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:
- danstrider
- Date:
- 2017-12-02
- Revision:
- 29:6c030ac0c362
- Parent:
- 28:16c83a2fdefa
File content as of revision 29:6c030ac0c362:
#include "StateMachine.hpp" #include "StaticDefs.hpp" StateMachine::StateMachine() { _timeout = 480; // generic timeout for every state, seconds _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) _depthCommand = 2.0; // user keyboard depth (default) _pitchCommand = -20.0; // user keyboard pitch (default) _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM _state = SIT_IDLE; // select starting state here _isTimeoutRunning = false; // default timer to not running _isSubStateTimerRunning = false; // default timer to not running _multi_dive_counter = 0; _neutral_sub_state_active = false; _depth_KP = depthLoop().getControllerP(); // load current depth value _depth_KI = depthLoop().getControllerI(); // load current depth value _depth_KD = depthLoop().getControllerD(); // load current depth value _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_FIRST_PITCH; //to start sub-FSM _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 } //Finite State Machine (FSM) void StateMachine::runStateMachine() { // finite state machine ... each state has at least one exit criteria switch (_state) { case SIT_IDLE : case KEYBOARD : // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions if (!_isTimeoutRunning) { pc().printf("\r\n\nstate: SIT_IDLE\r\n"); _isTimeoutRunning = true; // reset FSM one-shot actions _isSubStateTimerRunning = false; //reset sub FSM one-shot actions showMenu(); // what needs to be started? bce().pause(); batt().pause(); } // how exit? keyboard(); // keyboard function will change the state if needed 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"); _isTimeoutRunning = true; // reset FSM one-shot actions timer.reset(); // timer goes back to zero timer.start(); // background timer starts running // what needs to be started? bce().unpause(); batt().unpause(); // what are the commands? bce().setPosition_mm(bce().getTravelLimit()); batt().setPosition_mm(0.0); } // how exit? if (timer > _timeout) { pc().printf("EC: timed out\r\n"); _state = FLOAT_BROADCAST; _isTimeoutRunning = false; } else if (depthLoop().getPosition() < 2.0) { //in case nose is vertical at surface, the depth sensor will be < 2ft pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r", depthLoop().getPosition(), timer.read()); _state = FLOAT_BROADCAST; _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\n\r"); _isTimeoutRunning = true; // reset FSM one-shot actions timer.reset(); // timer goes back to zero timer.start(); // background timer starts running // what needs to be started? bce().unpause(); batt().unpause(); bce().setPosition_mm(_bceFloatPosition); //set bce to float to start find_neutral actions batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the current neutral setting //first iteration goes into Neutral Finding Sub-FSM //set the first state of the FSM, and start the sub-FSM _substate = NEUTRAL_FIRST_PITCH; _previous_substate = -1; //save this state to the array _substate_array[_substate_array_counter] = NEUTRAL_FIRST_PITCH; //save to state array _substate_array_counter++; runNeutralStateMachine(); } // how exit? //timeout elapsed if (timer > _timeout) { pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read()); _state = EMERGENCY_CLIMB; _isTimeoutRunning = false; //record this to the NEUTRAL sub-FSM tracker _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array _substate_array_counter++; } //check if sub-fsm returned exit state else if (runNeutralStateMachine() == NEUTRAL_EXIT) { pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\n\n\r"); _state = RISE; _isTimeoutRunning = false; } break; case DIVE : // start local state timer and init any other one-shot actions if (!_isTimeoutRunning) { pc().printf("\r\n\nstate: DIVE\r\n"); _isTimeoutRunning = true; // reset FSM one-shot actions timer.reset(); // timer goes back to zero timer.start(); // background timer starts running // 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()); //reset max dive depth _max_recorded_depth_dive = -99; //float to record max depth } // how exit? if (timer > _timeout) { pc().printf("DIVE: timed out\n\n\r"); _state = RISE; _isTimeoutRunning = false; } else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { pc().printf("DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); _state = RISE; _isTimeoutRunning = false; } // what is active? pc().printf("DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depth: %3.1f ft) (pitch: %3.1f deg)[%0.2f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), pitchLoop().getPosition(), timer.read()); bce().setPosition_mm(depthLoop().getOutput()); batt().setPosition_mm(pitchLoop().getOutput()); // if surpassed previously recorded max depth if (depthLoop().getPosition() > _max_recorded_depth_dive) { _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded } break; case RISE : // start local state timer and init any other one-shot actions if (!