Flying Sea Glider / Mbed 2 deprecated 2019_13sep_jcw_nosd

Dependencies:   mbed MODSERIAL FATFileSystem

StateMachine/StateMachine.cpp@100:a21bb2e4493d, 2019-06-28 (annotated)

Committer:
CodyMarquardt
Date:
Fri Jun 28 15:04:49 2019 +0000
Revision:
100:a21bb2e4493d
Parent:
99:9d0849f5fcd7 
Added altimeter functionality; Reads linear regression parameters from alt.txt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 16:3363b9f14913 1 #include "StateMachine.hpp"
tnhnrl 16:3363b9f14913 2 #include "StaticDefs.hpp"
CodyMarquardt 99:9d0849f5fcd7 3
CodyMarquardt 99:9d0849f5fcd7 4 StateMachine::StateMachine()
CodyMarquardt 99:9d0849f5fcd7 5 {
tnhnrl 52:f207567d3ea4 6 _timeout = 20; // generic timeout for every state, seconds
joel_ssc 85:dd8176285b6e 7 _yo_time = 40; // previously= 400 ; timeout for a dive or rise yo, not set for other ops
joel_ssc 85:dd8176285b6e 8 _state_transition_time = 20; // previously =60; time to allow motors to come to rest in float_broadcast
tnhnrl 28:16c83a2fdefa 9 _pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state
CodyMarquardt 99:9d0849f5fcd7 10
tnhnrl 28:16c83a2fdefa 11 _bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
tnhnrl 28:16c83a2fdefa 12 _battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
CodyMarquardt 99:9d0849f5fcd7 13
joel_ssc 87:6d95f853dab3 14 _disconnect_batt_pos_mm = _battFloatPosition; // all the way forward
joel_ssc 87:6d95f853dab3 15 _batt_flying_pos_mm = 22.0;
joel_ssc 87:6d95f853dab3 16 _timeout_splashdown = 120; // two minutes??
joel_ssc 97:2b4f78a54227 17 _timeout_inversion = 180; // 180;
joel_ssc 87:6d95f853dab3 18 _motorDisconnect_triggered = 0;
tnhnrl 32:f2f8ae34aadc 19 _depth_command = 2.0; // user keyboard depth (default)
tnhnrl 32:f2f8ae34aadc 20 _pitch_command = -20.0; // user keyboard pitch (default)
tnhnrl 58:94b7fd55185e 21 _heading_command = 0.0;
joel_ssc 87:6d95f853dab3 22 _start_swim_entry = SIT_IDLE;
joel_ssc 87:6d95f853dab3 23 _neutral_entry_state = SIT_IDLE;
tnhnrl 57:ec69651c8c21 24 //new commands
tnhnrl 58:94b7fd55185e 25 _BCE_dive_offset = 0.0; //starting at the limits
tnhnrl 58:94b7fd55185e 26 _BMM_dive_offset = 0.0;
tnhnrl 57:ec69651c8c21 27 //new commands
CodyMarquardt 99:9d0849f5fcd7 28
tnhnrl 28:16c83a2fdefa 29 _neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
joel_ssc 97:2b4f78a54227 30 _neutral_success = 0 ; // set to -1 if find neutral fails and 1 if find_neutral succeeds 0 means find_neutral has not been run.
