File content as of revision 19:aaa0f4f29d50:

#include "StateMachine.hpp"
#include "StaticDefs.hpp"

StateMachine::StateMachine() {
    _timeout = 20;             // 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
    
    _neutral_sink_timer = 10;
    _neutral_rise_timer = 5;
    
    previousPosition_mm = 220;      //centered, overwritten by the state machine (LOAD THIS FROM CONFIG?)
    _state = SIT_IDLE;               // select starting state here
    
    isTimeoutRunning = false;       // default timer to not running
    isSubStateTimeoutRunning = false;
    
    _neutral_buoyancy_bce_pos_mm = 0;
    _neutral_buoyancy_batt_pos_mm = 0;
    
    //new
    _next_state = -1;    //next state is used to prevent states from changing as the FSM executes
    _state_counter = 0;
}

//Finite State Machine (FSM)
void StateMachine::runStateMachine() { 
    //use the _next_state when the state machine is run again (so that it cannot change states while the FSM executes)

    static bool runFirstNeutral = false;
            
    //use the _next_state when the state machine is run again (so that it cannot change states while the FSM executes)   
    if (_next_state > -1)
        _state = _next_state;   //current state comes from the state at the completion of the FSM
        
    // 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();
            
            //reset sub FSM
            isSubStateTimeoutRunning = false;
        }
        // how exit?
        // separate keyboard function will change the states
        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");
            _next_state = FLOAT_BROADCAST;
            timer.reset();
            isTimeoutRunning = false;
        }
        else if (depthLoop().getPosition() < 0.2) { //if the depth is greater than 0.2 feet, go to float broadcast
            pc().printf("EC: depth: %3.1f, cmd: 0.5 [%0.1f sec]\r",depthLoop().getPosition(), timer.read());
            _next_state = FLOAT_BROADCAST;
            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();
            
            //first iteration sends SINKING sub-state
            runFirstNeutral = true;            
        }
        
        /* how exit? (exit with the timer, if timer still running continue processing sub FSM) */
        if (timer > _timeout) {
            pc().printf("FN: timed out [time: %0.1f sec]\r\n", timer.read());
            _next_state = EMERGENCY_CLIMB;         //new behavior (if this times out it emergency surfaces)
            timer.reset();
            isTimeoutRunning = false;
        }
        
        // what is active? (call neutral finding sub-function every iteration)
        if (runFirstNeutral) {
            //pc().printf("First iteration of find neutral\n\r"); // debug (confirmed working)
            _sub_state = findNeutralSubState(NEUTRAL_SINKING);
            _previous_sub_state = _sub_state;       //save previous sub-state
            runFirstNeutral = false;
        }
        
        //second and further iterations this is running
        else {
            _sub_state = findNeutralSubState(_previous_sub_state);
            _previous_sub_state = _sub_state;       //save previous sub-state
            
            //if sub-FSM has completed its state machine
            if (_sub_state == NEUTRAL_EXIT) {
                pc().printf("DEBUG: FIND_NEUTRAL sub FSM completed!\n\r");
                _next_state = RISE;  //your next state will be RISE in the FSM
            }
        }
        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\n\n\r");
            _next_state = RISE; //new behavior 11/17/2017
            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());
            _next_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) [%0.2f 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");
            _next_state = EMERGENCY_CLIMB;
            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());
            _next_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());  //constantly checking the Outer Loop output to move the motors
        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");
            _next_state = FLOAT_BROADCAST;
            timer.reset();
            isTimeoutRunning = false;
        }
        else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(pitchTolerance)) {
            pc().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance);
            _next_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");
            _next_state = SIT_IDLE;
            timer.reset();
            isTimeoutRunning = false;
        }
        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());
            _next_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;
        
    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();

            //NEW: retrieve depth and pitch commands from config file struct
            // concept is to load this each time the multi-dive restarts
            
            //keyboard starts sequence at 0 from keyboard function
            //stateMachine().getDiveSequence();
            
            //retrieve commands from structs
            float sequenceDepthCommand = currentStateStruct.depth;
            float sequencePitchCommand = currentStateStruct.pitch;
    
            // what are the commands?            
            depthLoop().setCommand(sequenceDepthCommand);
            pitchLoop().setCommand(sequencePitchCommand);
            pc().printf("MULTI-DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
            pc().printf("MULTI-DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
        }
        // how exit?
        if (timer > _timeout) {
            pc().printf("MULTI-DIVE: timed out\n\n\r");
            _next_state = MULTI_RISE; //new behavior 11/17/2017
            timer.reset();
            isTimeoutRunning = false;
        }
        else if (depthLoop().getPosition() > depthLoop().getCommand()) {
            pc().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
            _next_state = MULTI_RISE;
            timer.reset();
            isTimeoutRunning = false;
        }
        // what is active?
        pc().printf("MULTI-DIVE: bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) [%0.1f sec]\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read());
        bce().setPosition_mm(depthLoop().getOutput());
        batt().setPosition_mm(pitchLoop().getOutput());
        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 sequencePitchCommand = currentStateStruct.pitch;
 
            // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
            depthLoop().setCommand(0.5);
            pitchLoop().setCommand(-sequencePitchCommand);
            pc().printf("MULTI-RISE: depth cmd: 0.0\r\n");
            pc().printf("MULTI-RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
        }
        // how exit?
        if (timer > _timeout) {
            pc().printf("MULTI-RISE: timed out\r\n");
            _next_state = EMERGENCY_CLIMB;
            timer.reset();
            isTimeoutRunning = false;
            
            //reset multi-dive sequence to start
            _state_counter = 0;
        }
        
        //depth is less than 0.5 (zero is surface level)
        else if (depthLoop().getPosition() < 0.5) {
            pc().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
            _state_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) {
                _next_state = FLOAT_LEVEL;
                return;
            }
            
            else 
                _next_state = MULTI_DIVE;
            
            //have to stop this with the _state_counter variable!
        }
        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());
        // what is active?
        bce().setPosition_mm(depthLoop().getOutput());  //constantly checking the Outer Loop output to move the motors
        batt().setPosition_mm(pitchLoop().getOutput()); 
        break; 
    
    default :
        pc().printf("DEBUG: SIT_IDLE\n\r");
        _next_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(" 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("[/] 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\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::findNeutralSubState(int input_substate) {  
    float pitch_angle = pitchLoop().getPosition();    
    float pitch_rate = pitchLoop().getVelocity();
     
    float abs_pitch_angle = fabs(pitch_angle);
    float abs_pitch_rate = fabs(pitch_rate);
    
    //output substate is the input substate unless it is changed in the sub FSM
    static int output_substate = NEUTRAL_SINKING;   //to start
    //int output_substate = input_substate;    
    
    switch (input_substate) {
        case NEUTRAL_SINKING:            
            //start the 10 second timer
            if (!isSubStateTimeoutRunning) { 
                pc().printf(" input_substate: %d\n\r", input_substate);   //debug              
                _neutral_sink_timer = timer.read()+ 10; //record the time when this block is first entered and add 10 seconds
                pc().printf("\r\n\n(8) START NEUTRAL_SINKING (_neutral_sink_timer will go off at %0.1f sec)  %3.1f\r\n", _neutral_sink_timer,timer.read());
                
                // what is active?
                //move piston at start of sequence (retract 10 mm)
                pc().printf("Neutral Sinking: Retracting piston 10 mm\n\r");
                previousPosition_mm -= 10;
                bce().setPosition_mm(previousPosition_mm);  //no depth command
                
                isSubStateTimeoutRunning = true;    //disable this block after one iteration
            }
                        
            //once the 10 second timer is complete move the piston with code above             
            if (timer.read() >= _neutral_sink_timer) {
                pc().printf("\r\n\n(8) NEUTRAL_SINKING TIMER COMPLETE! %3.1f\r\n", timer.read());
                pc().printf("\r\n\n(8) (BATT POS: %0.1f) retract 10 mm (time: %3.1f)\r\n", previousPosition_mm, timer.read());
                
                //when you finish executing the motor controls, reset the neutral sinking timer in the next state
                isSubStateTimeoutRunning = false;
            }
            
            

            //depth >= depth command, go to the next substate the next iteration
            if (depthLoop().getPosition() > depthCommand) {
                pc().printf("Next substate: NEUTRAL_SLOWLY_RISE\n\r");
                output_substate = NEUTRAL_SLOWLY_RISE;
                
                //when you finish executing the motor controls, reset the neutral sinking timer in the next state
                isSubStateTimeoutRunning = false;
            }
            
            //before the sub-fsm runs again, make sure the piston is in a safe position (retracted)
            //NEW: need to double-check this behavior
            if (bce().getPosition_mm() <= 0) {
                output_substate = NEUTRAL_EXIT;     
                //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed
            }
            break;
            
        case NEUTRAL_SLOWLY_RISE:
            if (!isSubStateTimeoutRunning) {                
                pc().printf("\r\n\n(9) START NEUTRAL_SLOWLY_RISE (will go off at %0.1f sec)\r\n", timer.read());
                _neutral_sink_timer = timer.read()+ 5; //record the time when this block is first entered and add 10 seconds
                
                isSubStateTimeoutRunning = true;    //disable this block after one iteration
                
                // what is active?
                //move piston at start of sequence (retract 10 mm)
                pc().printf("Neutral Slowly Rise: Extending piston 1 mm\n\r");
                previousPosition_mm += 1;
                bce().setPosition_mm(previousPosition_mm);  //no depth command
            }
            
