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:
- 2018-06-07
- Revision:
- 53:c0586fe62b01
- Parent:
- 52:f207567d3ea4
- Child:
- 54:d4990fb68404
File content as of revision 53:c0586fe62b01:
#include "StateMachine.hpp" #include "StaticDefs.hpp" StateMachine::StateMachine() { _timeout = 20; // 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) _depth_command = 2.0; // user keyboard depth (default) _pitch_command = -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_SINKING; //start sub-FSM in NEUTRAL_SINKING _previous_substate = -1; //to start sub-FSM _previous_state = -1; //for tracking FSM states _max_recorded_depth_neutral = -99; //float to record max depth _max_recorded_depth_dive = -99; //float to record max depth _neutral_sink_command_mm = -2.5; //defaults for neutral finding sub-FSM _neutral_rise_command_mm = 2.0; _neutral_pitch_command_mm = 0.5; _max_recorded_auto_neutral_depth = -99; _file_closed = true; } //Finite State Machine (FSM) int StateMachine::runStateMachine() { static int transmit_packet_number = 1; //for data transmission // 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) { showMenu(); pc().printf("\r\n\nstate: SIT_IDLE\r\n"); _isTimeoutRunning = true; // what is active? bce().pause(); batt().pause(); //reset sub FSM _isSubStateTimerRunning = false; //close the MBED file _file_closed = true; } // how exit? keyboard(); // keyboard function will change the state if needed break; case CHECK_TUNING : // state used to check the tuning of the pressure vessel // start local state timer and init any other one-shot actions if (!_isTimeoutRunning) { pc().printf("\r\n\nstate: CHECK_TUNING\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running _isTimeoutRunning = true; // what needs to be started? bce().unpause(); //this is now active batt().unpause(); //this is now active // what are the commands? (DRIVE THE MOTORS "DIRECTLY") bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization // getSetPosition_mm is the commanded position in the LinearActuator class pc().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm()); pc().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm()); //show that this is the start of new dive sequence recordState(_state); //triggers logger array _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer > _timeout) { pc().printf("CHECK_TUNING: timed out!\r\n"); _state = FLOAT_BROADCAST; timer.reset(); _isTimeoutRunning = false; } //print status to screen continuously pc().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f ft, pitch: %0.1f deg) [%0.1f sec]\r",bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition(),timer.read()); //record data every 5 seconds recordData(_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 are the commands? bce().setPosition_mm(bce().getTravelLimit()); batt().setPosition_mm(0.0); //create the log file (works only if the file is closed) ////////createNewFile(); //show that this is the start of a new EMERGENCY_CLIMB sequence recordState(_state); //triggers logger array _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer > _timeout) { pc().printf("EC: timed out\r\n"); _state = FLOAT_BROADCAST; timer.reset(); _isTimeoutRunning = false; } else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast _state = FLOAT_BROADCAST; timer.reset(); _isTimeoutRunning = false; } //print status to screen continuously pc().printf("EC: depth: %3.1f (BCE_cmd: %0.1f), pitch: %0.1f deg [%0.1f sec]\r",depthLoop().getPosition(),bce().getPosition_mm(),pitchLoop().getPosition(),timer.read()); //record data every 5 seconds recordData(_state); 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"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running _isTimeoutRunning = true; // what needs to be started? bce().unpause(); batt().unpause(); bce().setPosition_mm(_bceFloatPosition); batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to close-to-neutral setting from config file //first iteration goes into Neutral Finding Sub-FSM //set the first state of the FSM, and start the sub-FSM _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking _previous_substate = -1; //save this state to the array _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array _substate_array_counter++; runNeutralStateMachine(); //create the log file (works only if the file is closed) //createNewFile(); //show that this is the start of a new FIND_NEUTRAL sequence recordState(_state); //triggers logger array _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again recordData(_state); } // 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()); _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces) timer.reset(); _isTimeoutRunning = false; //record this to the NEUTRAL sub-FSM tracker _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array _substate_array_counter++; } //what is active? (neutral finding sub-function runs until completion) //check if substate returned exit state, if so stop running the sub-FSM else if (runNeutralStateMachine() == NEUTRAL_EXIT) { //if successful, FIND_NEUTRAL then goes to RISE pc().