Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

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

main.cpp@15:2a8cfd3f1cf5, 2017-10-31 (annotated)

Committer:
danstrider
Date:
Tue Oct 31 22:19:20 2017 +0000
Revision:
15:2a8cfd3f1cf5
Parent:
14:85b64a4d08e8
Child:
16:3363b9f14913
POOL TESTED!  Tuned PID gains, put in depth/pitch files.  Added keyboard tuning of neutral positions since FIND_NEUTRAL won't work right.  Only suggested FSM change is for DIVE to timeout to RISE, rather than EMERGENCY_CLIMB.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danstrider 10:085ab7328054 1 /*
danstrider 10:085ab7328054 2 Starting from Trent's Linear Actuator code from 2017-10-19, these modifications
danstrider 10:085ab7328054 3 by Dan add an outer loop controller for depth and pitch to command the inner
danstrider 10:085ab7328054 4 linear actuator loops.
danstrider 10:085ab7328054 5 Modified 2017-10-20 revA by Dan
danstrider 10:085ab7328054 6 - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update)
danstrider 10:085ab7328054 7 Modified 2017-10-22 revA by Dan
danstrider 10:085ab7328054 8 - outer loop now works with a call to outerloop.update() in main loop(), not with an attached ticker
danstrider 10:085ab7328054 9 Modified 2017-10-22 revB by Dan
danstrider 10:085ab7328054 10 - enabled both depth and pitch outer loop controllers
danstrider 10:085ab7328054 11 - added ability to keyboard reset
danstrider 10:085ab7328054 12 Modified 2017-10-22 revC by Dan
danstrider 10:085ab7328054 13 - major update to the IMU library processing to make a state machine that doesn't hang
danstrider 10:085ab7328054 14 - added lat/lon/alt and GNSS fix information to the IMU library
danstrider 10:085ab7328054 15 - brought out the pin names into the constructors of IMU, omega, SpiADC
danstrider 10:085ab7328054 16 Modified 2017-10-22 revD by Dan
danstrider 10:085ab7328054 17 - everything seems to be working, shy of re-checking on the hardware
danstrider 10:085ab7328054 18 - Depth sensor call done inside the OuterLoop, but should somehow be set as a callback instead
danstrider 10:085ab7328054 19 - IMU sensor call done inside the OuterLoop, but should somehow be set as a callback instead
danstrider 10:085ab7328054 20 Modified 2017-10-23 revA by Dan/Matt
danstrider 10:085ab7328054 21 - linear actuator hardware works great, limit switches, sensing, etc.
danstrider 10:085ab7328054 22 - outer loops run, but move the BCE in the wrong direction.
danstrider 10:085ab7328054 23 - new IMU code doesn't read from the sensor correctly, but doesn't hang up either.
danstrider 10:085ab7328054 24 - depth sensor worked fine, just needs zero bias adjustment.
danstrider 11:3b241ecb75ed 25 Modified 2017-10-24 by Troy
danstrider 11:3b241ecb75ed 26 - added offset to outerloop
danstrider 11:3b241ecb75ed 27 Modified 2017-10-26 by Dan
danstrider 11:3b241ecb75ed 28 - brought over a state machine and new keyboard controls ... currently just dumped into main.
danstrider 11:3b241ecb75ed 29 Modified 2017-10-26 by Matt
danstrider 11:3b241ecb75ed 30 - new IMU code imported and working well with the hardware.
danstrider 11:3b241ecb75ed 31 Modified 2017-10-26 revB by Dan
danstrider 11:3b241ecb75ed 32 - This version has been in the pool.
danstrider 11:3b241ecb75ed 33 - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions.
danstrider 11:3b241ecb75ed 34 But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why.
danstrider 11:3b241ecb75ed 35 - Repeatedly got stuck in RISE with a +60s timeout. Battery hit end bell and stalled out.
danstrider 11:3b241ecb75ed 36 - keyboard and state machine are in main, probably shouldn't be, but easier to debug.
danstrider 11:3b241ecb75ed 37 - Really happy with the logic and flow of the state machine. Timeouts work.
danstrider 11:3b241ecb75ed 38 - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE.
danstrider 11:3b241ecb75ed 39 - Need to add keyboard commands to modify the zeroOffset positions.
danstrider 14:85b64a4d08e8 40 Modified 2017-10-30 by Dan, Trent, Matt, Troy
danstrider 14:85b64a4d08e8 41 - changed .stop() to .pause() and many .start() to .unpause() ... fixed the negative ADC and lets
danstrider 14:85b64a4d08e8 42 the PVF's keep running even though the motor isn't moving.
danstrider 14:85b64a4d08e8 43 - changed exit conditions to use filtered depth from the outer loop. less noisy.
danstrider 14:85b64a4d08e8 44 Modified 2017-10-31 by Dan, Matt
danstrider 14:85b64a4d08e8 45 - added oversampling and a tare function to the depth sensor.
danstrider 14:85b64a4d08e8 46 - updated main and keyboard to include tare in setup() and a keyboard tare option.
danstrider 14:85b64a4d08e8 47 - looks like the piston isn't zeroing correctly, unclear why, should be unrelated to depth sensor.
danstrider 15:2a8cfd3f1cf5 48 Modified 2017-10-31 (again) by Dan, Matt, and Troy
danstrider 15:2a8cfd3f1cf5 49 - POOL TESTED!
danstrider 15:2a8cfd3f1cf5 50 - Tuned the PID gains with magic. Works to hold mostly level during BCE runs. Dive is awesome.
danstrider 15:2a8cfd3f1cf5 51 - Neutral won't do what we want ... without large depth P, it won't get to depth.
danstrider 15:2a8cfd3f1cf5 52 - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg. Timeout should probably be RISE.
danstrider 15:2a8cfd3f1cf5 53 - Files depth/pitch updated with tuned defaults.