CodyMarquardt 99:9d0849f5fcd7 31 //////////////////////////////
joel_ssc 87:6d95f853dab3 32
tnhnrl 28:16c83a2fdefa 33 _state = SIT_IDLE; // select starting state here
tnhnrl 28:16c83a2fdefa 34 _isTimeoutRunning = false; // default timer to not running
tnhnrl 28:16c83a2fdefa 35 _isSubStateTimerRunning = false; // default timer to not running
CodyMarquardt 99:9d0849f5fcd7 36 /////////////////////////////
tnhnrl 24:c7d9b5bf3829 37 _multi_dive_counter = 0;
joel_ssc 82:0981b9ada820 38 _multi_leg_counter = 0;
tnhnrl 21:38c8544db6f4 39 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 21:38c8544db6f4 40 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 21:38c8544db6f4 41 _depth_KD = depthLoop().getControllerD(); // load current depth value
CodyMarquardt 99:9d0849f5fcd7 42
tnhnrl 21:38c8544db6f4 43 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 21:38c8544db6f4 44 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 21:38c8544db6f4 45 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
CodyMarquardt 99:9d0849f5fcd7 46
tnhnrl 21:38c8544db6f4 47 _neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
tnhnrl 21:38c8544db6f4 48 _neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
CodyMarquardt 99:9d0849f5fcd7 49
tnhnrl 28:16c83a2fdefa 50 _state_array_counter = 1; //used to iterate through and record states
tnhnrl 28:16c83a2fdefa 51 _substate_array_counter = 0; //used to iterate through and record substates
tnhnrl 28:16c83a2fdefa 52
tnhnrl 28:16c83a2fdefa 53 _state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this
CodyMarquardt 99:9d0849f5fcd7 54
tnhnrl 30:2964617e7676 55 _substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING
tnhnrl 28:16c83a2fdefa 56 _previous_substate = -1; //to start sub-FSM
tnhnrl 28:16c83a2fdefa 57 _previous_state = -1; //for tracking FSM states
CodyMarquardt 99:9d0849f5fcd7 58
tnhnrl 28:16c83a2fdefa 59 _max_recorded_depth_neutral = -99; //float to record max depth
tnhnrl 28:16c83a2fdefa 60 _max_recorded_depth_dive = -99; //float to record max depth
CodyMarquardt 99:9d0849f5fcd7 61
tnhnrl 32:f2f8ae34aadc 62 _max_recorded_auto_neutral_depth = -99;
CodyMarquardt 99:9d0849f5fcd7 63
tnhnrl 73:f6f378311c8d 64 _debug_menu_on = false; //toggle between debug and simple menu screens
CodyMarquardt 99:9d0849f5fcd7 65
tnhnrl 73:f6f378311c8d 66 //new file stuff
tnhnrl 73:f6f378311c8d 67 _pitch_filter_freq = pitchLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 68 _pitch_deadband = pitchLoop().getDeadband();
CodyMarquardt 99:9d0849f5fcd7 69
tnhnrl 73:f6f378311c8d 70 _depth_filter_freq = depthLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 71 _depth_deadband = depthLoop().getDeadband();
tnhnrl 16:3363b9f14913 72 }
CodyMarquardt 99:9d0849f5fcd7 73
tnhnrl 17:7c16b5671d0e 74 //Finite State Machine (FSM)
CodyMarquardt 99:9d0849f5fcd7 75 int StateMachine::runStateMachine() // ends about line 1022
CodyMarquardt 99:9d0849f5fcd7 76 {
tnhnrl 16:3363b9f14913 77 // finite state machine ... each state has at least one exit criteria
joel_ssc 82:0981b9ada820 78 static int lpd_oneshots=0;
joel_ssc 82:0981b9ada820 79 static int lpr_oneshots=0;
joel_ssc 82:0981b9ada820 80 static int finish_leg=0; // allow a rise to complete ( if it takes less than a yo_time, then exit to FB)
joel_ssc 82:0981b9ada820 81 static float leg_max_depth = 0;
joel_ssc 82:0981b9ada820 82 static float leg_min_depth =0;
CodyMarquardt 100:a21bb2e4493d 83 static float leg_heading = 90; //go east!