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\n\n\r"); _state = RISE; _isTimeoutRunning = false; } //record data every 5 seconds recordData(_state); 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(_depth_command); pitchLoop().setCommand(_pitch_command); 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 //create the log file (works only if the file is closed) //createNewFile(); //show that this is the start of new dive sequence recordState(_state); //triggers logger array _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer.read() > _timeout) { pc().printf("DIVE: timed out\n\n\r"); _state = RISE; //new behavior 11/17/2017 timer.reset(); _isTimeoutRunning = false; } else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches pc().printf("DIVE: actual 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 (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()); //constantly checking the Outer Loop output to move the motors batt().setPosition_mm(pitchLoop().getOutput()); if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded } //record data every 5 seconds recordData(_state); 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(-1.0); //make sure to get towards the surface (saw issues at LASR pool) pitchLoop().setCommand(-_pitch_command); pc().printf("RISE: depth cmd: %0.1f\r\n",depthLoop().getCommand()); pc().printf("RISE: pitch cmd: %0.1f\r\n",pitchLoop().getCommand()); //create the log file (works only if the file is closed) //createNewFile(); //show that this is the start of new rise sequence recordState(_state); //triggers logger array _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer.read() > _timeout) { pc().printf("RISE: timed out\r\n"); _state = EMERGENCY_CLIMB; timer.reset(); _isTimeoutRunning = false; } //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) //did not work correctly in bench test (stuck in rise state) else if (depthLoop().getPosition() < 0.5) { pc().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand()); _state = FLOAT_BROADCAST; timer.reset(); _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()); //constantly checking the Outer Loop output to move the motors batt().setPosition_mm(pitchLoop().getOutput()); //record data every 5 seconds recordData(_state); 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); //create the log file (works only if the file is closed) //createNewFile(); //show that this is the start of a new float level sequence recordState(_state); //triggers logger array _is_log_timer_running = true; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer > _timeout) { pc().printf("FL: timed out\r\n"); _state = FLOAT_BROADCAST; timer.reset(); _isTimeoutRunning = false; } else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees 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()); //record data every 5 seconds recordData(_state); 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); //create the log file (works only if the file is closed) //createNewFile(); //show that this is the start of a new float broadcast sequence recordState(_state); //triggers logger array _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer > _timeout) { pc().printf("FB: timed out\r\n"); _state = SIT_IDLE; timer.reset(); //stop recording data //mbedLogger().closeFile(); _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; timer.reset(); //stop recording data //mbedLogger().closeFile(); _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] (CMD BCE: %0.1f BATT: %0.1f)\r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition(), timer.read(), bce().getSetPosition_mm(),batt().getSetPosition_mm()); //record data every 5 seconds recordData(_state); 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_depth_command = currentStateStruct.depth; float sequence_pitch_command = currentStateStruct.pitch; // what are the commands? depthLoop().setCommand(sequence_depth_command); pitchLoop().setCommand(sequence_pitch_command); pc().printf("MULTI-DIVE: depth cmd: %3.1f ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand()); //create the log file (works only if the file is closed) //createNewFile(); //show that this is the start of a new MULTI_DIVE sequence recordState(_state); //no max depth recording right now //triggers logger array _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer > _timeout) { pc().printf("\n\n\rMULTI-DIVE: timed out [time: %0.1f]\n\n\r", timer.read()); _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()); _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()); //record data every 5 seconds recordData(_state); 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_pitch_command = currentStateStruct.pitch; // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017 depthLoop().setCommand(0.5); pitchLoop().setCommand(-sequence_pitch_command); pc().printf("MULTI-RISE: depth cmd: 0.0 ft, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand()); //create