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.hpp
- Committer:
- tnhnrl
- Date:
- 2017-11-29
- Revision:
- 24:c7d9b5bf3829
- Parent:
- 23:434f04ef1fad
- Child:
- 27:0a5b90cd65d6
File content as of revision 24:c7d9b5bf3829:
#ifndef STATEMACHINE_HPP #define STATEMACHINE_HPP #include "mbed.h" extern "C" void mbed_reset(); // utilized to reset the mbed // main finite state enumerations enum { SIT_IDLE, // stops both motors, exits after a keyboard input FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable DIVE, // dives to depth at negative pitch, exits when crossing a defined depth RISE, // rises to surface at positive pitch, exits when near surface FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done EMERGENCY_CLIMB, // bce position to full rise, batt position to full aft, exits when at surface MULTI_DIVE, // multi-dive sequence MULTI_RISE // multi-rise sequence }; // find_neutral finite state machine enumerations enum { NEUTRAL_FIRST_PITCH, // NEW first state: find level by moving the battery NEUTRAL_SINKING, // increment the bce until really start sinking NEUTRAL_SLOWLY_RISE, // once sinking, arrest the sink NEUTRAL_CHECK_PITCH, // find level again, then save the data and exit NEUTRAL_EXIT // sub-FSM has completed all checks }; //struct for saving the data struct currentSequenceStruct { int state; //for the current StateMachine, states are ID-ed with enumeration float timeout; float depth; float pitch; }; class StateMachine { public: StateMachine(); void runStateMachine(); void showMenu(); void keyboard(); void keyboard_menu_BCE_PID_settings(); void keyboard_menu_BATT_PID_settings(); void keyboard_menu_DEPTH_PID_settings(); void keyboard_menu_PITCH_PID_settings(); float getDepthCommand(); float getPitchCommand(); int runNeutralStateMachine(); //substate returns the state (which is used in overall FSM) void setState(int input_state); int getState(); void setTimeout(float input_timeout); void setDepthCommand(float input_depth_command); void setPitchCommand(float input_pitch_command); void setNeutralPositions(float batt_pos_mm, float bce_pos_mm); int timeoutRunning(); void getDiveSequence(); //used in multi-dive sequence with public variables for now private: int _timeout; // generic timeout for every state, seconds float depthTolerance; // depth tolerance for neutral finding exit critera float pitchTolerance; // pitch angle tolerance for neutral finding exit criteria float bceFloatPosition; // bce position for "float" states float battFloatPosition; // batt position for "broadcast" state float depthCommand; // user keyboard depth float pitchCommand; // user keyboard depth Timer timer; int _state; // Fine State Machine (FSM) state int _sub_state; // substate on find_neutral function int _previous_sub_state; // previous substate so that what goes into the sub-state is not being changed as it is processed float _neutral_timer; // keep time for rise/sink/level timer incremnets bool isTimeoutRunning; bool isSubStateTimerRunning; float _neutral_bce_pos_mm; float _neutral_batt_pos_mm; int _multi_dive_counter; currentSequenceStruct currentStateStruct; //type_of_struct struct_name bool _neutral_sub_state_active; // controls neutral_sub_state float _depth_KP; float _depth_KI; float _depth_KD; float _pitch_KP; float _pitch_KI; float _pitch_KD; int _state_array[1024]; //used to print out the states int _state_array_counter; //variables used to record NEUTRAL sub-FSM states int _substate; int _previous_substate; }; #endif