joel_ssc 82:0981b9ada820 84 char buf[256];
tnhnrl 17:7c16b5671d0e 85 switch (_state) {
CodyMarquardt 99:9d0849f5fcd7 86 case ENDLEG_WAIT:
CodyMarquardt 99:9d0849f5fcd7 87 if(!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 88 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 89 _yotimer.start();
CodyMarquardt 99:9d0849f5fcd7 90 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 91 _fsm_timer.start();
CodyMarquardt 99:9d0849f5fcd7 92 _isTimeoutRunning = 1;
CodyMarquardt 99:9d0849f5fcd7 93 }
CodyMarquardt 99:9d0849f5fcd7 94 keyboard(); //keyboard function now needs to know about this state and its timeout
CodyMarquardt 99:9d0849f5fcd7 95 break;
joel_ssc 87:6d95f853dab3 96 case FLYING_IDLE: // wait for some signal and the move the battery by a known amount
joel_ssc 87:6d95f853dab3 97 // then wait until you drop to START_SWIM on a timeout
joel_ssc 87:6d95f853dab3 98 if (!_isTimeoutRunning) { // start in the correct state, tell it once where to move
joel_ssc 87:6d95f853dab3 99 _fsm_timer.reset();
joel_ssc 87:6d95f853dab3 100 _fsm_timer.start();
joel_ssc 87:6d95f853dab3 101 _isTimeoutRunning = 1;
joel_ssc 87:6d95f853dab3 102 batt().unpause();
joel_ssc 87:6d95f853dab3 103 batt().setPosition_mm(_batt_flying_pos_mm); // do nothing - may include not bothering to log data - yes both SIT_IDLE and FLYING_IDLE do not log 27mar2019
joel_ssc 87:6d95f853dab3 104 sprintf(buf, "FLYING_IDLE started in statemachine\n\n\r");
joel_ssc 87:6d95f853dab3 105 mbedLogger().appendDiagFile(buf,0);
joel_ssc 87:6d95f853dab3 106 }
joel_ssc 87:6d95f853dab3 107 if (motorDisconnect().read() || (_fsm_timer > 13)) { // for real case, only test is motorDisconnect().read(), timeout check is for testing only
joel_ssc 87:6d95f853dab3 108 _motorDisconnect_triggered = 1; // once hardware has switched once, do not need it again
joel_ssc 87:6d95f853dab3 109 // move the battery
joel_ssc 87:6d95f853dab3 110 // reset and start the timer for post disconnect wait
joel_ssc 87:6d95f853dab3 111 sprintf(buf, "FLYING_IDLE: motorDisconnect.read() at timeout=13sec, to end\n\r");
joel_ssc 87:6d95f853dab3 112 mbedLogger().appendDiagFile(buf,0);
joel_ssc 87:6d95f853dab3 113 _fsm_timer.reset();
joel_ssc 87:6d95f853dab3 114 _fsm_timer.start();
joel_ssc 87:6d95f853dab3 115 _isTimeoutRunning = 1;
joel_ssc 87:6d95f853dab3 116 batt().unpause(); //this is now active
joel_ssc 87:6d95f853dab3 117 batt().setPosition_mm(_disconnect_batt_pos_mm);
joel_ssc 87:6d95f853dab3 118
joel_ssc 87:6d95f853dab3 119 }
joel_ssc 87:6d95f853dab3 120 _timeout_splashdown = 6; // timeout_splashdown reduced to 6 seconds for testing, usually 120 sec
joel_ssc 87:6d95f853dab3 121 if( _motorDisconnect_triggered && _isTimeoutRunning) {
joel_ssc 87:6d95f853dab3 122 // how end - timeout
joel_ssc 87:6d95f853dab3 123 if (_fsm_timer > _timeout_splashdown) { // timeout_splashdown reduced to 6 seconds for testing, usually 120 sec
joel_ssc 87:6d95f853dab3 124 xbee().printf("FLYING_IDLE ended: timed out! Go to START_SWIM \r\n"); // go to start_swim
joel_ssc 87:6d95f853dab3 125 //tare the pressure sensor
joel_ssc 87:6d95f853dab3 126 depth().tare(); // tares to ambient (do on surface)
joel_ssc 87:6d95f853dab3 127 _state = START_SWIM; // alternately, go into the legStruct and set start_swim now? rather than leg, or leg_position_dive
joel_ssc 87:6d95f853dab3 128 _start_swim_entry = FLYING_IDLE;
joel_ssc 87:6d95f853dab3 129 sprintf(buf, "FLYING_IDLE ended on splashdown timeout go to Start_swim\n\n\r");
joel_ssc 87:6d95f853dab3 130 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 131