the log file (works only if the file is closed) //createNewFile(); //show that this is the start of a new MULTI_DIVE sequence recordState(_state); //triggers logger array _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again recordData(_state); } // how exit? if (timer > _timeout) { pc().printf("MULTI-RISE: timed out [time: %0.1f]\n\n\r", timer.read()); _state = EMERGENCY_CLIMB; timer.reset(); _isTimeoutRunning = false; //reset multi-dive sequence to start _multi_dive_counter = 0; } else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level) 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 _multi_dive_counter++; //UPDATE THE SEQUENCE DATA HERE stateMachine().getDiveSequence(); //check if this is the end of the dive sequence //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST) if (currentStateStruct.state == FLOAT_BROADCAST) { _state = FLOAT_BROADCAST; } 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()); //constantly checking the Outer Loop output to move the motors batt().setPosition_mm(pitchLoop().getOutput()); //record data every 5 seconds recordData(_state); break; case TRANSMIT_LOG: if (!_isTimeoutRunning) { pc().printf("\r\n\nstate: TRANSMIT_LOG\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running _isTimeoutRunning = true; mbedLogger().getNumberOfPacketsInCurrentLog(); //open the file, read the number of lines in the log file transmit_packet_number = mbedLogger().getNumberOfPackets(); //pc().printf("getNumberOfPacketsInCurrentLog is %d\n\r", transmit_packet_number); } if (timer.read() > _timeout) { pc().printf("\n\rTRANSMIT_LOG: timed out!\n\r"); _state = SIT_IDLE; timer.reset(); _isTimeoutRunning = false; mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading } //IF THIS IS ZERO if (mbedLogger().currentPacketNumber() > transmit_packet_number) { pc().printf("mbedLogger().currentPacketNumber() > transmit_packet_number"); _state = SIT_IDLE; timer.reset(); _isTimeoutRunning = false; mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading } if (mbedLogger().isTransmissionComplete()) { pc().printf("StateMachine isTransmissionComplete (true)\n\r"); _state = SIT_IDLE; timer.reset(); _isTimeoutRunning = false; mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading } // what is active? (no hardware should be active) mbedLogger().readTransmitPacketOneChar(); //led2 shows you pc readable break; case RECEIVE_SEQUENCE : pc().printf("state: RECEIVE_SEQUENCE\n\r"); if (!_isTimeoutRunning) { pc().printf("RECEIVE_SEQUENCE _isTimeoutRunning\r\n"); timer.reset(); // timer goes back to zero timer.start(); // background timer starts running _isTimeoutRunning = true; } if (timer.read() > _timeout) { pc().printf("RECEIVE_SEQUENCE: timed out!\n\r"); _state = SIT_IDLE; timer.reset(); _isTimeoutRunning = false; } // what is active? pc().printf("Receive sequence active?\n\r"); 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; } return _state; // //if the state is SIT_IDLE, return 0 / false (for recording) // if (_state == SIT_IDLE) // return 0; // else // return 1; //return true to indicate that you're recording } // output the keyboard menu for user's reference void StateMachine::showMenu() { pc().printf("\r\r\n\nKEYBOARD MENU (02/15/2018):\r\r\n"); pc().printf(" T to go into manual tuning mode (This is on a timer!)\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(" '|' to tare the depth sensor (vertical bar)\r\n"); pc().printf(" Z to show FSM and sub-FSM states.\r\n"); pc().printf(" P to print the current log file.\r\n"); pc().printf(" X to print the list of log files.\r\n"); pc().printf(" I to receive data.\r\n"); pc().printf(" O to transmit data.\r\n"); pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n"); pc().printf("[/] to change bce neutral position: %0.1f\r\n", _neutral_bce_pos_mm); pc().printf("</> to change batt neutral position: %0.1f\r\n", _neutral_batt_pos_mm); pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",_pitch_command); pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",_depth_command); 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(" 5 MANUAL_TUNING sub-menu (does not have a timer!)\r\n"); pc().printf(" 6 STREAM STATUS)\r\n"); pc().printf(" 7 RUDDER SERVO settings 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 10 second timer if (!_isSubStateTimerRunning) { _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) (getSetPosition: %0.1f)\n\r", _neutral_timer, timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm()); // what are the commands? (BCE linear actuator active, no pitch movement) bce().setPosition_mm(bce().getSetPosition_mm() - 2.5); //Troy: There is some strange error where this has to be a hardcoded number. pc().printf("NEUTRAL_SINKING: Retracting piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f] (pitch: %0.1f)\n\r", _neutral_sink_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand(), pitchLoop().getPosition()); _isSubStateTimerRunning = true; //disable this block after one iteration } // how exit? //once reached the travel limit, no need to keep trying, so exit if (bce().getPosition_mm() <= 0) { pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\n\r", bce().getPosition_mm()); _substate = NEUTRAL_EXIT; _isSubStateTimerRunning = false; // reset the sub state timer } //once deeper than the commanded setpoint... else if (depthLoop().getPosition() > _depth_command) { _substate = NEUTRAL_SLOWLY_RISE; // next state _isSubStateTimerRunning = false; //reset the sub state timer } // what is active? //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint 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 } // what is active? (only the buoyancy engine moved every 5 seconds at start) pc().