danstrider 10:085ab7328054 54 */
danstrider 10:085ab7328054 55
tzyoung 0:ea293bbf9717 56 #include "mbed.h"
tzyoung 0:ea293bbf9717 57 #include "StaticDefs.hpp"
tzyoung 2:892b58e56712 58 #include "config_functions.h"
tzyoung 2:892b58e56712 59
danstrider 11:3b241ecb75ed 60
danstrider 10:085ab7328054 61 extern "C" void mbed_reset(); // utilized to reset the mbed
tzyoung 4:66f13fbb035d 62
danstrider 11:3b241ecb75ed 63 // state enumerations
danstrider 11:3b241ecb75ed 64 enum {
danstrider 11:3b241ecb75ed 65 SIT_IDLE, // stops both motors, exits after a keyboard input
danstrider 11:3b241ecb75ed 66 KEYBOARD, // handles an individual keypress, exits to state by a keyboard menu
danstrider 11:3b241ecb75ed 67 FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable
danstrider 11:3b241ecb75ed 68 DIVE, // dives to depth at negative pitch, exits when crossing a defined depth
danstrider 11:3b241ecb75ed 69 RISE, // rises to surface at positive pitch, exits when near surface
danstrider 11:3b241ecb75ed 70 FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch
danstrider 11:3b241ecb75ed 71 FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done
danstrider 11:3b241ecb75ed 72 EMERGENCY_CLIMB // bce position to full rise, batt position to full aft, exits when at surface
danstrider 11:3b241ecb75ed 73 };
danstrider 11:3b241ecb75ed 74
danstrider 11:3b241ecb75ed 75 // timer for the state machine
danstrider 11:3b241ecb75ed 76 Timer timer;
danstrider 11:3b241ecb75ed 77
danstrider 11:3b241ecb75ed 78 // these are all the parameters needed for the state machine
danstrider 11:3b241ecb75ed 79 int timeout = 60; // generic timeout for every state, seconds
danstrider 11:3b241ecb75ed 80 float depthTolerance = 0.25; // depth tolerance for neutral finding exit critera
danstrider 11:3b241ecb75ed 81 float pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria
danstrider 11:3b241ecb75ed 82 float bceFloatPosition = 300; // bce position for "float" states
danstrider 11:3b241ecb75ed 83 float battFloatPosition = 50; // batt position for "broadcast" state
danstrider 15:2a8cfd3f1cf5 84
danstrider 15:2a8cfd3f1cf5 85 float depthCommand = 3.5; // user keyboard depth
danstrider 15:2a8cfd3f1cf5 86 float pitchCommand = -20.0; // user keyboard depth
danstrider 11:3b241ecb75ed 87
danstrider 11:3b241ecb75ed 88
danstrider 10:085ab7328054 89 void setup() {
danstrider 15:2a8cfd3f1cf5 90 pc().printf("\n\n\r\rFSG 2017-10-31\n\r");
danstrider 11:3b241ecb75ed 91 pc().baud(57600);
tzyoung 4:66f13fbb035d 92
danstrider 10:085ab7328054 93 // start up the system timer
tzyoung 0:ea293bbf9717 94 systemTime().start();
tzyoung 0:ea293bbf9717 95
danstrider 10:085ab7328054 96 // set up and start the adc. This runs on a fixed interval and is interrupt driven
tzyoung 0:ea293bbf9717 97 adc().initialize();
tzyoung 0:ea293bbf9717 98 adc().start();
danstrider 10:085ab7328054 99
danstrider 10:085ab7328054 100 // set up and start the imu. This polls in the background
danstrider 10:085ab7328054 101 imu().initialize();
danstrider 10:085ab7328054 102 imu().start();
danstrider 10:085ab7328054 103
danstrider 10:085ab7328054 104 // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298
danstrider 14:85b64a4d08e8 105 depth().init();
danstrider 14:85b64a4d08e8 106 depth().tare();
danstrider 10:085ab7328054 107
danstrider 10:085ab7328054 108 // construct a local file system
danstrider 10:085ab7328054 109 local();
tzyoung 0:ea293bbf9717 110
danstrider 10:085ab7328054 111 // load config data from files
danstrider 10:085ab7328054 112 load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt"
danstrider 10:085ab7328054 113 load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt"
danstrider 10:085ab7328054 114 load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt"
danstrider 10:085ab7328054 115 load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt"
tzyoung 4:66f13fbb035d 116
danstrider 10:085ab7328054 117 // set up the linear actuators. adc has to be running first.
danstrider 10:085ab7328054 118 bce().init();
danstrider 10:085ab7328054 119 bce().start();
mkelly10 12:a0519d11d2b6 120 bce().pause(); // start by not moving
tzyoung 4:66f13fbb035d 121
danstrider 10:085ab7328054 122 batt().init();
tzyoung 2:892b58e56712 123 batt().start();
mkelly10 12:a0519d11d2b6 124 batt().pause(); // start by not moving
danstrider 10:085ab7328054 125
danstrider 10:085ab7328054 126 // set up the depth and pitch outer loop controllers
danstrider 10:085ab7328054 127 depthLoop().init();
tnhnrl 13:84fcbe1dcd62 128 depthLoop().start();
danstrider 14:85b64a4d08e8 129 depthLoop().setCommand(depthCommand);
mkelly10 5:15bd96205bb2 130
danstrider 10:085ab7328054 131 pitchLoop().init();
tnhnrl 13:84fcbe1dcd62 132 pitchLoop().start();
danstrider 14:85b64a4d08e8 133 pitchLoop().setCommand(pitchCommand);
danstrider 10:085ab7328054 134
danstrider 10:085ab7328054 135 // do not leave this in. Check that PID gains are loading
danstrider 11:3b241ecb75ed 136 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());
danstrider 11:3b241ecb75ed 137 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());
danstrider 11:3b241ecb75ed 138 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());
danstrider 11:3b241ecb75ed 139 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());
danstrider 10:085ab7328054 140 pc().printf("\n\r");
danstrider 10:085ab7328054 141 }
mkelly10 5:15bd96205bb2 142
danstrider 11:3b241ecb75ed 143
danstrider 11:3b241ecb75ed 144
danstrider 11:3b241ecb75ed 145 void keyboard_menu_BCE_PID_settings() {
danstrider 11:3b241ecb75ed 146 char PID_key;
danstrider 11:3b241ecb75ed 147 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 148 float KP = bce().getControllerP(); // load current value
danstrider 11:3b241ecb75ed 149 float KI = bce().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 150 float KD = bce().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 151
danstrider 11:3b241ecb75ed 152 // show the menu
danstrider 11:3b241ecb75ed 153 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 154 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 155 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
