update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
changelog.txt@104:426224a55f5f, 2019-09-13 (annotated)
- Committer:
- joel_ssc
- Date:
- Fri Sep 13 19:15:40 2019 +0000
- Revision:
- 104:426224a55f5f
- Parent:
- 81:7ff2c6467892
slight change includes reset_PI
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tnhnrl | 24:c7d9b5bf3829 | 1 | Starting from Trent's Linear Actuator code from 2017-10-19, these modifications |
tnhnrl | 24:c7d9b5bf3829 | 2 | by Dan add an outer loop controller for depth and pitch to command the inner |
tnhnrl | 24:c7d9b5bf3829 | 3 | linear actuator loops. |
tnhnrl | 81:7ff2c6467892 | 4 | |
tnhnrl | 24:c7d9b5bf3829 | 5 | Modified 2017-10-20 revA by Dan |
tnhnrl | 24:c7d9b5bf3829 | 6 | - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update) |
tnhnrl | 24:c7d9b5bf3829 | 7 | Modified 2017-10-22 revA by Dan |
tnhnrl | 24:c7d9b5bf3829 | 8 | - outer loop now works with a call to outerloop.update() in main loop(), not with an attached ticker |
tnhnrl | 24:c7d9b5bf3829 | 9 | Modified 2017-10-22 revB by Dan |
tnhnrl | 24:c7d9b5bf3829 | 10 | - enabled both depth and pitch outer loop controllers |
tnhnrl | 24:c7d9b5bf3829 | 11 | - added ability to keyboard reset |
tnhnrl | 24:c7d9b5bf3829 | 12 | Modified 2017-10-22 revC by Dan |
tnhnrl | 24:c7d9b5bf3829 | 13 | - major update to the IMU library processing to make a state machine that doesn't hang |
tnhnrl | 24:c7d9b5bf3829 | 14 | - added lat/lon/alt and GNSS fix information to the IMU library |
tnhnrl | 24:c7d9b5bf3829 | 15 | - brought out the pin names into the constructors of IMU, omega, SpiADC |
tnhnrl | 24:c7d9b5bf3829 | 16 | Modified 2017-10-22 revD by Dan |
tnhnrl | 24:c7d9b5bf3829 | 17 | - everything seems to be working, shy of re-checking on the hardware |
tnhnrl | 24:c7d9b5bf3829 | 18 | - Depth sensor call done inside the OuterLoop, but should somehow be set as a callback instead |
tnhnrl | 24:c7d9b5bf3829 | 19 | - IMU sensor call done inside the OuterLoop, but should somehow be set as a callback instead |
tnhnrl | 24:c7d9b5bf3829 | 20 | Modified 2017-10-23 revA by Dan/Matt |
tnhnrl | 24:c7d9b5bf3829 | 21 | - linear actuator hardware works great, limit switches, sensing, etc. |
tnhnrl | 24:c7d9b5bf3829 | 22 | - outer loops run, but move the BCE in the wrong direction. |
tnhnrl | 24:c7d9b5bf3829 | 23 | - new IMU code doesn't read from the sensor correctly, but doesn't hang up either. |
tnhnrl | 24:c7d9b5bf3829 | 24 | - depth sensor worked fine, just needs zero bias adjustment. |
tnhnrl | 24:c7d9b5bf3829 | 25 | Modified 2017-10-24 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 26 | - added offset to outerloop |
tnhnrl | 24:c7d9b5bf3829 | 27 | Modified 2017-10-26 by Dan |
tnhnrl | 24:c7d9b5bf3829 | 28 | - brought over a state machine and new keyboard controls ... currently just dumped into main. |
tnhnrl | 24:c7d9b5bf3829 | 29 | Modified 2017-10-26 by Matt |
tnhnrl | 24:c7d9b5bf3829 | 30 | - new IMU code imported and working well with the hardware. |
tnhnrl | 24:c7d9b5bf3829 | 31 | Modified 2017-10-26 revB by Dan |
tnhnrl | 24:c7d9b5bf3829 | 32 | - This version has been in the pool. |
tnhnrl | 24:c7d9b5bf3829 | 33 | - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions. |
tnhnrl | 24:c7d9b5bf3829 | 34 | But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why. |
tnhnrl | 24:c7d9b5bf3829 | 35 | - Repeatedly got stuck in RISE with a +60s timeout. Battery hit end bell and stalled out. |