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f ft)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug break; case NEUTRAL_SLOWLY_RISE: if (!_isSubStateTimerRunning) { _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? //move piston at start of sequence (default: extend 2.0 mm) bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state pitchLoop().setCommand(0.0); pc().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston %0.1f mm [BCE CMD : %0.1f] [pitch cmd: %0.1f]\n\r", _neutral_rise_command_mm, bce().getSetPosition_mm(), pitchLoop().getCommand()); _isSubStateTimerRunning = true; //disable this block after one iteration } // how exit? //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit if (bce().getSetPosition_mm() >= bce().getTravelLimit()) { _substate = NEUTRAL_EXIT; _isSubStateTimerRunning = false; // reset the sub state timer } //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration else if (depthLoop().getVelocity() < 0) { //less than zero ft/s 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? //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint if (timer.read() >= _neutral_timer) { pc().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", timer.read()); _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again } // what is active? (only the buoyancy engine moved every 5 seconds) pc().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug bce().setPosition_mm(depthLoop().getOutput()); // (DID NOT WORK ON BENCH) break; case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired // start local state timer and init any other one-shot actions if (!_isSubStateTimerRunning) { _neutral_timer = 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? (default: retract or extend 0.5 mm) 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 %0.1f mm increments\n\n\r", _neutral_pitch_command_mm); } 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 %0.1f mm increments\n\n\r", _neutral_pitch_command_mm); } _isSubStateTimerRunning = true; //disable this block after one iteration } // how exit? //pitch angle and pitch rate within small tolerance //benchtop tests confirm angle needs to be around 2 degrees if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) { pc().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\n\r"); //debug // found level, but don't need to save anything this time if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded } // found level and at depth too, so save it all now if (_substate == NEUTRAL_CHECK_PITCH) { //save positions locally _neutral_batt_pos_mm = batt().getPosition_mm(); _neutral_bce_pos_mm = bce().getPosition_mm(); //set the neutral positions in each outer loop depthLoop().setOutputOffset(_neutral_bce_pos_mm); pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // save into the depth.txt and pitch.txt files configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); //P,I,D,batt zeroOffset configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); //P,I,D, bce zeroOffset pc().printf("\n\n\r>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\n\n\r",_neutral_bce_pos_mm,_neutral_batt_pos_mm); _substate = NEUTRAL_EXIT; _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again } 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 (useful if you need to redo the neutral-finding sequence) if (_substate == NEUTRAL_EXIT) { pc().printf("******************************** EXITING sub-FSM! *******************************\n\n\r"); //reset internal sub-state back to first entry conditions (first state is immediately sinking) _substate = NEUTRAL_SINKING; _isSubStateTimerRunning = false; // reset the sub state timer //record sub-states to view after sequence _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array _substate_array_counter++; //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit) _previous_substate = -1; //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed return NEUTRAL_EXIT; // message to calling function we just exited } else { //record sub-states to view after sequence (when changed) if (_previous_substate != _substate) { _substate_array[_substate_array_counter] = _substate; //save current state to state array _substate_array_counter++; //record the current substate for comparison _previous_substate = _substate; } return _substate; // message