danstrider 11:3b241ecb75ed 156 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());
danstrider 11:3b241ecb75ed 157
danstrider 11:3b241ecb75ed 158 // handle the key presses
danstrider 11:3b241ecb75ed 159 while(1) {
danstrider 11:3b241ecb75ed 160 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 161 if (pc().readable()) {
danstrider 11:3b241ecb75ed 162 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 163 }
danstrider 11:3b241ecb75ed 164 else {
danstrider 11:3b241ecb75ed 165 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 166 }
danstrider 11:3b241ecb75ed 167
danstrider 11:3b241ecb75ed 168 // handle the user's key input
danstrider 11:3b241ecb75ed 169 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 170 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 171 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 172 }
danstrider 11:3b241ecb75ed 173 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 174 KP += gain_step_size;
danstrider 11:3b241ecb75ed 175 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 176 }
danstrider 11:3b241ecb75ed 177 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 178 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 179 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 180 }
danstrider 11:3b241ecb75ed 181 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 182 KI += gain_step_size;
danstrider 11:3b241ecb75ed 183 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 184 }
danstrider 11:3b241ecb75ed 185 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 186 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 187 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 188 }
danstrider 11:3b241ecb75ed 189 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 190 KD += gain_step_size;
danstrider 11:3b241ecb75ed 191 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 192 }
danstrider 11:3b241ecb75ed 193 else if (PID_key == 'S') { // user wants to save these modified values
danstrider 11:3b241ecb75ed 194 // set values
danstrider 11:3b241ecb75ed 195 bce().setControllerP(KP);
danstrider 11:3b241ecb75ed 196 bce().setControllerI(KI);
danstrider 11:3b241ecb75ed 197 bce().setControllerD(KD);
danstrider 11:3b241ecb75ed 198
danstrider 11:3b241ecb75ed 199 // save into "PID.cfg"
danstrider 11:3b241ecb75ed 200 //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);
danstrider 11:3b241ecb75ed 201 break; //exit the while loop
danstrider 11:3b241ecb75ed 202 }
danstrider 11:3b241ecb75ed 203 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 204 break; //exit the while loop
danstrider 11:3b241ecb75ed 205 }
danstrider 11:3b241ecb75ed 206 else {
danstrider 11:3b241ecb75ed 207 pc().printf("\n\rThis key does nothing here. ");
danstrider 11:3b241ecb75ed 208 }
danstrider 11:3b241ecb75ed 209 }
danstrider 11:3b241ecb75ed 210 }
danstrider 11:3b241ecb75ed 211
danstrider 11:3b241ecb75ed 212 void keyboard_menu_DEPTH_PID_settings() {
danstrider 11:3b241ecb75ed 213 char PID_key;
danstrider 11:3b241ecb75ed 214 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 215 float KP = depthLoop().getControllerP(); // load current global value
danstrider 11:3b241ecb75ed 216 float KI = depthLoop().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 217 float KD = depthLoop().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 218
danstrider 11:3b241ecb75ed 219 // show the menu
danstrider 11:3b241ecb75ed 220 pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 221 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 222 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r");
danstrider 11:3b241ecb75ed 223 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());
danstrider 11:3b241ecb75ed 224
danstrider 11:3b241ecb75ed 225 // handle the key presses
danstrider 11:3b241ecb75ed 226 while(1) {
danstrider 11:3b241ecb75ed 227 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 228 if (pc().readable()) {
danstrider 11:3b241ecb75ed 229 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 230 }
danstrider 11:3b241ecb75ed 231 else {
danstrider 11:3b241ecb75ed 232 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 233 }
danstrider 11:3b241ecb75ed 234
danstrider 11:3b241ecb75ed 235 // handle the user's key input
danstrider 11:3b241ecb75ed 236 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 237 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 238 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 239 }
danstrider 11:3b241ecb75ed 240 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 241 KP += gain_step_size;
danstrider 11:3b241ecb75ed 242 pc().printf("P gain: %0.5f \r\n", KP);
danstrider 11:3b241ecb75ed 243 }
danstrider 11:3b241ecb75ed 244 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 245 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 246 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 247 }
danstrider 11:3b241ecb75ed 248 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 249 KI += gain_step_size;
danstrider 11:3b241ecb75ed 250 pc().printf("I gain: %0.5f \r\n", KI);
danstrider 11:3b241ecb75ed 251 }
danstrider 11:3b241ecb75ed 252 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 253 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 254 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 255 }
danstrider 11:3b241ecb75ed 256 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 257 KD += gain_step_size;
danstrider 11:3b241ecb75ed 258 pc().printf("D gain: %0.5f \r\n", KD);
danstrider 11:3b241ecb75ed 259 }
danstrider 11:3b241ecb75ed 260 else if (PID_key == 'S') { // user wants to save these settings
danstrider 11:3b241ecb75ed 261 // set global values
danstrider 11:3b241ecb75ed 262 depthLoop().setControllerP(KP);
danstrider 11:3b241ecb75ed 263 depthLoop().setControllerI(KI);
danstrider 11:3b241ecb75ed 264 depthLoop().setControllerD(KD);
danstrider 11:3b241ecb75ed 265
danstrider 11:3b241ecb75ed 266 // save into "PID.cfg"
danstrider 11:3b241ecb75ed 267 //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);
danstrider 11:3b241ecb75ed 268 break; //exit the while loop
danstrider 11:3b241ecb75ed 269 }
danstrider 11:3b241ecb75ed 270 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 271 break; //exit the while loop