tnhnrl | 24:c7d9b5bf3829 | 36 | - keyboard and state machine are in main, probably shouldn't be, but easier to debug. |
tnhnrl | 24:c7d9b5bf3829 | 37 | - Really happy with the logic and flow of the state machine. Timeouts work. |
tnhnrl | 24:c7d9b5bf3829 | 38 | - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE. |
tnhnrl | 24:c7d9b5bf3829 | 39 | - Need to add keyboard commands to modify the zeroOffset positions. |
tnhnrl | 24:c7d9b5bf3829 | 40 | Modified 2017-10-30 by Dan, Trent, Matt, Troy |
tnhnrl | 24:c7d9b5bf3829 | 41 | - changed .stop() to .pause() and many .start() to .unpause() ... fixed the negative ADC and lets |
tnhnrl | 24:c7d9b5bf3829 | 42 | the PVF's keep running even though the motor isn't moving. |
tnhnrl | 24:c7d9b5bf3829 | 43 | - changed exit conditions to use filtered depth from the outer loop. less noisy. |
tnhnrl | 24:c7d9b5bf3829 | 44 | Modified 2017-10-31 by Dan, Matt |
tnhnrl | 24:c7d9b5bf3829 | 45 | - added oversampling and a tare function to the depth sensor. |
tnhnrl | 24:c7d9b5bf3829 | 46 | - updated main and keyboard to include tare in setup() and a keyboard tare option. |
tnhnrl | 24:c7d9b5bf3829 | 47 | - looks like the piston isn't zeroing correctly, unclear why, should be unrelated to depth sensor. |
tnhnrl | 24:c7d9b5bf3829 | 48 | Modified 2017-10-31 (again) by Dan, Matt, and Troy |
tnhnrl | 24:c7d9b5bf3829 | 49 | - POOL TESTED! |
tnhnrl | 24:c7d9b5bf3829 | 50 | - Tuned the PID gains with magic. Works to hold mostly level during BCE runs. Dive is awesome. |
tnhnrl | 24:c7d9b5bf3829 | 51 | - Neutral won't do what we want ... without large depth P, it won't get to depth. |
tnhnrl | 24:c7d9b5bf3829 | 52 | - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg. Timeout should probably be RISE. |
tnhnrl | 24:c7d9b5bf3829 | 53 | - Files depth/pitch updated with tuned defaults. |
tnhnrl | 24:c7d9b5bf3829 | 54 | Modified 2017-11-06 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 55 | - Added acronyms to print statements (when running this with XBee you don't know what mode the |
tnhnrl | 24:c7d9b5bf3829 | 56 | hardware is in because of signal dropping out) |
tnhnrl | 24:c7d9b5bf3829 | 57 | - Fixed print error with setpoints by printing out the setpoint variable, not the outerloop getCommand |
tnhnrl | 24:c7d9b5bf3829 | 58 | (command is sent every time hardware dives, finds neutral, etc.) |
tnhnrl | 24:c7d9b5bf3829 | 59 | - Set the pitchCommand input to 0 on the "find neutral" command, it was sending a non-zero pitch command |
tnhnrl | 24:c7d9b5bf3829 | 60 | - Created a class for the StateMachine |
tnhnrl | 24:c7d9b5bf3829 | 61 | Modified 2017-11-14 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 62 | - Changed tare to void function (functions does not return anything when called) |
tnhnrl | 24:c7d9b5bf3829 | 63 | - Added a "subclass" in the cases for the Neutral Finding Sequence (Sinking, Slowly Rise, Check Pitch (and save positions)) |
tnhnrl | 24:c7d9b5bf3829 | 64 | Modified 2017-11-20 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 65 | - Modified StateMachine class to separate keyboard inputs from FSM |
tnhnrl | 24:c7d9b5bf3829 | 66 | - Added Neutral Finding sub-statemachine |
tnhnrl | 24:c7d9b5bf3829 | 67 | - Verified both state machines are working with hardware on desktop |
tnhnrl | 24:c7d9b5bf3829 | 68 | - Added class to save neutral battery and buoyancy engine positions to neutral.cfg file |
