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
Diff: main.cpp
- Revision:
- 23:434f04ef1fad
- Parent:
- 22:a10ee088403b
- Child:
- 24:c7d9b5bf3829
diff -r a10ee088403b -r 434f04ef1fad main.cpp --- a/main.cpp Thu Nov 23 02:20:08 2017 +0000 +++ b/main.cpp Tue Nov 28 18:00:09 2017 +0000 @@ -86,6 +86,20 @@ Modified 2017-11-22 by Dan - added ability for substate NEUTRAL_CHECK_PITCH to move the battery toward level, then saves offsets. - added new entry state NEUTRAL_FIRST_PITCH that also moves the battery toward level, but doesn't save. + Modified 2017-11-27 by Troy + - Fixed exit condition (restart at NEUTRAL_FIRST_PITCH) + - Pool tested, needed to run timer for longer than 5 minutes (neutral finding sequence timed out) + - IMU fell off tape + Modified 2017-11-28 Rev A by Dan/Troy + - Modified NEUTRAL_FIRST_PITCH to save the battery offset into the Pitch Outer Loop before beginning neutral finding sequence before sinking + - Pitch Outer Loop now runs NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE states (instead of batt fixed position control) + - NEUTRAL_SINKING has been changed to a 5-second timer (vice 10 seconds) + - NEUTRAL_SLOWLY_RISE has been changed to move the piston 2 mm each interval (vice 1 mm) + Modified 2017-11-28 Rev B by Dan/Troy + - Changed pitch rate margin from absolute value < 0.5 deg/sec to 5.0 deg/s + - Changed sink timer to move piston 5 mm at a time instead of 10 mm + - Find level motion will now run every 10 seconds instead of 5 seconds + - Created an integer array to do a quick check of what states Find Neutral sub-FSM ran through (press "c" to see states) */ #include "mbed.h" @@ -98,7 +112,7 @@ void setup() { pc().baud(57600); - pc().printf("\n\n\rFSG 2017-11-22\n\n\r"); + pc().printf("\n\n\rFSG 2017-11-27\n\n\r"); // start up the system timer systemTime().start();