danstrider 11:3b241ecb75ed 272 }
danstrider 11:3b241ecb75ed 273 else {
danstrider 11:3b241ecb75ed 274 pc().printf("\n\rThis key does nothing here. ");
danstrider 11:3b241ecb75ed 275 }
danstrider 11:3b241ecb75ed 276 }
danstrider 11:3b241ecb75ed 277 }
danstrider 11:3b241ecb75ed 278
danstrider 11:3b241ecb75ed 279 void keyboard_menu_BATT_PID_settings() {
danstrider 11:3b241ecb75ed 280 char PID_key;
danstrider 11:3b241ecb75ed 281 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 282 float KP = batt().getControllerP(); // load current global value
danstrider 11:3b241ecb75ed 283 float KI = batt().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 284 float KD = batt().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 285
danstrider 11:3b241ecb75ed 286 // print the menu
danstrider 11:3b241ecb75ed 287 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 288 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 289 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
danstrider 11:3b241ecb75ed 290 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());
danstrider 11:3b241ecb75ed 291
danstrider 11:3b241ecb75ed 292 // handle the key presses
danstrider 11:3b241ecb75ed 293 while(1) {
danstrider 11:3b241ecb75ed 294 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 295 if (pc().readable()) {
danstrider 11:3b241ecb75ed 296 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 297 }
danstrider 11:3b241ecb75ed 298 else {
danstrider 11:3b241ecb75ed 299 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 300 }
danstrider 11:3b241ecb75ed 301
danstrider 11:3b241ecb75ed 302 // handle the user's key input
danstrider 11:3b241ecb75ed 303 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 304 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 305 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 306 }
danstrider 11:3b241ecb75ed 307 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 308 KP += gain_step_size;
danstrider 11:3b241ecb75ed 309 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 310 }
danstrider 11:3b241ecb75ed 311 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 312 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 313 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 314 }
danstrider 11:3b241ecb75ed 315 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 316 KI += gain_step_size;
danstrider 11:3b241ecb75ed 317 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 318 }
danstrider 11:3b241ecb75ed 319 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 320 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 321 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 322 }
danstrider 11:3b241ecb75ed 323 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 324 KD += gain_step_size;
danstrider 11:3b241ecb75ed 325 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 326 }
danstrider 11:3b241ecb75ed 327 else if (PID_key == 'S') { // user wants to save the modified values
danstrider 11:3b241ecb75ed 328 // set global values
danstrider 11:3b241ecb75ed 329 batt().setControllerP(KP);
danstrider 11:3b241ecb75ed 330 batt().setControllerI(KI);
danstrider 11:3b241ecb75ed 331 batt().setControllerD(KD);
danstrider 11:3b241ecb75ed 332
danstrider 11:3b241ecb75ed 333 // save to "PID.cfg" file
danstrider 11:3b241ecb75ed 334 //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);
danstrider 11:3b241ecb75ed 335 break; //exit the while loop
danstrider 11:3b241ecb75ed 336 }
danstrider 11:3b241ecb75ed 337 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 338 break; //exit the while loop
danstrider 11:3b241ecb75ed 339 }
danstrider 11:3b241ecb75ed 340 else {
danstrider 11:3b241ecb75ed 341 pc().printf("This key does nothing here.\r");
danstrider 11:3b241ecb75ed 342 }
danstrider 11:3b241ecb75ed 343 }
danstrider 11:3b241ecb75ed 344 }
danstrider 11:3b241ecb75ed 345
danstrider 11:3b241ecb75ed 346 void keyboard_menu_PITCH_PID_settings() {
danstrider 11:3b241ecb75ed 347 char PID_key;
danstrider 11:3b241ecb75ed 348 float gain_step_size = 0.01; // modify this to change gain step size
danstrider 11:3b241ecb75ed 349 float KP = pitchLoop().getControllerP(); // load current global value
danstrider 11:3b241ecb75ed 350 float KI = pitchLoop().getControllerI(); // load current global value
danstrider 11:3b241ecb75ed 351 float KD = pitchLoop().getControllerD(); // load current global value
danstrider 11:3b241ecb75ed 352
danstrider 11:3b241ecb75ed 353 // print the menu
danstrider 11:3b241ecb75ed 354 pc().printf("\n\r2: Battery Motor PID gain settings (MENU)");
danstrider 11:3b241ecb75ed 355 pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'");
danstrider 11:3b241ecb75ed 356 pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
danstrider 11:3b241ecb75ed 357 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());
danstrider 11:3b241ecb75ed 358
danstrider 11:3b241ecb75ed 359 // handle the key presses
danstrider 11:3b241ecb75ed 360 while(1) {
danstrider 11:3b241ecb75ed 361 // get the user's keystroke from either of the two inputs
danstrider 11:3b241ecb75ed 362 if (pc().readable()) {
danstrider 11:3b241ecb75ed 363 PID_key = pc().getc();
danstrider 11:3b241ecb75ed 364 }
danstrider 11:3b241ecb75ed 365 else {
danstrider 11:3b241ecb75ed 366 continue; // didn't get a user input, so keep waiting for it
danstrider 11:3b241ecb75ed 367 }
danstrider 11:3b241ecb75ed 368
danstrider 11:3b241ecb75ed 369 // handle the user's key input
danstrider 11:3b241ecb75ed 370 if (PID_key == '-') {
danstrider 11:3b241ecb75ed 371 KP -= gain_step_size;
danstrider 11:3b241ecb75ed 372 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 373 }
danstrider 11:3b241ecb75ed 374 else if (PID_key == '=') {
danstrider 11:3b241ecb75ed 375 KP += gain_step_size;
danstrider 11:3b241ecb75ed 376 pc().printf("\rP gain: %0.5f ", KP);
danstrider 11:3b241ecb75ed 377 }
danstrider 11:3b241ecb75ed 378 else if (PID_key == '[') {
danstrider 11:3b241ecb75ed 379 KI -= gain_step_size;
danstrider 11:3b241ecb75ed 380 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 381 }
danstrider 11:3b241ecb75ed 382 else if (PID_key == ']') {