tnhnrl | 24:c7d9b5bf3829 | 69 | Modified 2017-11-21 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 70 | - Need to check remove ConfigFileIO and place saving functions into config_functions.cpp (rename ConfigFunctions.cpp) |
tnhnrl | 24:c7d9b5bf3829 | 71 | - Added multi-dive (and multi-rise) states to FSM (may incorporate single dive states into states) |
tnhnrl | 24:c7d9b5bf3829 | 72 | - Need to double-check behavior of sub-FSM but bench-top testing showed correct behavior for transition from sinking, to slowly rise, to check pitch |
tnhnrl | 24:c7d9b5bf3829 | 73 | - Need to add a check for the multi-dive sequence file (sequence.cfg) being loaded on the MBED |
tnhnrl | 24:c7d9b5bf3829 | 74 | Modified 2017-11-21 by Dan |
tnhnrl | 24:c7d9b5bf3829 | 75 | - removed blocker and set up a loop rate timer that runs the state machine and keyboard at 10 Hz. |
tnhnrl | 24:c7d9b5bf3829 | 76 | - work inside StateMachine and particularly in the findNeutralSubState. |
tnhnrl | 24:c7d9b5bf3829 | 77 | Modified 2017-11-22 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 78 | - Placed config_functions into ConfigFileIO and added the ability to write the neutral positions to the depth & pitch files |
tnhnrl | 24:c7d9b5bf3829 | 79 | - Streamlined sub-FSM and Find_Neutral state |
tnhnrl | 24:c7d9b5bf3829 | 80 | - PID depth and pitch gains have been made into class variables so that they can be resaved to the depth/pitch files |
tnhnrl | 24:c7d9b5bf3829 | 81 | - Added the ability to save depth & pitch gains and neutral offsets (configfile writes entire file at once) |
tnhnrl | 24:c7d9b5bf3829 | 82 | - Minor formatting fixes |
tnhnrl | 24:c7d9b5bf3829 | 83 | - Fixed issue with keyboard function, the keyboard function was continuously active instead of checking pc readable in sit idle |
tnhnrl | 24:c7d9b5bf3829 | 84 | - Bench tested neutral finding sequence and multi-dive sequence, so far so good |
tnhnrl | 24:c7d9b5bf3829 | 85 | - Question: Why do we want the keyboard and FSM to run together, specifically allowing the FSM call the keyboard? |
tnhnrl | 24:c7d9b5bf3829 | 86 | Modified 2017-11-22 by Dan |
tnhnrl | 24:c7d9b5bf3829 | 87 | - added ability for substate NEUTRAL_CHECK_PITCH to move the battery toward level, then saves offsets. |
tnhnrl | 24:c7d9b5bf3829 | 88 | - added new entry state NEUTRAL_FIRST_PITCH that also moves the battery toward level, but doesn't save. |
tnhnrl | 24:c7d9b5bf3829 | 89 | Modified 2017-11-27 by Troy |
tnhnrl | 24:c7d9b5bf3829 | 90 | - Fixed exit condition (restart at NEUTRAL_FIRST_PITCH) |
tnhnrl | 24:c7d9b5bf3829 | 91 | - Pool tested, needed to run timer for longer than 5 minutes (neutral finding sequence timed out) |
tnhnrl | 24:c7d9b5bf3829 | 92 | - IMU fell off tape |
tnhnrl | 24:c7d9b5bf3829 | 93 | Modified 2017-11-28 Rev A by Dan/Troy |
tnhnrl | 24:c7d9b5bf3829 | 94 | - Modified NEUTRAL_FIRST_PITCH to save the battery offset into the Pitch Outer Loop before beginning neutral finding sequence before sinking |
tnhnrl | 24:c7d9b5bf3829 | 95 | - Pitch Outer Loop now runs NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE states (instead of batt fixed position control) |
tnhnrl | 24:c7d9b5bf3829 | 96 | - NEUTRAL_SINKING has been changed to a 5-second timer (vice 10 seconds) |
tnhnrl | 24:c7d9b5bf3829 | 97 | - NEUTRAL_SLOWLY_RISE has been changed to move the piston 2 mm each interval (vice 1 mm) |