joel_ssc 87:6d95f853dab3 132 //sprintf(buf, "FLYING_IDLE ended on splashdown timeout. FOR testing go to ENDLEG_WAIT instead of go to Start_swim\n\n\r");
joel_ssc 87:6d95f853dab3 133 //mbedLogger().appendDiagFile(buf,0);
joel_ssc 87:6d95f853dab3 134 //_state = ENDLEG_WAIT;
joel_ssc 87:6d95f853dab3 135 _fsm_timer.reset();
joel_ssc 87:6d95f853dab3 136 _isTimeoutRunning = false;
joel_ssc 87:6d95f853dab3 137 }
joel_ssc 87:6d95f853dab3 138 }
CodyMarquardt 99:9d0849f5fcd7 139 break;
CodyMarquardt 99:9d0849f5fcd7 140 case SIT_IDLE: // sit_idle and fb_exit fall through to keyboard actions, since they do not have break statements
CodyMarquardt 99:9d0849f5fcd7 141 case FB_EXIT:
CodyMarquardt 99:9d0849f5fcd7 142 case KEYBOARD :
CodyMarquardt 99:9d0849f5fcd7 143 // there actually is no timeout test for SIT_IDLE, but this enables some one-shot actions
CodyMarquardt 99:9d0849f5fcd7 144 if (!_isTimeoutRunning) { // presumably the first time back in this block, whatever ended stopped the timeout_running.
CodyMarquardt 99:9d0849f5fcd7 145 //tare pressure sensor
CodyMarquardt 99:9d0849f5fcd7 146 depth().tare(); // tares to ambient (do on surface)
CodyMarquardt 99:9d0849f5fcd7 147
CodyMarquardt 99:9d0849f5fcd7 148 if (_debug_menu_on)
CodyMarquardt 99:9d0849f5fcd7 149 printDebugMenu();
CodyMarquardt 99:9d0849f5fcd7 150 else
CodyMarquardt 99:9d0849f5fcd7 151 printSimpleMenu();
CodyMarquardt 99:9d0849f5fcd7 152 xbee().printf("\r\n\nstate: SIT_IDLE\r\n");
CodyMarquardt 99:9d0849f5fcd7 153 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 154
CodyMarquardt 99:9d0849f5fcd7 155 // what is active?
CodyMarquardt 99:9d0849f5fcd7 156 bce().pause();
CodyMarquardt 99:9d0849f5fcd7 157 batt().pause();
CodyMarquardt 99:9d0849f5fcd7 158
CodyMarquardt 99:9d0849f5fcd7 159 //reset sub FSM
CodyMarquardt 99:9d0849f5fcd7 160 _isSubStateTimerRunning = false;
CodyMarquardt 99:9d0849f5fcd7 161 }
CodyMarquardt 99:9d0849f5fcd7 162
CodyMarquardt 99:9d0849f5fcd7 163 // how exit?
CodyMarquardt 99:9d0849f5fcd7 164 keyboard(); // keyboard function will change the state if needed
CodyMarquardt 99:9d0849f5fcd7 165 break;
CodyMarquardt 99:9d0849f5fcd7 166
CodyMarquardt 99:9d0849f5fcd7 167 case CHECK_TUNING : // state used to check the tuning of the pressure vessel
CodyMarquardt 99:9d0849f5fcd7 168 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 169 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 170 xbee().printf("\r\n\nstate: CHECK_TUNING\r\n");
CodyMarquardt 99:9d0849f5fcd7 171 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 172 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 173 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 174
CodyMarquardt 99:9d0849f5fcd7 175 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 176 bce().unpause(); //this is now active
CodyMarquardt 99:9d0849f5fcd7 177 batt().unpause(); //this is now active
CodyMarquardt 99:9d0849f5fcd7 178
CodyMarquardt 99:9d0849f5fcd7 179 // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
CodyMarquardt 99:9d0849f5fcd7 180 bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
CodyMarquardt 99:9d0849f5fcd7 181 batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
CodyMarquardt 99:9d0849f5fcd7 182
CodyMarquardt 99:9d0849f5fcd7 183 // getSetPosition_mm is the commanded position in the LinearActuator class
CodyMarquardt 99:9d0849f5fcd7 184
CodyMarquardt 99:9d0849f5fcd7 185 xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
CodyMarquardt 99:9d0849f5fcd7 186 xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
CodyMarquardt 99:9d0849f5fcd7 187 }
CodyMarquardt 99:9d0849f5fcd7 188
CodyMarquardt 99:9d0849f5fcd7 189 // how exit?