_isTimeoutRunning) { pc().printf("\r\n\nstate: RISE\r\n"); _isTimeoutRunning = true; // reset FSM one-shot actions timer.reset(); // timer goes back to zero timer.start(); // background timer starts running // what needs to be started? bce().unpause(); batt().unpause(); // what are the commands? depthLoop().setCommand(0.0); // depth command is the surface at 0ft pitchLoop().setCommand(-_pitchCommand); pc().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand()); pc().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); } // how exit? if (timer > _timeout) { pc().printf("RISE: timed out\r\n"); _state = EMERGENCY_CLIMB; _isTimeoutRunning = false; } else if (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) { // including offset for low momentum approaches pc().printf("RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); _state = FLOAT_BROADCAST; _isTimeoutRunning = false; } // what is active? 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()); bce().setPosition_mm(depthLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller batt().setPosition_mm(pitchLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller 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"); _isTimeoutRunning = true; // reset FSM one-shot actions timer.reset(); // timer goes back to zero timer.start(); // background timer starts running // 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; _isTimeoutRunning = false; } else if (fabs(pitchLoop().getPosition() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, tolerance: %3.1f mm\r\n",pitchLoop().getPosition(), pitchLoop().getCommand(), _pitchTolerance); _state = FLOAT_BROADCAST; _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()); //tie the outer loop controller to the inner loop linear actuator controller 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"); _isTimeoutRunning = true; timer.reset(); // timer goes back to zero timer.start(); // background timer starts running // 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; _isTimeoutRunning = false; } else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) { pc().printf("FB: position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n", bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband()); _state = SIT_IDLE; _isTimeoutRunning = false; } // what is active? pc().printf("FB: bce pos: %0.1f mm, batt pos: %0.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec] (setPos batt: %0.1f bce: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read(), bce().getSetPosition_mm(),batt().getSetPosition_mm()); break; case MULTI_DIVE : // start local state timer and init any other one-shot actions if (!_isTimeoutRunning) { pc().printf("\r\n\nstate: MULTI-DIVE\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running _isTimeoutRunning = true; // what needs to be started? bce().unpause(); batt().unpause(); //retrieve commands from structs (loaded from sequence.cfg file) float sequence_depthCommand = currentStateStruct.depth; float sequence_pitchCommand = currentStateStruct.pitch; // what are the commands? depthLoop().setCommand(sequence_depthCommand); pitchLoop().setCommand(sequence_pitchCommand); pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand()); } // how exit? if (timer > _timeout) { pc().printf("\n\n\rMULTI-DIVE: timed out [time: %0.1f]\n\n\r", timer.read()); _state = MULTI_RISE; _isTimeoutRunning = false; } else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); _state = MULTI_RISE; _isTimeoutRunning = false; } // what is active? pc().printf("MULTI-DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); bce().setPosition_mm(depthLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller batt().setPosition_mm(pitchLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller break; case MULTI_RISE : // start local state timer and init any other one-shot actions if (!