tnhnrl | 24:c7d9b5bf3829 | 98 | Modified 2017-11-28 Rev B by Dan/Troy |
tnhnrl | 24:c7d9b5bf3829 | 99 | - Changed pitch rate margin from absolute value < 0.5 deg/sec to 5.0 deg/s |
tnhnrl | 24:c7d9b5bf3829 | 100 | - Changed sink timer to move piston 5 mm at a time instead of 10 mm |
tnhnrl | 24:c7d9b5bf3829 | 101 | - Find level motion will now run every 10 seconds instead of 5 seconds |
tnhnrl | 24:c7d9b5bf3829 | 102 | - Created an integer array to do a quick check of what states Find Neutral sub-FSM ran through (press "c" to see states) |
tnhnrl | 24:c7d9b5bf3829 | 103 | - FLOAT_BROADCAST now uses limits of battery and BCE from LinearActuator.getPosition |
tnhnrl | 24:c7d9b5bf3829 | 104 | Modified 2017-11-28 Rev C by Dan/Troy |
tnhnrl | 24:c7d9b5bf3829 | 105 | - State FIND_NEUTRAL sends pitch offset from file as first commanded |
tnhnrl | 24:c7d9b5bf3829 | 106 | - NEUTRAL_FIRST_PITCH and NEUTRAL_CHECK_PITCH are now moving the battery mass with getSetPosition_mm command instead of the getPosition command |
tnhnrl | 24:c7d9b5bf3829 | 107 | to allow the sub-FSM time to adequately move the battery mass |
tnhnrl | 24:c7d9b5bf3829 | 108 | - Added "else if (substate == NEUTRAL_CHECK_PITCH)" to the NEUTRAL_FIRST_PITCH/NEUTRAL_CHECK_PITCH(NFP/NCP) state to confirm that NEUTRAL_CHECK_PITCH is working |
tnhnrl | 24:c7d9b5bf3829 | 109 | - Added "else" to the NFP/NCP state as an error catching mechanism |
tnhnrl | 24:c7d9b5bf3829 | 110 | - Modified NFP/NCP state to use pitchLoop().getPosition() instead of imu().getPitch() to use the filtered readings |
tnhnrl | 24:c7d9b5bf3829 | 111 | - Added several "isSubStateTimerRunning = false;" statements to the sub-FSM exits to make sure the one-shot actions work in the next state! Definitely a fix. |
tnhnrl | 24:c7d9b5bf3829 | 112 | - Reworked the exiting sub-FSM to be a little clearer. |
tnhnrl | 24:c7d9b5bf3829 | 113 | - Moved the sub-state logger into all the sub-state transitions ... this should be done in FIND_NEUTRAL on sub-state changes instead (less copy/paste). |
tnhnrl | 39:58375ca6b6ff | 114 | Modified 2017-11-29 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 115 | - changelog.txt carries previous changes |
tnhnrl | 39:58375ca6b6ff | 116 | - Incorporated email changes and did quick bench test |
tnhnrl | 39:58375ca6b6ff | 117 | 1) In FIND_NEUTRAL, add bce().setPosition_mm(bceFloatPosition) to the one-shot actions after the unpause(). |
tnhnrl | 39:58375ca6b6ff | 118 | 2) NEUTRAL_FIRST_PITCH, changed batt position by half from 1.0 to 0.5. |
tnhnrl | 39:58375ca6b6ff | 119 | 3) NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE are using getSetPosition now |
tnhnrl | 39:58375ca6b6ff | 120 | 4) previousPosition_mm deleted (and print statements changed) |
tnhnrl | 39:58375ca6b6ff | 121 | 5) NEUTRAL_SLOWLY_RISE check is using bce().getSetPosition_mm() |
tnhnrl | 39:58375ca6b6ff | 122 | 6) Timers replaced with _neutral_timer variable |
tnhnrl | 39:58375ca6b6ff | 123 | 7) Default timeout is 8 minutes = 480 seconds |
tnhnrl | 39:58375ca6b6ff | 124 | - Redid the sub-state recording method to only update on state changes |
tnhnrl | 39:58375ca6b6ff | 125 | Modified 2017-11-29 revB by Troy |
tnhnrl | 39:58375ca6b6ff | 126 | - minor print fixes |
tnhnrl | 39:58375ca6b6ff | 127 | Modified 2017-11-29 revC by Troy |
tnhnrl | 39:58375ca6b6ff | 128 | - removed depthTolerance variable that was not being used. |