            //once 5 second timer complete move the piston with code above  
            if (timer.read() >= _neutral_sink_timer) {
                pc().printf("\r\n\n(9)NEUTRAL_SLOWLY_RISE TIMER COMPLETE! (time: %3.1f)\r\n", timer.read());
                pc().printf("\r\n\n(9) (BATT POS: %0.1f) extend 1 mm %3.1f\r\n", previousPosition_mm, timer.read());
                
                //when you finish executing the motor controls, reset the neutral sinking timer in the next state
                isSubStateTimeoutRunning = false;
            }
            
            //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
            if (depthLoop().getVelocity() < 0) { //less than zero ft/s
                pc().printf("\r\n\n(9) NEUTRAL_SLOWLY_RISE: Sink Rate below 0 ft/s [time: %0.1f]\r\n", timer.read());
                
                pc().printf("Next substate: NEUTRAL_CHECK_PITCH\n\r");
                output_substate = NEUTRAL_CHECK_PITCH;
            }
            
            //before the sub-fsm runs again, make sure the piston is in a safe position (extended)
            //NEW: need to double-check this behavior
            //need to set a max travel position ? or just hardcode? or use bceFloatPosition?
            if (bce().getPosition_mm() >= 320) {
                output_substate = NEUTRAL_EXIT;     
                //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed
            }
            break;   
                
        case NEUTRAL_CHECK_PITCH:
            //no timeout in this sub FSM state (find_neutral timer still running)        
            
            //what is active?
            //the BCE piston is maintaining its position 
            //the battery is maintaining the pitch at zero degrees
            
            //check sink rate < 0.5 ft/s, go to the next substate the next iteration (pitch velocity)
            //check pitch angle is less than 1.0 degree
            
            pc().printf("(10) NEUTRAL_CHECK_PITCH (time: %3.1f) [%0.1f deg, %0.1f deg/s] \r", timer.read(), pitch_angle, pitch_rate); //debug  
            output_substate = NEUTRAL_CHECK_PITCH;
            
            //benchtop tests confirm it needs to be around 2 degrees
            if ((abs_pitch_rate < 0.5) && (abs_pitch_angle < 2.0)) { //less than zero ft/s and 1 degree
                //SAVE POSITIONS
                _neutral_buoyancy_bce_pos_mm = bce().getPosition_mm();
                _neutral_buoyancy_batt_pos_mm = batt().getPosition_mm();
                
                //save to neutral.cfg
                ConfigFileIO().saveNeutralPositions(_neutral_buoyancy_bce_pos_mm,_neutral_buoyancy_batt_pos_mm); //BCE, BATT
                
                pc().printf("Saving Positions: BCE: %0.1f mm, BATT: %0.1f\n\r",_neutral_buoyancy_bce_pos_mm,_neutral_buoyancy_batt_pos_mm);
                pc().printf("Next substate: NEUTRAL_EXIT\n\r");
                output_substate = NEUTRAL_EXIT;     //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed
            }
            break;
  
        default:
            pc().printf("DEFAULT: check_pitch (state 10)\n\r"); //debug
            output_substate = NEUTRAL_CHECK_PITCH;  //a default within the sub-state machine
            break;    
    }
    return output_substate;
}

// keyboard currently handles a key at a time
// returns -1 if not a state command
// returns a positive number to command a new state
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)
    if (pc().readable() && (_state == SIT_IDLE)) {
        // get the key
        userInput = pc().getc();    
        
        isTimeoutRunning = false;   //keyboard resets timer each time it's used
        
        pc().printf("KEYBOARD isTimeoutRunning: %d\n\r", isTimeoutRunning);
        
        //_keyboard_state = SIT_IDLE; //new

        // check command against desired control buttons
        // change state
        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 == '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 {
            _keyboard_state = -1;
        }
        
        //when you read the keyboard successfully, change the state
        _next_state = _keyboard_state;   //set state at the end of this function
    }
}

//11/19/2017
//you want to modify the keyboard to return the values that will be used in the state machine
//BUT the state machine does not call they keyboard
//the keyboard runs independently and only allows input when the state is "idle"
//therefore keyboard should run maybe 1/10th of a second when pc readable
//and it will change a class variable that says what the current state is

//make it void




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;
}

void StateMachine::setState(int input_state) {
    //pc().printf("input_state: %d\n\r", input_state); //debug
    //_state = input_state;     //changing wrong variable
    _next_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_buoyancy_batt_pos_mm = batt_pos_mm;
    _neutral_buoyancy_bce_pos_mm = bce_pos_mm;
    
    pc().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\n\r",_neutral_buoyancy_batt_pos_mm,_neutral_buoyancy_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[_state_counter].state;
    currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_state_counter].timeout;
    currentStateStruct.depth = sequenceController().sequenceStructLoaded[_state_counter].depth;
    currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_state_counter].pitch;
    
    _timeout = currentStateStruct.timeout;  //set timeout before exiting this function
}