_isTimeoutRunning) { pc().printf("\r\n\nstate: MULTI-RISE\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running _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_pitchCommand = currentStateStruct.pitch; // what are the commands? depthLoop().setCommand(0.0); pitchLoop().setCommand(-sequence_pitchCommand); pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand()); } // how exit? if (timer > _timeout) { pc().printf("MULTI-RISE: timed out [time: %0.1f]\n\n\r", timer.read()); _state = EMERGENCY_CLIMB; _isTimeoutRunning = false; //reset multi-dive sequence to start _multi_dive_counter = 0; } else if (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) { pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); _isTimeoutRunning = false; //going to one-shot actions next time //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_Level) if (currentStateStruct.state == FLOAT_LEVEL) { _state = FLOAT_BROADCAST; return; // Dan 2017-12-02: why is this return? More likely needs to be break; instead. } else _state = MULTI_DIVE; //have to stop this with the _multi_dive_counter variable! } // what is active? pc().printf("MULTI-RISE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read()); bce().setPosition_mm(depthLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller batt().setPosition_mm(pitchLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller break; default : pc().printf("DEBUG: SIT_IDLE\n\r"); _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; } } // 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(" M to initiate multi-dive cycle\r\n"); pc().printf(" D to initiate dive cycle\r\n"); pc().printf(" R to initiate rise\r\n"); pc().printf(" 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(" Z to show FSM and sub-FSM states.\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("+/- 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 (and max recorded depth of dive & neutral sequences)\r\n"); pc().printf(" ? to reset mbed\r\n"); } //Find Neutral sub finite state machine // Note: the sub-fsm only moves the pistons once at the start of each timer loop // (timer completes, move piston, timer completes, move piston, etc) int StateMachine::runNeutralStateMachine() { switch (_substate) { case NEUTRAL_SINKING : //start the timer and do any other one-shot actions if (!_isSubStateTimerRunning) { _isSubStateTimerRunning = true; //reset the one-shot action entry _neutral_timer = timer.read() + 5; //record the time when this block is first entered and add 5 seconds pc().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f)\n\r", _neutral_timer, timer.read(), pitchLoop().getPosition()); // what are the commands? bce().setPosition_mm(bce().getSetPosition_mm() - 2.5); //move piston at start of sequence pitchLoop().setCommand(0.0); // run pitch outer loop controller pc().printf("NEUTRAL_SINKING: Retracting piston [BCE CMD : %0.1f] [pitch cmd: %0.1f] (pitch: %0.1f)\n\r", bce().getSetPosition_mm(), pitchLoop().getCommand(), pitchLoop().getPosition()); } // how exit? if (bce().getPosition_mm() <= 0) { //reached the bce travel limit pc().printf("\r\nNEUTRAL_SINKING: BCE is at travel limit [actual %0.1f mm]\r\n", bce().getPosition_mm()); _substate = NEUTRAL_EXIT; _isSubStateTimerRunning = false; //reset the sub state timer } else if (depthLoop().getPosition() > _depthCommand) { //deeper than the commanded setpoint pc().printf("\r\n\nNEUTRAL_SINKING: Depth exceeded < %3.1f ft [time: %0.1f]\r\n", depthLoop().getCommand(), timer.read()); _substate = NEUTRAL_SLOWLY_RISE; _isSubStateTimerRunning = false; //reset the sub state timer } // what is active? if (timer.read() >= _neutral_timer) { pc().printf("\r\n\n NEUTRAL_SINKING timer complete! [current time: %0.1f]\r\n", timer.read()); _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again } batt().setPosition_mm(pitchLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller break; case NEUTRAL_SLOWLY_RISE: if (!_isSubStateTimerRunning) { _isSubStateTimerRunning = true; //reset the one-shot action entry _neutral_timer = timer.read()+ 5; //record the time when this block is first entered and add 5 seconds pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,timer.read()); // what are the commands? bce().setPosition_mm(bce().getSetPosition_mm() + 2); //move piston at start of sequence (extend) pitchLoop().setCommand(0.0); // run pitch outer loop controller pc().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 5 mm [BCE CMD : %0.1f] [pitch cmd: %0.1f]\n\r", bce().getSetPosition_mm(), pitchLoop().getCommand()); } // how exit? if (bce().getSetPosition_mm() >= bce().getTravelLimit()) { //once at full travel limit pc().printf("\r\nNEUTRAL_SLOWLY_RISE: BCE is at travel limit [actual %0.1f mm]\r\n", bce().getPosition_mm()); _substate = NEUTRAL_EXIT; _isSubStateTimerRunning = false; // reset the sub state timer } else if (depthLoop().getVelocity() < 0) { //less than zero ft/s means we're rising pc().