tnhnrl | 39:58375ca6b6ff | 129 | Modified 2017-11-30 revA by Troy/Dan |
tnhnrl | 39:58375ca6b6ff | 130 | - Modified state RISE to setCommand to -1.0 feet (force out of water) and go to next state (float level) when above 0.5 feet |
tnhnrl | 39:58375ca6b6ff | 131 | - Modified sub-state NEUTRAL_SINKING to only move 2.5 mm per cycle instead of 5 mm |
tnhnrl | 39:58375ca6b6ff | 132 | - Commented out home function (accidentally hit home and got stuck while at LASR) |
tnhnrl | 39:58375ca6b6ff | 133 | - Added max depth neutral and dive variables |
tnhnrl | 39:58375ca6b6ff | 134 | - Print max recorded depths and current neutral buoyancy positions |
tnhnrl | 39:58375ca6b6ff | 135 | Modified 2017-11-30 revB by Troy/Dan |
tnhnrl | 39:58375ca6b6ff | 136 | - Dive and Multi-Dive cycles now exit to FLOAT_BROADCAST state |
tnhnrl | 39:58375ca6b6ff | 137 | - FLOAT_LEVEL pitchTolerance variable increased from 1.0 degree to 5.0 degrees (PV was difficult to level in LASR pool) |
tnhnrl | 39:58375ca6b6ff | 138 | - Added the ability to record the states of the FSM and print to user using keyboard "Z" |
tnhnrl | 39:58375ca6b6ff | 139 | Modified 2017-12-01 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 140 | - Minor update to 2017-11-30 revB |
tnhnrl | 39:58375ca6b6ff | 141 | - Now printing current neutral battery and BCE setpoints and max depth in neutral and dive cycle with "C" (and current sensor data) |
tnhnrl | 39:58375ca6b6ff | 142 | - Pool-tested with successful dives. |
tnhnrl | 39:58375ca6b6ff | 143 | 1) Dive working correctly. (And max dive tracker shows that it is reaching the correct commanded depth.) |
tnhnrl | 39:58375ca6b6ff | 144 | 2) Float broadcast working correctly. (And we are now going directly from dive and rise to float broadcast.) |
tnhnrl | 39:58375ca6b6ff | 145 | 3) Neutral sequence has PV diving with -10 to -20 degrees of pitch, battery command seems to be slow or inactive. |
tnhnrl | 39:58375ca6b6ff | 146 | 3) Float broadcast working correctly. |
tnhnrl | 39:58375ca6b6ff | 147 | 4) FSM tracker and sub-FSM tracker working. |
tnhnrl | 39:58375ca6b6ff | 148 | 5) Antenna working until tail just under water (last depth recorded varies between 1.0 and 1.5 feet) |
tnhnrl | 39:58375ca6b6ff | 149 | Modified 2017-12-06 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 150 | - Added "_isTimeoutRunning = false;" to the FIND_NEUTRAL successful exit case ("else if (runNeutralStateMachine() == NEUTRAL_EXIT)" |
tnhnrl | 39:58375ca6b6ff | 151 | 1) This will reset the timeout when the PV has successfully found and saved the neutral BCE and battery positions |
tnhnrl | 39:58375ca6b6ff | 152 | - Successful dive and multi-dive sequences exit to FLOAT_BROADCAST state (fix was implemented in code that did not respond, reimplemented here) |
tnhnrl | 39:58375ca6b6ff | 153 | 1) Also made the change to the SequenceController (which loads a file that has multiple sequences) |
tnhnrl | 39:58375ca6b6ff | 154 | - FIND_NEUTRAL starts in NEUTRAL_SINKING with fix on sub-FSM to start with NEUTRAL_SINKING (verified via mbed on bench) |
tnhnrl | 39:58375ca6b6ff | 155 | Modified 2017-12-07 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 156 | - Using new neutral finding sequence, dive slowly, rise slowly, then check pitch (pitch is not active at all until final state) |
tnhnrl | 39:58375ca6b6ff | 157 | - Added additional print information (showing neutral parameters with "C") |