to calling function of what sub-state it's in } } // keyboard runs independently of the state machine, handling one key at a time //keyboard updates the desired _keyboard_state that is used in the state machine //and only allows input when the state is "idle" void StateMachine::keyboard() { char 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) //TEST int _keyboard_state = 0; //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') { _keyboard_state = DIVE; } else if (userInput == 'N') { _keyboard_state = FIND_NEUTRAL; } else if (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') { _keyboard_state = RISE; } else if (userInput == 'L') { _keyboard_state = FLOAT_LEVEL; } else if (userInput == 'B') { _keyboard_state = FLOAT_BROADCAST; } else if (userInput == 'E') { _keyboard_state = EMERGENCY_CLIMB; } else if (userInput == 'T') { _keyboard_state = CHECK_TUNING; } // some debug tools below else if (userInput == 'P') { //Print current SD card log file //printCurrentSdLog(); mbedLogger().printCurrentLogFile(); //print the current log file to the screen } else if (userInput == 'X') { mbedLogger().printMbedDirectory(); //print all log files to the screen } else if (userInput == 'O') { _keyboard_state = TRANSMIT_LOG; //Transmit data (work in progress) } else if (userInput == 'I') { mbedLogger().receiveMissionDataWithTicker(); //receive sequence.txt files } else if (userInput == '~') { pc().printf("ERASING MBED LOG FILE\n\r"); mbedLogger().eraseFile(); } else if (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_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 == '|') { 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 == '{') { _neutral_bce_pos_mm = depthLoop().getOutputOffset() - 1; depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset()); // save neutral depth value to config file configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); } else if (userInput == ']' or userInput == '}') { _neutral_bce_pos_mm = depthLoop().getOutputOffset() + 1; depthLoop().setOutputOffset(_neutral_bce_pos_mm); // increase the bce neutral setpoint pc().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset()); // save neutral depth value to config file configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm); } else if (userInput == '<' or userInput == ',') { _neutral_batt_pos_mm = pitchLoop().getOutputOffset() - 1; pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset()); // save neutral pitch value to config file configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); } else if (userInput == '>' or userInput == '.') { _neutral_batt_pos_mm = pitchLoop().getOutputOffset() + 1; pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // increase the batt neutral setpoint pc().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset()); // save neutral pitch value to config file configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm); } 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') { _pitch_command -= 0.5; //decrement the pitch setpoint pitchLoop().setCommand(_pitch_command); pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand()); } else if (userInput == 'W' or userInput == 'w') { _pitch_command += 0.5; //increment the pitch setpoint pitchLoop().setCommand(_pitch_command); pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand()); } else if (userInput == 'A' or userInput == 'a') { _depth_command -= 0.5; //decrement the depth setpoint depthLoop().setCommand(_depth_command); pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand()); } else if (userInput == 'S' or userInput == 's') { _depth_command += 0.5; //increment the depth setpoint depthLoop().setCommand(_depth_command); 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 tuning sub-menu else if (userInput == '5') { keyboard_menu_MANUAL_TUNING(); } else if (userInput == '6') { keyboard_menu_STREAM_STATUS(); } else if (userInput == '8') { keyboard_menu_RUDDER_SERVO_settings(); } // 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("\n\n\rCURRENT STATUS AND PARAMETERS:\n\r"); // Testing out ADC float vref = 5.6; float vmeasured = 0; unsigned int raw = adc().readCh5(); vmeasured = ((float)raw)/4095.0*vref; pc().printf("raw BCE pos: %d \r\n",adc().readCh0()); pc().printf("raw BMM pos: %d \r\n",adc().readCh1()); pc().printf("raw BCE current sense: %d \r\n",adc().readCh2()); pc().printf("raw BMM current sense: %d \r\n",adc().readCh3()); pc().printf("raw depth pressure: %d \r\n",adc().readCh4()); pc().printf("raw vessel pressure: %d \r\n",adc().readCh5()); pc().printf("raw battery voltage: %d \r\n",adc().readCh6()); pc().printf("raw board current: %d \r\n",adc().readCh7()); pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch()); pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch()); pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw); // End of ADC Test pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition()); pc().printf("pitch: %3.1f deg\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("\n\rNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_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, auto_neutral_depth: %0.1f\n\n\r",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth); pc().printf("\n\r"); pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); pc().