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 ft/s [time: %0.1f]\r\n", timer.read()); _substate = NEUTRAL_CHECK_PITCH; _isSubStateTimerRunning = false; // reset the sub state timer } // what is active? if (timer.read() >= _neutral_timer) { pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! Extending 1 mm [timer: %0.1f]\r\n", timer.read()); _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again } batt().setPosition_mm(pitchLoop().getOutput()); //tie the outer loop controller to the inner loop linear actuator controller break; case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired case NEUTRAL_FIRST_PITCH : // start local state timer and init any other one-shot actions if (!_isSubStateTimerRunning) { _isSubStateTimerRunning = true; //reset the one-shot action entry _neutral_timer = timer.read() + 10; // record time when this block is entered and add several seconds pc().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - timer.read()); // what are the commands? if (pitchLoop().getPosition() > 2) { // nose is high batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator) pc().printf("\n\rNeutral Check Pitch: moving battery FWD in 1mm increments\n\n\r"); } else if (pitchLoop().getPosition() < -2) { // nose is low batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator) pc().printf("\n\rNeutral Check Pitch: moving battery AFT in 1mm increments\n\n\r"); } } // how exit? //pitch angle and pitch rate within small tolerance if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) { pc().printf("NEUTRAL_PITCH Found Level!\n\r"); //debug if (depthLoop().getPosition() > _max_recorded_depth_neutral) { _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded } // found level, but don't save this time if (_substate == NEUTRAL_FIRST_PITCH) { pc().printf("NEUTRAL_FIRST_PITCH completed\n\r"); _substate = NEUTRAL_SINKING; _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again // save this neutral (not in file) for pitch pitchLoop().setOutputOffset(batt().getPosition_mm()); } // found level and at depth too, so save it all now else if (_substate == NEUTRAL_CHECK_PITCH) { pc().printf("NEUTRAL_CHECK_PITCH completed\n\r"); _substate = NEUTRAL_EXIT; _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again //save positions locally _neutral_bce_pos_mm = bce().getPosition_mm(); _neutral_batt_pos_mm = batt().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().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset pc().printf("\n\rSaving Positions: BCE: %0.1f mm, BATT: %0.1f\n\n\r",_neutral_bce_pos_mm,_neutral_batt_pos_mm); } else { pc().printf("\n\rDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\n\r"); _substate = NEUTRAL_EXIT; } } // what is active? //once timer complete, reset the timeout so the state one-shot entry will move the setpoint if (timer.read() >= _neutral_timer) { pc().printf("\r\n\nlevel timer COMPLETE!"); pc().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), timer.read()); _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 : pc().printf("substate: NEUTRAL_EXIT\n\r"); break; default : pc().printf("how did we get to substate: default?\n\r"); //debug //a default within the sub-state machine _substate = NEUTRAL_EXIT; break; } // reset the sub-FSM if needed if (_substate == NEUTRAL_EXIT) { pc().printf("******************************** EXITING sub-FSM! *******************************\n\n\r"); //reset internal sub-state back to first entry conditions _substate = NEUTRAL_FIRST_PITCH; _isSubStateTimerRunning = false; // reset the sub state timer //record sub-states to view after sequence _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save 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 userInput; // 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) int _keyboard_state = -1; //made this a local variable because it was retaining the last keyboard state if (pc().readable() && (_state == SIT_IDLE || _state == KEYBOARD)) { // get the key userInput = pc().getc(); //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 if (userInput == 'D' or userInput == 'd') { _keyboard_state = DIVE; } else if (userInput == 'N' or userInput == 'n') { _keyboard_state = FIND_NEUTRAL; } else if (userInput == 'M' or userInput == '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 stateMachine().getDiveSequence(); //get first sequence on keyboard press _keyboard_state = currentStateStruct.state; pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state); //neutral sequence and dive cycles } else if (userInput == 'R' or