danstrider 11:3b241ecb75ed 383 KI += gain_step_size;
danstrider 11:3b241ecb75ed 384 pc().printf("\rI gain: %0.5f ", KI);
danstrider 11:3b241ecb75ed 385 }
danstrider 11:3b241ecb75ed 386 else if (PID_key == ';') {
danstrider 11:3b241ecb75ed 387 KD -= gain_step_size;
danstrider 11:3b241ecb75ed 388 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 389 }
danstrider 11:3b241ecb75ed 390 else if (PID_key == '\'') {
danstrider 11:3b241ecb75ed 391 KD += gain_step_size;
danstrider 11:3b241ecb75ed 392 pc().printf("\rD gain: %0.5f ", KD);
danstrider 11:3b241ecb75ed 393 }
danstrider 11:3b241ecb75ed 394 else if (PID_key == 'S') { // user wants to save the modified values
danstrider 11:3b241ecb75ed 395 // set global values
danstrider 11:3b241ecb75ed 396 pitchLoop().setControllerP(KP);
danstrider 11:3b241ecb75ed 397 pitchLoop().setControllerI(KI);
danstrider 11:3b241ecb75ed 398 pitchLoop().setControllerD(KD);
danstrider 11:3b241ecb75ed 399
danstrider 11:3b241ecb75ed 400 //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);
danstrider 11:3b241ecb75ed 401 break; //exit the while loop
danstrider 11:3b241ecb75ed 402 }
danstrider 11:3b241ecb75ed 403 else if (PID_key == 'X') {
danstrider 11:3b241ecb75ed 404 break; //exit the while loop
danstrider 11:3b241ecb75ed 405 }
danstrider 11:3b241ecb75ed 406 else {
danstrider 11:3b241ecb75ed 407 pc().printf("This key does nothing here.\r");
danstrider 11:3b241ecb75ed 408 }
danstrider 11:3b241ecb75ed 409 }
danstrider 11:3b241ecb75ed 410 }
danstrider 11:3b241ecb75ed 411
danstrider 11:3b241ecb75ed 412
danstrider 11:3b241ecb75ed 413 // output the keyboard menu for user's reference
danstrider 11:3b241ecb75ed 414 void showMenu() {
danstrider 11:3b241ecb75ed 415 pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n");
danstrider 11:3b241ecb75ed 416 pc().printf(" N to find neutral\r\n");
danstrider 11:3b241ecb75ed 417 pc().printf(" D to initiate dive cycle\r\n");
danstrider 11:3b241ecb75ed 418 pc().printf(" R to initiate rise\r\n");
danstrider 11:3b241ecb75ed 419 pc().printf(" L to float level\r\n");
danstrider 11:3b241ecb75ed 420 pc().printf(" B to float at broadcast pitch\r\n");
danstrider 11:3b241ecb75ed 421 pc().printf(" E to initiate emergency climb\r\n");
mkelly10 12:a0519d11d2b6 422 pc().printf(" H to run homing sequence on both BCE and Batt\r\n");
danstrider 14:85b64a4d08e8 423 pc().printf(" T to tare the depth sensor\r\n");
danstrider 15:2a8cfd3f1cf5 424 pc().printf("[/] to change bce neutral position\r\n");
danstrider 15:2a8cfd3f1cf5 425 pc().printf("</> to change batt neutral position\r\n");
danstrider 11:3b241ecb75ed 426 pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 427 pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand());
danstrider 11:3b241ecb75ed 428 pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout);
danstrider 11:3b241ecb75ed 429 pc().printf(" 1 BCE PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 430 pc().printf(" 2 BATT PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 431 pc().printf(" 3 Depth PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 432 pc().printf(" 4 Pitch PID sub-menu\r\n");
danstrider 11:3b241ecb75ed 433 pc().printf(" C See sensor readings\r\n");
danstrider 11:3b241ecb75ed 434 pc().printf(" ? to reset mbed\r\n");
danstrider 11:3b241ecb75ed 435 }
danstrider 11:3b241ecb75ed 436
danstrider 11:3b241ecb75ed 437 // keyboard currently handles a key at a time
danstrider 11:3b241ecb75ed 438 // returns -1 if not a state command
danstrider 11:3b241ecb75ed 439 // returns a positive number to command a new state
danstrider 11:3b241ecb75ed 440 int keyboard() {
danstrider 10:085ab7328054 441 char userInput;
danstrider 10:085ab7328054 442
danstrider 10:085ab7328054 443 // check keyboard and make settings changes as requested
danstrider 10:085ab7328054 444 if (pc().readable()) {
danstrider 10:085ab7328054 445 // get the key
danstrider 10:085ab7328054 446 userInput = pc().getc();
mkelly10 5:15bd96205bb2 447
danstrider 10:085ab7328054 448 // check command against desired control buttons
danstrider 11:3b241ecb75ed 449 // change state
danstrider 11:3b241ecb75ed 450 if (userInput == 'D' or userInput == 'd') {
danstrider 11:3b241ecb75ed 451 return DIVE;
danstrider 10:085ab7328054 452 }
danstrider 11:3b241ecb75ed 453 else if (userInput == 'N' or userInput == 'n') {
danstrider 11:3b241ecb75ed 454 return FIND_NEUTRAL;
danstrider 11:3b241ecb75ed 455 }
danstrider 11:3b241ecb75ed 456 else if (userInput == 'R' or userInput == 'r') {
danstrider 11:3b241ecb75ed 457 return RISE;
danstrider 11:3b241ecb75ed 458 }
danstrider 11:3b241ecb75ed 459 else if (userInput == 'L' or userInput == 'l') {
danstrider 11:3b241ecb75ed 460 return FLOAT_LEVEL;
danstrider 10:085ab7328054 461 }
danstrider 11:3b241ecb75ed 462 else if (userInput == 'B' or userInput == 'b') {
danstrider 11:3b241ecb75ed 463 return FLOAT_BROADCAST;
danstrider 11:3b241ecb75ed 464 }
danstrider 11:3b241ecb75ed 465 else if (userInput == 'E' or userInput == 'e') {
danstrider 11:3b241ecb75ed 466 return EMERGENCY_CLIMB;
mkelly10 5:15bd96205bb2 467 }
mkelly10 12:a0519d11d2b6 468 else if (userInput == 'H' or userInput == 'h') {
mkelly10 12:a0519d11d2b6 469 pc().printf("running homing procedure\r\n");
mkelly10 12:a0519d11d2b6 470 bce().unpause(); bce().homePiston(); bce().pause();
mkelly10 12:a0519d11d2b6 471 batt().unpause(); batt().homePiston(); batt().pause();
mkelly10 12:a0519d11d2b6 472 return SIT_IDLE;
mkelly10 12:a0519d11d2b6 473 }
danstrider 14:85b64a4d08e8 474 else if (userInput == 'T' or userInput == 't') {
danstrider 14:85b64a4d08e8 475 pc().printf("taring depth sensor\r\n");
danstrider 14:85b64a4d08e8 476 pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
danstrider 14:85b64a4d08e8 477 wait(0.1);
danstrider 14:85b64a4d08e8 478 depth().tare(); // tares to ambient (do on surface)
danstrider 14:85b64a4d08e8 479 pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt());
danstrider 14:85b64a4d08e8 480 }
danstrider 15:2a8cfd3f1cf5 481
danstrider 15:2a8cfd3f1cf5 482 else if (userInput == '[' or userInput == '{') {
danstrider 15:2a8cfd3f1cf5 483 depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint