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); pc().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); } //when you read the keyboard successfully, change the state _state = _keyboard_state; //set state at the end of this function //pc().printf("\n\n\r ********* KEYBOARD STATE: %d *********\n\n\r", _state); } } void StateMachine::keyboard_menu_STREAM_STATUS() { char STATUS_key; // show the menu pc().printf("\n\r1: STATUS DEBUG MENU (EXIT WITH 'X' !)"); while (1) { if (pc().readable()) { STATUS_key = pc().getc(); //get each keystroke } else { wait(1); pc().printf("depth: %3.1f ft\r\n",depthLoop().getPosition()); pc().printf("pitch: %3.1f deg\r\n",imu().getPitch()); pc().printf("heading (rudder): %3.1f deg\r\n",rudderLoop().getPosition()); //for heading 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("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset()); pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand()); pc().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset()); pc().printf("\n\rNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm); continue; // didn't get a user input, so keep waiting for it } // process the keys if (STATUS_key == 'X') { break; //exit the while loop } else { pc().printf("\n\rThis key (%c) does nothing here. ", STATUS_key); } } } void StateMachine::keyboard_menu_RUDDER_SERVO_settings() { //load current parameters from the rudder float rudder_min_pwm = rudder().getMinPWM(); float rudder_max_pwm = rudder().getMaxPWM(); float rudder_ctr_pwm = rudder().getCenterPWM(); float rudder_min_deg = rudder().getMinDeg(); float rudder_max_deg = rudder().getMaxDeg(); char RUDDER_PID_key; // print the menu pc().printf("\n\rRUDDER (servo driver) settings (MENU)"); pc().printf("\n\r(Adjust min/max/center PWM settings with the following keys: N and M and C"); pc().printf("\n\r(Adjust DEGREE limit settings with the following keys: min = K, max = L"); pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); // handle the key presses while(1) { // get the user's keystroke from either of the two inputs if (pc().readable()) { RUDDER_PID_key = pc().getc(); } else { wait(0.5); pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); continue; // didn't get a user input, so keep waiting for it } // handle the user's key input if (RUDDER_PID_key == 'S') { // user wants to save the modified values // set global values rudder().setMinPWM(rudder_min_pwm); rudder().setMaxPWM(rudder_max_pwm); rudder().setCenterPWM(rudder_ctr_pwm); rudder().setMinDeg(rudder_min_deg); rudder().setMaxDeg(rudder_max_deg); // save rudder servo driver values for inner loop configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm); pc().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); } else if (RUDDER_PID_key == 'X') { break; //exit the while loop } // MIN PWM else if (RUDDER_PID_key == 'N') { pc().printf(">> Type in rudder_min_pwm with keyboard.\n\r"); rudder_min_pwm = getFloatUserInput(); } // MAX PWM else if (RUDDER_PID_key == 'M') { pc().printf(">> Type in rudder_max_pwm with keyboard.\n\r"); rudder_max_pwm = getFloatUserInput(); } // CENTER PWM else if (RUDDER_PID_key == 'C') { pc().printf(">> Type in rudder_ctr_pwm with keyboard.\n\r"); rudder_ctr_pwm = getFloatUserInput(); } // MIN DEG else if (RUDDER_PID_key == 'K') { pc().printf(">> Type in rudder_min_deg with keyboard.\n\r"); rudder_min_deg = getFloatUserInput(); } // MAX DEG else if (RUDDER_PID_key == 'L') { pc().printf(">> Type in rudder_max_deg with keyboard.\n\r"); rudder_max_deg = getFloatUserInput(); } else { pc().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key); } } } void StateMachine::keyboard_menu_MANUAL_TUNING() { char TUNING_key; // show the menu pc().printf("\n\r1: MANUAL TUNING MENU (EXIT WITH 'X' !)"); pc().printf("\n\r(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W)\n\r"); pc().printf("MANUAL_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); // what needs to be started? bce().unpause(); //this is now active batt().unpause(); //this is now active while (1) { if (pc().readable()) { TUNING_key = pc().getc(); //get each keystroke } else { pc().printf("MT: ACTUAL POS (SET POS): BCE: %0.1f (%0.1f), BATT: %0.1f (%0.1f)\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm()); continue; // didn't get a user input, so keep waiting for it } // process the keys if (TUNING_key == 'X') { // STOP THE MOTORS BEFORE LEAVING! (Just in case.) bce().pause(); batt().pause(); break; //exit the while loop } else if (TUNING_key == 'A') { _neutral_bce_pos_mm = _neutral_bce_pos_mm - 1; bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization pc().printf("MANUAL_TUNING: (BCE CHANGE: %0.1f) BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); } else