-shot actions if (!isTimeoutRunning) { pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running isTimeoutRunning = true; // what needs to be started? bce().unpause(); batt().unpause(); // what are the commands? bce().setPosition_mm(bceFloatPosition); batt().setPosition_mm(battFloatPosition); } // how exit? if (timer > timeout) { pc().printf("FB: timed out\r\n"); state = SIT_IDLE; timer.reset(); isTimeoutRunning = false; } if ( (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and (abs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) { pc().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband()); state = SIT_IDLE; timer.reset(); isTimeoutRunning = false; } pc().printf("FB: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); break; default : state = SIT_IDLE; } } // output the keyboard menu for user's reference void StateMachine::showMenu() { pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n"); pc().printf(" N to find neutral\r\n"); pc().printf(" D to initiate dive cycle\r\n"); pc().printf(" R to initiate rise\r\n"); pc().printf(" L to float level\r\n"); pc().printf(" B to float at broadcast pitch\r\n"); pc().printf(" E to initiate emergency climb\r\n"); pc().printf(" H to run homing sequence on both BCE and Batt\r\n"); pc().printf(" T to tare the depth sensor\r\n"); pc().printf("[/] to change bce neutral position\r\n"); pc().printf("</> to change batt neutral position\r\n"); pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchCommand); pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthCommand); //pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand()); //pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand()); pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout); pc().printf(" 1 BCE PID sub-menu\r\n"); pc().printf(" 2 BATT PID sub-menu\r\n"); pc().printf(" 3 Depth PID sub-menu\r\n"); pc().printf(" 4 Pitch PID sub-menu\r\n"); pc().printf(" C See sensor readings\r\n"); pc().printf(" ? to reset mbed\r\n"); } // keyboard currently handles a key at a time // returns -1 if not a state command // returns a positive number to command a new state int StateMachine::keyboard() { char userInput; // check keyboard and make settings changes as requested if (pc().readable()) { // get the key userInput = pc().getc(); // check command against desired control buttons // change state if (userInput == 'D' or userInput == 'd') { return DIVE; } else if (userInput == 'N' or userInput == 'n') { return FIND_NEUTRAL; } else if (userInput == 'R' or userInput == 'r') { return RISE; } else if (userInput == 'L' or userInput == 'l') { return FLOAT_LEVEL; } else if (userInput == 'B' or userInput == 'b') { return FLOAT_BROADCAST; } else if (userInput == 'E' or userInput == 'e') { return EMERGENCY_CLIMB; } else if (userInput == 'H' or userInput == 'h') { pc().printf("running homing procedure\r\n"); bce().unpause(); bce().homePiston(); bce().pause(); batt().unpause(); batt().homePiston(); batt().pause(); return SIT_IDLE; } else if (userInput == 'T' or userInput == 't') { pc().printf("taring depth sensor\r\n"); pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); wait(0.1); depth().tare(); // tares to ambient (do on surface) pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); } else if (userInput == '[' or userInput == '{') { depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); } else if (userInput == ']' or userInput == '}') { depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); } else if (userInput == '<' or userInput == ',') { pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); } else if (userInput == '>' or userInput == '.') { pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); } else if (userInput == '?') { pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n"); wait(0.5); mbed_reset(); } // change settings else if (userInput == 'Q' or userInput == 'q') { pitchCommand -= 0.5; //decrement the pitch setpoint pitchLoop().setCommand(pitchCommand); pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand()); } else if (userInput == 'W' or userInput == 'w') { pitchCommand += 0.5; //increment the pitch setpoint pitchLoop().setCommand(pitchCommand); pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand()); } else if (userInput == 'A' or userInput == 'a') { depthCommand -= 0.5; //decrement the depth setpoint depthLoop().setCommand(depthCommand); pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand()); } else if (userInput == 'S' or userInput == 's') { depthCommand += 0.5; //increment the depth setpoint depthLoop().setCommand(depthCommand); pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand()); } else if (userInput == '-') { timeout -= 10.0; //decrement the timeout pc().printf(">>> timeout decreased: %d\r\n", timeout); } else if (userInput == '=' or userInput == '+') { timeout += 10.0; //increment the timeout pc().printf(">>> timeout increased: %d\r\n", timeout); } // add keyboard commands to move the neutral zero offsets, both bce and batt // go to sub-menus for the PID gains (this is blocking) else if (userInput == '1') { keyboard_menu_BCE_PID_settings(); } else if (userInput == '2') { keyboard_menu_BATT_PID_settings(); } else if (userInput == '3') { keyboard_menu_DEPTH_PID_settings(); } else if (userInput == '4') { keyboard_menu_PITCH_PID_settings(); } else if (userInput == 'C' or userInput == 'c') { pc().printf("depth: %3.1f\r\n",depthLoop().getPosition()); pc().printf("pitch: %3.1f\r\n",imu().getPitch()); pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm()); pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm()); pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm()); pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm()); pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand()); pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand()); } else { return (-1); } } return (-1); } void StateMachine::keyboard_menu_BCE_PID_settings() { char PID_key; float gain_step_size = 0.01; // modify this to change gain step size float KP = bce().getControllerP(); // load current value float KI = bce().getControllerI(); // load current global value float KD = bce().getControllerD(); // load current global value // show