userInput == 'r') { _keyboard_state = RISE; } else if (userInput == 'L' or userInput == 'l') { _keyboard_state = FLOAT_LEVEL; } else if (userInput == 'B' or userInput == 'b') { _keyboard_state = FLOAT_BROADCAST; } else if (userInput == 'E' or userInput == 'e') { _keyboard_state = 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(); // } else if (userInput == 'z' or userInput == 'Z') { pc().printf("FSG FSM States: \n\r"); 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"; pc().printf("State #%d: %d (%s)\n\r", i, _state_array[i], string_state.c_str()); } pc().printf("\n\rNeutral sub-FSM States: \n\r"); string string_substate; for (int i = 0; i < _substate_array_counter; i++) { if (_substate_array[i] == NEUTRAL_FIRST_PITCH) string_substate = "NEUTRAL_FIRST_PITCH"; else 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 <-- "; pc().printf("Neutral Substate #%d: %d (%s)\n\r", i, _state_array[i], string_substate.c_str()); } pc().printf("\n\r"); //make space between printouts } 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); } // 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()); pc().printf("Latest Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm); pc().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset()); pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset()); pc().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f\n\n\r",_max_recorded_depth_neutral, _max_recorded_depth_dive); } //when you read the keyboard successfully, change the state _state = _keyboard_state; //set state at the end of this function } } 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 %d, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); // handle the key presses while(1) { // get the user's keystroke from either of the two inputs if (pc().readable()) { PID_key = pc().getc(); } 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 %d, 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 // 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 == '-') { _depth_KP -= gain_step_size; pc().printf("P gain: %0.5f \r\n", _depth_KP); } else if (PID_key == '=') { _depth_KP += gain_step_size; pc().printf("P gain: %0.5f \r\n", _depth_KP); } else if (PID_key == '[') { _depth_KI -= gain_step_size; pc().printf("I gain: %0.5f \r\n", _depth_KI); } else if (PID_key == ']') { _depth_KI += gain_step_size; pc().printf("I gain: %0.5f \r\n", _depth_KI); } else if (PID_key == ';') { _depth_KD -= gain_step_size; pc().printf("D gain: %0.5f \r\n", _depth_KD); } else if (PID_key == '\'') { _depth_KD += gain_step_size; pc().printf("D gain: %0.5f \r\n", _depth_KD); } else if (PID_key == 'S') { // user wants to save these settings // set global values depthLoop().setControllerP(_depth_KP); depthLoop().setControllerI(_depth_KI); depthLoop().setControllerD(_depth_KD); // save depth PID values for outer loop configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); 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 // 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 == '-') { _pitch_KP -= gain_step_size; pc().printf("\rP gain: %0.5f ", _pitch_KP); } else if (PID_key == '=') { _pitch_KP += gain_step_size; pc().printf("\rP gain: %0.5f ", _pitch_KP); } else if (PID_key == '[') { _pitch_KI -= gain_step_size; pc().printf("\rI gain: %0.5f ", _pitch_KI); } else if (PID_key == ']') { _pitch_KI += gain_step_size; pc().printf("\rI gain: %0.5f ", _pitch_KI); } else if (PID_key == ';') { _pitch_KD -= gain_step_size; pc().printf("\rD gain: %0.5f ", _pitch_KD); } else if (PID_key == '\'') { _pitch_KD += gain_step_size; pc().printf("\rD gain: %0.5f ", _pitch_KD); } else if (PID_key == 'S') { // user wants to save the modified values // set global values pitchLoop().setControllerP(_pitch_KP); pitchLoop().setControllerI(_pitch_KI); pitchLoop().setControllerD(_pitch_KD); // save pitch PID values for outer loop configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); 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; } void StateMachine::setState(int input_state) { _state = input_state; } 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) { _depthCommand = input_depth_command; } void StateMachine::setPitchCommand(float input_pitch_command) { _pitchCommand = 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; pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_batt_pos_mm,_neutral_bce_pos_mm); } int StateMachine::timeoutRunning() { return _isTimeoutRunning; } //process one state at a time void StateMachine::getDiveSequence() { //iterate through this sequence using the FSM 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 }