tnhnrl | 39:58375ca6b6ff | 158 | Modified 2017-12-07 revB by Troy |
tnhnrl | 39:58375ca6b6ff | 159 | - Momentum offsets reintroduced: |
tnhnrl | 39:58375ca6b6ff | 160 | 1) CASE DIVE uses "else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches" |
tnhnrl | 39:58375ca6b6ff | 161 | 2) CASE RISE uses "else if (depthLoop().getPosition() < depthLoop().getCommand() + 0.5) { // including offset for low momentum approaches" |
tnhnrl | 39:58375ca6b6ff | 162 | - Momentum on rise command does not exit properly, removed |
tnhnrl | 39:58375ca6b6ff | 163 | Modified 2017-12-11 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 164 | - Added a logger function the main while loop |
tnhnrl | 39:58375ca6b6ff | 165 | - Added vectors (essentially resizable arrays) to hold the data in the State Machine because of memory limitations |
tnhnrl | 39:58375ca6b6ff | 166 | Modified 2017-12-12 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 167 | - Logger directly implemented in StateMachine (records every 5 seconds) |
tnhnrl | 39:58375ca6b6ff | 168 | Modified 2017-12-12 revB by Troy |
tnhnrl | 39:58375ca6b6ff | 169 | - Logger fixes implemented in StateMachine, was not logging each state, fixed the reset |
tnhnrl | 39:58375ca6b6ff | 170 | - Made logger into a function call |
tnhnrl | 39:58375ca6b6ff | 171 | Modified 2017-12-13 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 172 | - Added function to print log file to screen (tested on bench with multiple dives and timers) |
tnhnrl | 39:58375ca6b6ff | 173 | Modified 2017-12-18 revA by Troy |
tnhnrl | 39:58375ca6b6ff | 174 | - Redo of the code to stop opening and closing files each time |
tnhnrl | 39:58375ca6b6ff | 175 | - This should allow you to write to the open file, then close it once you exit the sequence back to SIT_IDLE |
tnhnrl | 39:58375ca6b6ff | 176 | - Start record in dive, end when you exit float broadcast... |
tnhnrl | 74:d281aaef9766 | 177 | Modified 2018-07-23 |
tnhnrl | 74:d281aaef9766 | 178 | - Tested out multiple data transmission methods, most consistent was requesting data one packet at a time |
tnhnrl | 74:d281aaef9766 | 179 | - Added more descriptive data to terminal output |
tnhnrl | 74:d281aaef9766 | 180 | Modified 2018-08-02 |
tnhnrl | 74:d281aaef9766 | 181 | - Timing issue where servo jumps from 1710 to 1940, not clear why this deadband exist, need to do the math on this |
tnhnrl | 79:3688c3a0d7f4 | 182 | Modified 2018-09-19 |
tnhnrl | 79:3688c3a0d7f4 | 183 | - Modified the ConfigFileIO to load and save BCE and BMM values from the file (not just load the hardcoded limits of 320 BCE and 60 BMM) |
tnhnrl | 81:7ff2c6467892 | 184 | Modified FSG PCB V_1_1 |
tnhnrl | 81:7ff2c6467892 | 185 | - Freezes when doing a dive or any timed sequence (commented out SD card references) |
tnhnrl | 81:7ff2c6467892 | 186 | - commented out sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 81:7ff2c6467892 | 187 | - commented out sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 81:7ff2c6467892 | 188 | - commented out sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 81:7ff2c6467892 | 189 | - reduced timer to 20 seconds for bench testing |
tnhnrl | 81:7ff2c6467892 | 190 | - modified ConfigFileIO for rudder() |
tnhnrl | 81:7ff2c6467892 | 191 | - added in getFloatUserInput function from newer code |