the menu pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); // handle the key presses while(1) { // get the user's keystroke from either of the two inputs if (pc().readable()) { PID_key = pc().getc(); } else { continue; // didn't get a user input, so keep waiting for it } // handle the user's key input if (PID_key == '-') { KP -= gain_step_size; pc().printf("P gain: %0.5f \r\n", KP); } else if (PID_key == '=') { KP += gain_step_size; pc().printf("P gain: %0.5f \r\n", KP); } else if (PID_key == '[') { KI -= gain_step_size; pc().printf("I gain: %0.5f \r\n", KI); } else if (PID_key == ']') { KI += gain_step_size; pc().printf("I gain: %0.5f \r\n", KI); } else if (PID_key == ';') { KD -= gain_step_size; pc().printf("D gain: %0.5f \r\n", KD); } else if (PID_key == '\'') { KD += gain_step_size; pc().printf("D gain: %0.5f \r\n", KD); } else if (PID_key == 'S') { // user wants to save these modified values // set values bce().setControllerP(KP); bce().setControllerI(KI); bce().setControllerD(KD); // save into "PID.cfg" //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D); break; //exit the while loop } else if (PID_key == 'X') { break; //exit the while loop } else { pc().printf("\n\rThis key does nothing here. "); } } } void StateMachine::keyboard_menu_BATT_PID_settings() { char PID_key; float gain_step_size = 0.01; // modify this to change gain step size float KP = batt().getControllerP(); // load current global value float KI = batt().getControllerI(); // load current global value float KD = batt().getControllerD(); // load current global value // print the menu pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); // handle the key presses while(1) { // get the user's keystroke from either of the two inputs if (pc().readable()) { PID_key = pc().getc(); } else { continue; // didn't get a user input, so keep waiting for it } // handle the user's key input if (PID_key == '-') { KP -= gain_step_size; pc().printf("\rP gain: %0.5f ", KP); } else if (PID_key == '=') { KP += gain_step_size; pc().printf("\rP gain: %0.5f ", KP); } else if (PID_key == '[') { KI -= gain_step_size; pc().printf("\rI gain: %0.5f ", KI); } else if (PID_key == ']') { KI += gain_step_size; pc().printf("\rI gain: %0.5f ", KI); } else if (PID_key == ';') { KD -= gain_step_size; pc().printf("\rD gain: %0.5f ", KD); } else if (PID_key == '\'') { KD += gain_step_size; pc().printf("\rD gain: %0.5f ", KD); } else if (PID_key == 'S') { // user wants to save the modified values // set global values batt().setControllerP(KP); batt().setControllerI(KI); batt().setControllerD(KD); // save to "PID.cfg" file //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D); break; //exit the while loop } else if (PID_key == 'X') { break; //exit the while loop } else { pc().printf("This key does nothing here.\r"); } } } void StateMachine::keyboard_menu_DEPTH_PID_settings() { char PID_key; float gain_step_size = 0.01; // modify this to change gain step size float KP = depthLoop().getControllerP(); // load current global value float KI = depthLoop().getControllerI(); // load current global value float KD = depthLoop().getControllerD(); // load current global value // show the menu pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r"); pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); // handle the key presses while(1) { // get the user's keystroke from either of the two inputs if (pc().readable()) { PID_key = pc().getc(); } else { continue; // didn't get a user input, so keep waiting for it } // handle the user's key input if (PID_key == '-') { KP -= gain_step_size; pc().printf("P gain: %0.5f \r\n", KP); } else if (PID_key == '=') { KP += gain_step_size; pc().printf("P gain: %0.5f \r\n", KP); } else if (PID_key == '[') { KI -= gain_step_size; pc().printf("I gain: %0.5f \r\n", KI); } else if (PID_key == ']') { KI += gain_step_size; pc().printf("I gain: %0.5f \r\n", KI); } else if (PID_key == ';') { KD -= gain_step_size; pc().printf("D gain: %0.5f \r\n", KD); } else if (PID_key == '\'') { KD += gain_step_size; pc().printf("D gain: %0.5f \r\n", KD); } else if (PID_key == 'S') { // user wants to save these settings // set global values depthLoop().setControllerP(KP); depthLoop().setControllerI(KI); depthLoop().setControllerD(KD); // save into "PID.cfg" //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D); break; //exit the while loop } else if (PID_key == 'X') { break; //exit the while loop } else { pc().printf("\n\rThis key does nothing here. "); } } } void StateMachine::keyboard_menu_PITCH_PID_settings() { char PID_key; float gain_step_size = 0.01; // modify this to change gain step size float KP = pitchLoop().getControllerP(); // load current global value float KI = pitchLoop().getControllerI(); // load current global value float KD = pitchLoop().getControllerD(); // load current global value // print the menu pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); // handle the key presses while(1) { // get the user's keystroke from either of the two inputs if (pc().readable()) { PID_key = pc().getc(); } else { continue; // didn't get a user input, so keep waiting for it } // handle the user's key input if (PID_key == '-') { KP -= gain_step_size; pc().printf("\rP gain: %0.5f ", KP); } else if (PID_key == '=') { KP += gain_step_size; pc().printf("\rP gain: %0.5f ", KP); } else if (PID_key == '[') { KI -= gain_step_size; pc().printf("\rI gain: %0.5f ", KI); } else if (PID_key == ']') { KI += gain_step_size; pc().printf("\rI gain: %0.5f ", KI); } else if (PID_key == ';') { KD -= gain_step_size; pc().printf("\rD gain: %0.5f ", KD); } else if (PID_key == '\'') { KD += gain_step_size; pc().printf("\rD gain: %0.5f ", KD); } else if (PID_key == 'S') { // user wants to save the modified values // set global values pitchLoop().setControllerP(KP); pitchLoop().setControllerI(KI); pitchLoop().setControllerD(KD); //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D); break; //exit the while loop } else if (PID_key == 'X') { break; //exit the while loop } else { pc().printf("This key does nothing here.\r"); } } } float StateMachine::getDepthCommand() { return depthCommand; } float StateMachine::getPitchCommand() { return pitchCommand; }