danstrider 15:2a8cfd3f1cf5 484 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
danstrider 15:2a8cfd3f1cf5 485 }
danstrider 15:2a8cfd3f1cf5 486 else if (userInput == ']' or userInput == '}') {
danstrider 15:2a8cfd3f1cf5 487 depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint
danstrider 15:2a8cfd3f1cf5 488 pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset());
danstrider 15:2a8cfd3f1cf5 489 }
danstrider 15:2a8cfd3f1cf5 490 else if (userInput == '<' or userInput == ',') {
danstrider 15:2a8cfd3f1cf5 491 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint
danstrider 15:2a8cfd3f1cf5 492 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
danstrider 15:2a8cfd3f1cf5 493 }
danstrider 15:2a8cfd3f1cf5 494 else if (userInput == '>' or userInput == '.') {
danstrider 15:2a8cfd3f1cf5 495 pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint
danstrider 15:2a8cfd3f1cf5 496 pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset());
danstrider 15:2a8cfd3f1cf5 497 }
danstrider 15:2a8cfd3f1cf5 498
danstrider 10:085ab7328054 499 else if (userInput == '?') {
danstrider 10:085ab7328054 500 pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
danstrider 11:3b241ecb75ed 501 wait(0.5);
danstrider 10:085ab7328054 502 mbed_reset();
danstrider 10:085ab7328054 503 }
danstrider 11:3b241ecb75ed 504
danstrider 11:3b241ecb75ed 505 // change settings
danstrider 11:3b241ecb75ed 506 else if (userInput == 'Q' or userInput == 'q') {
danstrider 11:3b241ecb75ed 507 pitchCommand -= 0.5; //decrement the pitch setpoint
danstrider 11:3b241ecb75ed 508 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 509 pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 510 }
danstrider 11:3b241ecb75ed 511 else if (userInput == 'W' or userInput == 'w') {
danstrider 11:3b241ecb75ed 512 pitchCommand += 0.5; //increment the pitch setpoint
danstrider 11:3b241ecb75ed 513 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 514 pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 515 }
danstrider 11:3b241ecb75ed 516 else if (userInput == 'A' or userInput == 'a') {
danstrider 11:3b241ecb75ed 517 depthCommand -= 0.5; //decrement the depth setpoint
danstrider 11:3b241ecb75ed 518 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 519 pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand());
danstrider 11:3b241ecb75ed 520 }
danstrider 11:3b241ecb75ed 521 else if (userInput == 'S' or userInput == 's') {
danstrider 11:3b241ecb75ed 522 depthCommand += 0.5; //increment the depth setpoint
danstrider 11:3b241ecb75ed 523 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 524 pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand());
danstrider 11:3b241ecb75ed 525 }
danstrider 11:3b241ecb75ed 526 else if (userInput == '-') {
danstrider 11:3b241ecb75ed 527 timeout -= 10.0; //decrement the timeout
danstrider 11:3b241ecb75ed 528 pc().printf(">>> timeout decreased: %d\r\n", timeout);
danstrider 11:3b241ecb75ed 529 }
danstrider 11:3b241ecb75ed 530 else if (userInput == '=' or userInput == '+') {
danstrider 11:3b241ecb75ed 531 timeout += 10.0; //increment the timeout
danstrider 11:3b241ecb75ed 532 pc().printf(">>> timeout increased: %d\r\n", timeout);
danstrider 11:3b241ecb75ed 533 }
danstrider 11:3b241ecb75ed 534
danstrider 11:3b241ecb75ed 535 // add keyboard commands to move the neutral zero offsets, both bce and batt
danstrider 11:3b241ecb75ed 536
danstrider 11:3b241ecb75ed 537 // go to sub-menus for the PID gains (this is blocking)
danstrider 11:3b241ecb75ed 538 else if (userInput == '1') {
danstrider 11:3b241ecb75ed 539 keyboard_menu_BCE_PID_settings();
danstrider 11:3b241ecb75ed 540 }
danstrider 11:3b241ecb75ed 541 else if (userInput == '2') {
danstrider 11:3b241ecb75ed 542 keyboard_menu_BATT_PID_settings();
danstrider 11:3b241ecb75ed 543 }
danstrider 11:3b241ecb75ed 544 else if (userInput == '3') {
danstrider 11:3b241ecb75ed 545 keyboard_menu_DEPTH_PID_settings();
danstrider 11:3b241ecb75ed 546 }
danstrider 11:3b241ecb75ed 547 else if (userInput == '4') {
danstrider 11:3b241ecb75ed 548 keyboard_menu_PITCH_PID_settings();
danstrider 11:3b241ecb75ed 549 }
danstrider 11:3b241ecb75ed 550
danstrider 11:3b241ecb75ed 551 else if (userInput == 'C' or userInput == 'c') {
tnhnrl 13:84fcbe1dcd62 552 pc().printf("depth: %3.1f\r\n",depthLoop().getPosition());
danstrider 11:3b241ecb75ed 553 pc().printf("pitch: %3.1f\r\n",imu().getPitch());
danstrider 11:3b241ecb75ed 554 pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
danstrider 11:3b241ecb75ed 555 pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
danstrider 11:3b241ecb75ed 556 pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
danstrider 11:3b241ecb75ed 557 pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
danstrider 11:3b241ecb75ed 558 pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
danstrider 11:3b241ecb75ed 559 pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 560 }
danstrider 11:3b241ecb75ed 561 else {
danstrider 11:3b241ecb75ed 562 return (-1);
danstrider 11:3b241ecb75ed 563 }
mkelly10 5:15bd96205bb2 564 }
danstrider 11:3b241ecb75ed 565 return (-1);
mkelly10 5:15bd96205bb2 566 }
mkelly10 5:15bd96205bb2 567
danstrider 11:3b241ecb75ed 568 void stateMachine() {
danstrider 11:3b241ecb75ed 569 static int state = SIT_IDLE; // select starting state here
danstrider 11:3b241ecb75ed 570 static bool isTimeoutRunning = false; // default timer to not running
danstrider 11:3b241ecb75ed 571
danstrider 11:3b241ecb75ed 572 // finite state machine ... each state has at least one exit criteria
danstrider 11:3b241ecb75ed 573 switch (state) {
danstrider 11:3b241ecb75ed 574 case SIT_IDLE :
danstrider 11:3b241ecb75ed 575 // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
danstrider 11:3b241ecb75ed 576 if (!isTimeoutRunning) {
danstrider 11:3b241ecb75ed 577 showMenu();
danstrider 14:85b64a4d08e8 578 pc().printf("\r\n\nstate: SIT_IDLE\r\n");
danstrider 11:3b241ecb75ed 579 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 580
danstrider 11:3b241ecb75ed 581 // what is active?
mkelly10 12:a0519d11d2b6 582 bce().pause();
mkelly10 12:a0519d11d2b6 583 batt().pause();
danstrider 11:3b241ecb75ed 584 }
danstrider 11:3b241ecb75ed 585 // how exit?