tnhnrl | 81:7ff2c6467892 | 192 | - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes |
tnhnrl | 81:7ff2c6467892 | 193 | - slowed down battery motor because it's silly fast at 30 volts (bench test) |
tnhnrl | 81:7ff2c6467892 | 194 | * BCE gain is proportional 0.1 now 0.01 |
tnhnrl | 81:7ff2c6467892 | 195 | - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0 |
tnhnrl | 81:7ff2c6467892 | 196 | * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?) |
tnhnrl | 81:7ff2c6467892 | 197 | - StateMachine changes for testing |
tnhnrl | 81:7ff2c6467892 | 198 | * added keyboard_menu_STREAM_STATUS(); |
tnhnrl | 81:7ff2c6467892 | 199 | * added keyboard_menu_RUDDER_SERVO_settings(); |
tnhnrl | 81:7ff2c6467892 | 200 | - modified the zero on the battery position from 610 to 836 |
tnhnrl | 81:7ff2c6467892 | 201 | - BMM (batt) slope may be incorrect, seems low, currently 0.12176 |
tnhnrl | 81:7ff2c6467892 | 202 | - modified the zero on BCE from 253 to 460 |
tnhnrl | 81:7ff2c6467892 | 203 | - Pressure readings are wrong |
tnhnrl | 81:7ff2c6467892 | 204 | * added readADCCounts() to omegaPX209 class to see channel readings |
tnhnrl | 81:7ff2c6467892 | 205 | * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4() |
tnhnrl | 81:7ff2c6467892 | 206 | - fixed rudderLoop to headingLoop from newer code |
tnhnrl | 81:7ff2c6467892 | 207 | Modified FSG PCB V_1_2 |
tnhnrl | 81:7ff2c6467892 | 208 | - added init headingLoop to main |
tnhnrl | 81:7ff2c6467892 | 209 | - added pitch and heading outputs to STREAM_STATUS |
tnhnrl | 81:7ff2c6467892 | 210 | NOTE: Flipped motor controller output on connector side with battery mass mover (BMM) |
tnhnrl | 81:7ff2c6467892 | 211 | - Motor direction was opposite the BCE motor (because of gearing) |
tnhnrl | 81:7ff2c6467892 | 212 | - BMM P gain is now positive 0.02 (from -0.10) |
tnhnrl | 81:7ff2c6467892 | 213 | Modified FSG PCB V_1_3 |
tnhnrl | 81:7ff2c6467892 | 214 | - added timing code for interrupt that drives the rudder (testing with o-scope) |
tnhnrl | 81:7ff2c6467892 | 215 | - PID controller replaced with newer version from 5/29 code branch |
tnhnrl | 81:7ff2c6467892 | 216 | - StateMachine hanged style of variables to match convention in code |
tnhnrl | 81:7ff2c6467892 | 217 | Modified FSG PCB V_1_4 |
tnhnrl | 81:7ff2c6467892 | 218 | - adc tests |
tnhnrl | 81:7ff2c6467892 | 219 | Modified FSG PCB V_1_5 |
tnhnrl | 81:7ff2c6467892 | 220 | - IMU update |
tnhnrl | 81:7ff2c6467892 | 221 | - Testing print outs |
tnhnrl | 81:7ff2c6467892 | 222 | Modified FSG PCB V_1_6 |
tnhnrl | 81:7ff2c6467892 | 223 | - new BMM zero count of 240 (confirmed manually) |
tnhnrl | 81:7ff2c6467892 | 224 | - new BCE zero count of 400 (confirmed manually) |
tnhnrl | 81:7ff2c6467892 | 225 | - Modified emergency climb to go to position 10 on the BMM, not zero (almost relying on the limit switch) |
tnhnrl | 81:7ff2c6467892 | 226 | - fixed keyboard input; including typing in the timeout (can enter exact times) |
tnhnrl | 81:7ff2c6467892 | 227 | Modified FSG PCB V_1_7 |
tnhnrl | 81:7ff2c6467892 | 228 | - removed data logger references |
tnhnrl | 81:7ff2c6467892 | 229 | - fixed bug where I was logging data twice in the interrupt code and the main file |
tnhnrl | 81:7ff2c6467892 | 230 | - fixed bug where Multi-Dive sequence wasn't restarting (the counter used to get the current state was not reset) |
tnhnrl | 81:7ff2c6467892 | 231 | Modified FSG PCB v_1_7C |