if (TUNING_key == 'A') { _neutral_bce_pos_mm = _neutral_bce_pos_mm - 1; bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization pc().printf("MANUAL_TUNING: (BCE CHANGE: %0.1f) BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); } else if (TUNING_key == 'S') { _neutral_bce_pos_mm = _neutral_bce_pos_mm + 1; bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization pc().printf("MANUAL_TUNING: (BCE CHANGE: %0.1f) BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); } else if (TUNING_key == 'Q') { _neutral_batt_pos_mm = _neutral_batt_pos_mm - 1; batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization pc().printf("MANUAL_TUNING: (BATT CHANGE: %0.1f) BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); } else if (TUNING_key == 'W') { _neutral_batt_pos_mm = _neutral_batt_pos_mm + 1; batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization pc().printf("MANUAL_TUNING: (BATT CHANGE: %0.1f) BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f ft, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition()); } else { pc().printf("\n\rThis key does nothing here. "); } } } void StateMachine::keyboard_menu_CHANNEL_READINGS() { char TUNING_key; // show the menu pc().printf("\n\r1: CHANNEL READINGS (EXIT WITH 'X' !)"); while (1) { if (pc().readable()) { TUNING_key = pc().getc(); //get each keystroke } else { // Testing out ADC float vref = 5.6; float vmeasured = 0; unsigned int raw = adc().readCh5(); vmeasured = ((float)raw)/4095.0*vref; pc().printf("raw BCE pos: %d \r\n",adc().readCh0()); pc().printf("raw BMM pos: %d \r\n",adc().readCh1()); pc().printf("raw BCE current sense: %d \r\n",adc().readCh2()); pc().printf("raw BMM current sense: %d \r\n",adc().readCh3()); pc().printf("raw depth pressure: %d \r\n",adc().readCh4()); pc().printf("raw vessel pressure: %d \r\n",adc().readCh5()); pc().printf("raw battery voltage: %d \r\n",adc().readCh6()); pc().printf("raw board current: %d \r\n",adc().readCh7()); pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch()); pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch()); pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw); // End of ADC Test continue; // didn't get a user input, so keep waiting for it } } } void StateMachine::keyboard_menu_BCE_PID_settings() { char PID_key; float gain_step_size = 0.01; // modify this to change gain step size float BCE_KP = bce().getControllerP(); // load current value float BCE_KI = bce().getControllerI(); // load current global value float BCE_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 == '-') { BCE_KP -= gain_step_size; pc().printf("P gain: %0.5f \r\n", BCE_KP); } else if (PID_key == '=') { BCE_KP += gain_step_size; pc().printf("P gain: %0.5f \r\n", BCE_KP); } else if (PID_key == '[') { BCE_KI -= gain_step_size; pc().printf("I gain: %0.5f \r\n", BCE_KI); } else if (PID_key == ']') { BCE_KI += gain_step_size; pc().printf("I gain: %0.5f \r\n", BCE_KI); } else if (PID_key == ';') { BCE_KD -= gain_step_size; pc().printf("D gain: %0.5f \r\n", BCE_KD); } else if (PID_key == '\'') { BCE_KD += gain_step_size; pc().printf("D gain: %0.5f \r\n", BCE_KD); } else if (PID_key == 'S') { // user wants to save these modified values // set values bce().setControllerP(BCE_KP); bce().setControllerI(BCE_KI); bce().setControllerD(BCE_KD); // save to "BATT.TXT" file configFileIO().saveBCEData(BCE_KP, BCE_KI, BCE_KD); 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 batt_KP = batt().getControllerP(); // load current global value float batt_KI = batt().getControllerI(); // load current global value float batt_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 == '-') { batt_KP -= gain_step_size; pc().printf("\rP gain: %0.5f ", batt_KP); } else if (PID_key == '=') { batt_KP += gain_step_size; pc().printf("\rP gain: %0.5f ", batt_KP); } else if (PID_key == '[') { batt_KI -= gain_step_size; pc().printf("\rI gain: %0.5f ", batt_KI); } else if (PID_key == ']') { batt_KI += gain_step_size; pc().printf("\rI gain: %0.5f ", batt_KI); } else if (PID_key == ';') { batt_KD -= gain_step_size; pc().printf("\rD gain: %0.5f ", batt_KD); } else if (PID_key == '\'') { batt_KD += gain_step_size; pc().printf("\rD gain: %0.5f ", batt_KD); } else if (PID_key == 'S') { // user wants to save the modified values // set global values batt().setControllerP(batt_KP); batt().setControllerI(batt_KI); batt().setControllerD(batt_KD); // save to "BATT.TXT" file configFileIO().saveBattData(batt_KP, batt_KI, batt_KD); 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 (must save neutral position also) 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 _depth_command; } float StateMachine::getPitchCommand() { return _pitch_command; } float StateMachine::getDepthReading() { return _depth_reading; } float StateMachine::getPitchReading() { return _pitch_reading; } float StateMachine::getTimerReading() { return _timer_reading; } void StateMachine::setState(int input_state) { _state = input_state; } int StateMachine::getState() { return _state; //return