danstrider 11:3b241ecb75ed 586 if (pc().readable()) {
danstrider 11:3b241ecb75ed 587 state = KEYBOARD;
danstrider 11:3b241ecb75ed 588 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 589 }
danstrider 11:3b241ecb75ed 590 break;
danstrider 11:3b241ecb75ed 591
danstrider 11:3b241ecb75ed 592 case KEYBOARD :
danstrider 14:85b64a4d08e8 593 pc().printf("\r\n\nstate: KEYBOARD\r\n");
danstrider 11:3b241ecb75ed 594 if (pc().readable()) {
danstrider 11:3b241ecb75ed 595 state = keyboard(); // get new state command
danstrider 11:3b241ecb75ed 596 if (state == -1) { // error, that wasn't a new state command
danstrider 11:3b241ecb75ed 597 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 598 }
danstrider 11:3b241ecb75ed 599 //pc().printf("new state is: %d \r\n",state);
danstrider 11:3b241ecb75ed 600 }
danstrider 11:3b241ecb75ed 601 break;
danstrider 10:085ab7328054 602
danstrider 11:3b241ecb75ed 603 case EMERGENCY_CLIMB :
danstrider 11:3b241ecb75ed 604 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 605 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 606 pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
danstrider 11:3b241ecb75ed 607 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 608 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 609 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 610
danstrider 11:3b241ecb75ed 611 // what needs to be started?
mkelly10 12:a0519d11d2b6 612 bce().unpause();
mkelly10 12:a0519d11d2b6 613 batt().unpause();
danstrider 11:3b241ecb75ed 614
danstrider 11:3b241ecb75ed 615 // what is active?
danstrider 11:3b241ecb75ed 616 bce().setPosition_mm(bce().getTravelLimit());
danstrider 11:3b241ecb75ed 617 batt().setPosition_mm(0.0);
danstrider 11:3b241ecb75ed 618 }
danstrider 11:3b241ecb75ed 619 // how exit?
danstrider 11:3b241ecb75ed 620 if (timer > timeout) {
danstrider 11:3b241ecb75ed 621 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 622 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 623 timer.reset();
danstrider 11:3b241ecb75ed 624 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 625 }
tnhnrl 13:84fcbe1dcd62 626 else if (depthLoop().getPosition() < 0.2) {
tnhnrl 13:84fcbe1dcd62 627 pc().printf("depth: %3.1f, cmd: 0.5\r\n",depthLoop().getPosition());
danstrider 11:3b241ecb75ed 628 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 629 timer.reset();
danstrider 11:3b241ecb75ed 630 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 631 }
danstrider 11:3b241ecb75ed 632 break;
danstrider 11:3b241ecb75ed 633
danstrider 11:3b241ecb75ed 634 case FIND_NEUTRAL :
danstrider 11:3b241ecb75ed 635 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 636 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 637 pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
danstrider 11:3b241ecb75ed 638 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 639 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 640 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 641
danstrider 11:3b241ecb75ed 642 // what needs to be started?
mkelly10 12:a0519d11d2b6 643 bce().unpause();
mkelly10 12:a0519d11d2b6 644 batt().unpause();
tnhnrl 13:84fcbe1dcd62 645
danstrider 11:3b241ecb75ed 646 // what is active?
danstrider 11:3b241ecb75ed 647 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 648 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 649 }
danstrider 11:3b241ecb75ed 650 // how exit?
danstrider 11:3b241ecb75ed 651 if (timer > timeout) {
danstrider 11:3b241ecb75ed 652 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 653 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 654 timer.reset();
danstrider 11:3b241ecb75ed 655 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 656 }
tnhnrl 13:84fcbe1dcd62 657 else if ((abs(depthLoop().getPosition() - depthLoop().getCommand()) < depthTolerance) and
danstrider 11:3b241ecb75ed 658 (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) {
danstrider 11:3b241ecb75ed 659 state = RISE;
danstrider 11:3b241ecb75ed 660 timer.reset();
danstrider 11:3b241ecb75ed 661 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 662 }
danstrider 11:3b241ecb75ed 663 // what is active?
tnhnrl 13:84fcbe1dcd62 664 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 665 bce().setPosition_mm(depthLoop().getOutput());
danstrider 11:3b241ecb75ed 666 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 667 break;
mkelly10 5:15bd96205bb2 668
danstrider 11:3b241ecb75ed 669 case DIVE :
danstrider 11:3b241ecb75ed 670 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 671 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 672 pc().printf("\r\n\nstate: DIVE\r\n");
danstrider 11:3b241ecb75ed 673 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 674 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 675 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 676
danstrider 11:3b241ecb75ed 677 // what needs to be started?
mkelly10 12:a0519d11d2b6 678 bce().unpause();
mkelly10 12:a0519d11d2b6 679 batt().unpause();
danstrider 11:3b241ecb75ed 680
danstrider 11:3b241ecb75ed 681 // what are the commands?
danstrider 11:3b241ecb75ed 682 depthLoop().setCommand(depthCommand);
danstrider 11:3b241ecb75ed 683 pitchLoop().setCommand(pitchCommand);
danstrider 11:3b241ecb75ed 684 pc().printf("depth cmd: %3.1f\r\n",depthLoop().getCommand());
danstrider 11:3b241ecb75ed 685 pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 686 }
danstrider 11:3b241ecb75ed 687 // how exit?
danstrider 11:3b241ecb75ed 688 if (timer > timeout) {
danstrider 11:3b241ecb75ed 689 pc().printf("timed out\r\n");
danstrider 15:2a8cfd3f1cf5 690 state = EMERGENCY_CLIMB;
danstrider 11:3b241ecb75ed 691 timer.reset();
danstrider 11:3b241ecb75ed 692 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 693 }
tnhnrl 13:84fcbe1dcd62 694 else if (depthLoop().getPosition() > depthLoop().getCommand()) {
tnhnrl 13:84fcbe1dcd62 695 pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
danstrider 11:3b241ecb75ed 696 state = RISE;
danstrider 11:3b241ecb75ed 697 timer.reset();
danstrider 11:3b241ecb75ed 698 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 699 }
danstrider 11:3b241ecb75ed 700 // what is active?
tnhnrl 13:84fcbe1dcd62 701 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 702 bce().setPosition_mm(depthLoop().getOutput());
danstrider 11:3b241ecb75ed 703 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 704 break;
danstrider 11:3b241ecb75ed 705
danstrider 11:3b241ecb75ed 706 case RISE :
danstrider 11:3b241ecb75ed 707 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 708 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 709 pc().printf("\r\n\nstate: RISE\r\n");
danstrider 11:3b241ecb75ed 710 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 711 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 712 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 713
danstrider 11:3b241ecb75ed 714 // what needs to be started?