tnhnrl | 81:7ff2c6467892 | 232 | - fixing a bug with the data transmission (output had newline character) because of packet lengths |
tnhnrl | 81:7ff2c6467892 | 233 | - new version blasts data and Python program requests lost packets, dramatically faster over USB, slightly faster over XBee |
tnhnrl | 81:7ff2c6467892 | 234 | - fixed some format and terminal errors |
tnhnrl | 81:7ff2c6467892 | 235 | Modified code 2018-08-06 |
tnhnrl | 81:7ff2c6467892 | 236 | - fixed bug with heading save feature, wasn't updating deadband properly |
tnhnrl | 81:7ff2c6467892 | 237 | - modified input on servo sub-menu |
tnhnrl | 81:7ff2c6467892 | 238 | Modified code 2018-08-07 |
tnhnrl | 81:7ff2c6467892 | 239 | - Float broadcast changed to command rudder to center in that state (whatever center is in the file) |
tnhnrl | 81:7ff2c6467892 | 240 | - Was sending the wrong command to the position dive (BMM) |
tnhnrl | 81:7ff2c6467892 | 241 | Modified code 2018-08-14 |
tnhnrl | 81:7ff2c6467892 | 242 | - Fixed the deadband on "case Float_Broadcast" so it exits properly, I was seeing the BCE stop around 317 so I made a fixed deadband of 4.0 (anything 316 or above will exit the state) |
tnhnrl | 81:7ff2c6467892 | 243 | - FIND_NEUTRAL was code was double-checked: |
tnhnrl | 81:7ff2c6467892 | 244 | 1) Starts with an offset of 25 mm from the manually found neutral BCE position (still buoyant), BMM starts at that neutral position |
tnhnrl | 81:7ff2c6467892 | 245 | 2) case NEUTRAL_SINKING: Every 5 seconds it retracts the BCE 5 mm. When it reaches the input depth setpoint it switches to NEUTRAL_RISING |
tnhnrl | 81:7ff2c6467892 | 246 | 3) case NEUTRAL_SLOWLY_RISE: Every 5 seconds it extends the BCE 2 mm. When it starts to rise (depth rate is negative) (depth rate positive is sinking, negative is rising) it will immediately stop |
tnhnrl | 81:7ff2c6467892 | 247 | and go to case NEUTRAL_CHECK_PITCH. Removed an incorrect line of code that was setting BCE position with depthloop output. |
tnhnrl | 81:7ff2c6467892 | 248 | 4) case NEUTRAL_CHECK_PITCH: Every 10 seconds the pitch is adjusted +/- 0.5 mm depending on whether the nose is pitched up or pitched down |
tnhnrl | 81:7ff2c6467892 | 249 | (the timing is because the PV may move around in the water before it stabilizes) |
tnhnrl | 81:7ff2c6467892 | 250 | - Homing Sequence now moves at -0.5 not -0.1 (was way too slow) |
tnhnrl | 81:7ff2c6467892 | 251 | Modified code at Carderock (2018-08-15) |
tnhnrl | 81:7ff2c6467892 | 252 | - Removed -1 multiplier from IMU outputs |
tnhnrl | 81:7ff2c6467892 | 253 | - Pitch is incorrectly oriented now, pitch down |
tnhnrl | 81:7ff2c6467892 | 254 | - Heading/Yaw is off by 90 degrees I believe (north is not north) |
tnhnrl | 81:7ff2c6467892 | 255 | - Did not check roll |
tnhnrl | 81:7ff2c6467892 | 256 | - KNOWN ISSUE of log file not having consistent line length (will throw off python data receiver) |
tnhnrl | 81:7ff2c6467892 | 257 | Modified code at Carderock (2018-08-16) |
tnhnrl | 81:7ff2c6467892 | 258 | - Observations at LASR lead to fixes on the save PID files, zero offsets were saving incorrectly, fixed |
tnhnrl | 81:7ff2c6467892 | 259 | Modified code at NRL DC (11/8/2018) |
tnhnrl | 81:7ff2c6467892 | 260 | - Latest code includes SD card library as a folder (not repo) |
tnhnrl | 81:7ff2c6467892 | 261 | - Comment fix on main.cpp |
tnhnrl | 81:7ff2c6467892 | 262 | - SD card working on PCB v2.4 with initial testing, commented out in this code |