the current state of the system } void StateMachine::setTimeout(float input_timeout) { _timeout = input_timeout; } void StateMachine::setDepthCommand(float input_depth_command) { _depth_command = input_depth_command; } void StateMachine::setPitchCommand(float input_pitch_command) { _pitch_command = input_pitch_command; } void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) { _neutral_batt_pos_mm = batt_pos_mm; _neutral_bce_pos_mm = bce_pos_mm; 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 } void StateMachine::printCurrentSdLog() { pc().printf("SD card log work in progress\n\r"); //might be worth saving the last few logs to the MBED... } //check if the file is still opened void StateMachine::createNewFile() { if (_file_closed) { //mbedLogger().createFile(); //create a new MBED file _file_closed = false; //file is still open until you get to SIT_IDLE } } void StateMachine::transmitData() { static float transmit_timer = 0; static bool is_transmit_timer_running = false; if (!is_transmit_timer_running) { //pc().printf("\n\n\rTRANSMIT timer running...\n\n\r"); //debug transmit_timer = timer.read() + 1; //record the time when this block is first entered and add 5 seconds is_transmit_timer_running = true; //disable this block after one iteration pc().printf("TESTING to see if this transmits once a second. (timer: %0.1f)\n\r", timer.read()); } if (timer.read() >= transmit_timer) { is_transmit_timer_running = false; // reset the sub state timer to do one-shot actions again } } void StateMachine::recordData(int input_state) { string string_state; if (input_state == SIT_IDLE) string_state = "SIT_IDLE"; else if (input_state == FIND_NEUTRAL) string_state = "FIND_NEUTRAL"; else if (input_state == DIVE) string_state = "DIVE"; else if (input_state == RISE) string_state = "RISE"; else if (input_state == FLOAT_LEVEL) string_state = "FLOAT_LEVEL"; else if (input_state == FLOAT_BROADCAST) string_state = "FLOAT_BROADCAST"; else if (input_state == EMERGENCY_CLIMB) string_state = "EMERGENCY_CLIMB"; else if (input_state == MULTI_DIVE) string_state = "MULTI_DIVE"; else if (input_state == MULTI_RISE) string_state = "MULTI_RISE"; else if (input_state == KEYBOARD) string_state = "KEYBOARD"; if (!_is_log_timer_running) { //pc().printf("\n\n\rlog timer running...\n\n\r"); //debug _log_timer = timer.read() + 1; //record the time when this block is first entered and add 5 seconds _is_log_timer_running = true; //disable this block after one iteration _data_log[0] = systemTime().read(); //system time reading _data_log[1] = depthLoop().getCommand(); //depth command _data_log[2] = depthLoop().getPosition(); //depth reading _data_log[3] = pitchLoop().getCommand(); //pitch command _data_log[4] = pitchLoop().getPosition(); //pitch reading _data_log[5] = bce().getSetPosition_mm(); _data_log[6] = bce().getPosition_mm(); _data_log[7] = batt().getSetPosition_mm(); _data_log[8] = batt().getPosition_mm(); //record data to the MBED every 5 seconds //mbedLogger().saveArrayToFile(string_state,input_state,_data_log); } if (timer.read() >= _log_timer) { _is_log_timer_running = false; // reset the sub state timer to do one-shot actions again } } void StateMachine::recordState(int input_state) { string string_state; if (input_state == SIT_IDLE) string_state = "SIT_IDLE"; else if (input_state == FIND_NEUTRAL) string_state = "FIND_NEUTRAL"; else if (input_state == DIVE) string_state = "DIVE"; else if (input_state == RISE) string_state = "RISE"; else if (input_state == FLOAT_LEVEL) string_state = "FLOAT_LEVEL"; else if (input_state == FLOAT_BROADCAST) string_state = "FLOAT_BROADCAST"; else if (input_state == EMERGENCY_CLIMB) string_state = "EMERGENCY_CLIMB"; else if (input_state == MULTI_DIVE) string_state = "MULTI_DIVE"; else if (input_state == MULTI_RISE) string_state = "MULTI_RISE"; else if (input_state == KEYBOARD) string_state = "KEYBOARD"; //datalogger().printf("%s\n", string_state.c_str()); } float * StateMachine::dataArray() { //return the array to a calling function return _data_log; } // 06/06/2018 float StateMachine::getFloatUserInput() { float float_conversion = 0.0; while(1) { bool valid_input = false; //flag for valid or invalid input pc().printf("Please enter your number below and press ENTER:\n\r"); char user_string [80]; //variable to store input as a character array pc().scanf("%s", user_string); //read formatted data from stdin pc().printf("user_string was <%s>\n\r", user_string); //check through the string for invalid characters (decimal values 43 through 57) for (int c = 0; c < strlen(user_string); c++) { //pc().printf("character is [%c]\n\r", user_string[c]); //debug if (user_string[c] >= 43 and user_string[c] <= 57) { //pc().printf("VALID CHARACTER!\n\r"); //debug ; } else { pc().printf("INVALID INPUT!\n\r"); break; } if (c == (strlen(user_string) - 1)) { valid_input = true; } } if (valid_input) { float_conversion = atof(user_string); pc().printf("VALID INPUT! Your input was: %f\n\r", float_conversion); break; } } return float_conversion; }