mkelly10 12:a0519d11d2b6 715 bce().unpause();
mkelly10 12:a0519d11d2b6 716 batt().unpause();
tnhnrl 13:84fcbe1dcd62 717
danstrider 11:3b241ecb75ed 718 // what are the commands?
danstrider 11:3b241ecb75ed 719 depthLoop().setCommand(0.0);
danstrider 11:3b241ecb75ed 720 pitchLoop().setCommand(-pitchCommand);
danstrider 11:3b241ecb75ed 721 pc().printf("depth cmd: 0.0\r\n");
danstrider 11:3b241ecb75ed 722 pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
danstrider 11:3b241ecb75ed 723 }
danstrider 11:3b241ecb75ed 724 // how exit?
danstrider 11:3b241ecb75ed 725 if (timer > timeout) {
danstrider 11:3b241ecb75ed 726 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 727 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 728 timer.reset();
danstrider 11:3b241ecb75ed 729 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 730 }
tnhnrl 13:84fcbe1dcd62 731 else if (depthLoop().getPosition() < depthLoop().getCommand()) {
tnhnrl 13:84fcbe1dcd62 732 pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
danstrider 11:3b241ecb75ed 733 state = FLOAT_LEVEL;
danstrider 11:3b241ecb75ed 734 timer.reset();
danstrider 11:3b241ecb75ed 735 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 736 }
tnhnrl 13:84fcbe1dcd62 737 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 738 // what is active?
danstrider 11:3b241ecb75ed 739 bce().setPosition_mm(depthLoop().getOutput());
danstrider 11:3b241ecb75ed 740 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 741 break;
danstrider 11:3b241ecb75ed 742
danstrider 11:3b241ecb75ed 743 case FLOAT_LEVEL :
danstrider 11:3b241ecb75ed 744 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 745 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 746 pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
danstrider 11:3b241ecb75ed 747 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 748 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 749 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 750
danstrider 11:3b241ecb75ed 751 // what needs to be started?
mkelly10 12:a0519d11d2b6 752 bce().unpause();
mkelly10 12:a0519d11d2b6 753 batt().unpause();
tnhnrl 13:84fcbe1dcd62 754
danstrider 11:3b241ecb75ed 755 // what are the commands
danstrider 11:3b241ecb75ed 756 bce().setPosition_mm(bceFloatPosition);
danstrider 11:3b241ecb75ed 757 pitchLoop().setCommand(0.0);
danstrider 11:3b241ecb75ed 758 }
danstrider 11:3b241ecb75ed 759 // how exit?
danstrider 11:3b241ecb75ed 760 if (timer > timeout) {
danstrider 11:3b241ecb75ed 761 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 762 state = FLOAT_BROADCAST;
danstrider 11:3b241ecb75ed 763 timer.reset();
danstrider 11:3b241ecb75ed 764 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 765 }
danstrider 11:3b241ecb75ed 766 else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) {
danstrider 11:3b241ecb75ed 767 pc().printf("pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance);
danstrider 11:3b241ecb75ed 768 state = FLOAT_BROADCAST;
danstrider 11:3b241ecb75ed 769 timer.reset();
danstrider 11:3b241ecb75ed 770 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 771 }
danstrider 11:3b241ecb75ed 772 // what is active?
danstrider 11:3b241ecb75ed 773 pc().printf("pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm());
danstrider 11:3b241ecb75ed 774 batt().setPosition_mm(pitchLoop().getOutput());
danstrider 11:3b241ecb75ed 775 break;
danstrider 11:3b241ecb75ed 776
danstrider 11:3b241ecb75ed 777 case FLOAT_BROADCAST :
danstrider 11:3b241ecb75ed 778 // start local state timer and init any other one-shot actions
danstrider 11:3b241ecb75ed 779 if (!isTimeoutRunning) {
danstrider 14:85b64a4d08e8 780 pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
danstrider 11:3b241ecb75ed 781 timer.reset(); // timer goes back to zero
danstrider 11:3b241ecb75ed 782 timer.start(); // background timer starts running
danstrider 11:3b241ecb75ed 783 isTimeoutRunning = true;
danstrider 11:3b241ecb75ed 784
danstrider 11:3b241ecb75ed 785 // what needs to be started?
mkelly10 12:a0519d11d2b6 786 bce().unpause();
mkelly10 12:a0519d11d2b6 787 batt().unpause();
danstrider 11:3b241ecb75ed 788
danstrider 11:3b241ecb75ed 789 // what are the commands?
danstrider 11:3b241ecb75ed 790 bce().setPosition_mm(bceFloatPosition);
danstrider 11:3b241ecb75ed 791 batt().setPosition_mm(battFloatPosition);
danstrider 11:3b241ecb75ed 792 }
danstrider 11:3b241ecb75ed 793 // how exit?
danstrider 11:3b241ecb75ed 794 if (timer > timeout) {
danstrider 11:3b241ecb75ed 795 pc().printf("timed out\r\n");
danstrider 11:3b241ecb75ed 796 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 797 timer.reset();
danstrider 11:3b241ecb75ed 798 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 799 }
danstrider 15:2a8cfd3f1cf5 800 if ( (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and
danstrider 15:2a8cfd3f1cf5 801 (abs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
danstrider 11:3b241ecb75ed 802 pc().printf("position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband());
danstrider 11:3b241ecb75ed 803 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 804 timer.reset();
danstrider 11:3b241ecb75ed 805 isTimeoutRunning = false;
danstrider 11:3b241ecb75ed 806 }
tnhnrl 13:84fcbe1dcd62 807 pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition());
danstrider 11:3b241ecb75ed 808 break;
danstrider 11:3b241ecb75ed 809
danstrider 11:3b241ecb75ed 810 default :
danstrider 11:3b241ecb75ed 811 state = SIT_IDLE;
danstrider 11:3b241ecb75ed 812 }
danstrider 10:085ab7328054 813 }
tzyoung 0:ea293bbf9717 814
danstrider 11:3b241ecb75ed 815
danstrider 10:085ab7328054 816 int main() {
danstrider 10:085ab7328054 817 setup();
danstrider 10:085ab7328054 818 while(1) {
danstrider 11:3b241ecb75ed 819 led1() = !led1(); // blink
danstrider 11:3b241ecb75ed 820 //pc().printf("roll: %3.1f, pitch %3.1f, yaw: %3.1f\r", imu().getRoll(), imu().getPitch(), imu().getHeading());
danstrider 11:3b241ecb75ed 821 stateMachine();
danstrider 10:085ab7328054 822 }
danstrider 10:085ab7328054 823 }