CodyMarquardt 99:9d0849f5fcd7 190 if (_fsm_timer > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 191 xbee().printf("CHECK_TUNING: timed out!\r\n");
CodyMarquardt 99:9d0849f5fcd7 192 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 193 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 194 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 195 }
CodyMarquardt 99:9d0849f5fcd7 196
CodyMarquardt 99:9d0849f5fcd7 197 //WHAT IS ACTIVE?
CodyMarquardt 99:9d0849f5fcd7 198 // the inner loop position controls are maintaining the positions of the linear actuators
CodyMarquardt 99:9d0849f5fcd7 199
CodyMarquardt 99:9d0849f5fcd7 200 //print status to screen continuously
CodyMarquardt 99:9d0849f5fcd7 201 xbee().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f m,pitch: %0.1f deg,heading: %0.1f) [%0.1f sec]\r",
CodyMarquardt 99:9d0849f5fcd7 202 bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),
CodyMarquardt 99:9d0849f5fcd7 203 pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 204
CodyMarquardt 99:9d0849f5fcd7 205 break;
CodyMarquardt 99:9d0849f5fcd7 206
CodyMarquardt 99:9d0849f5fcd7 207 case EMERGENCY_CLIMB :
CodyMarquardt 99:9d0849f5fcd7 208 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 209 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 210 xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
CodyMarquardt 99:9d0849f5fcd7 211 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 212 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 213 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 214 _yotimer.start();
CodyMarquardt 99:9d0849f5fcd7 215 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 216
CodyMarquardt 99:9d0849f5fcd7 217 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 218 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 219 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 220
CodyMarquardt 99:9d0849f5fcd7 221 // what are the commands?
CodyMarquardt 99:9d0849f5fcd7 222 bce().setPosition_mm(bce().getTravelLimit());
CodyMarquardt 99:9d0849f5fcd7 223 batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
CodyMarquardt 99:9d0849f5fcd7 224 }
CodyMarquardt 99:9d0849f5fcd7 225
CodyMarquardt 99:9d0849f5fcd7 226 // how exit?
CodyMarquardt 99:9d0849f5fcd7 227 if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) {
CodyMarquardt 99:9d0849f5fcd7 228 xbee().printf("EC: timed out\r\n");
CodyMarquardt 99:9d0849f5fcd7 229 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 230 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 231 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 232 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 233 } else if (depthLoop().getPosition() < 1.0) { //if the depth is less 1m, go to float broadcast
CodyMarquardt 99:9d0849f5fcd7 234 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 235 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 236 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 237 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 238 sprintf(buf, "EMERGENCY_CLIMB - at surface ... now go to FLOAT_BROADCAST\n\n\r");
CodyMarquardt 99:9d0849f5fcd7 239 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 240 }
CodyMarquardt 99:9d0849f5fcd7 241
CodyMarquardt 99:9d0849f5fcd7 242 //WHAT IS ACTIVE?
CodyMarquardt 99:9d0849f5fcd7 243 //print status to screen continuously
CodyMarquardt 99:9d0849f5fcd7 244 xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 245
CodyMarquardt 99:9d0849f5fcd7 246 break;
CodyMarquardt 99:9d0849f5fcd7 247
CodyMarquardt 99:9d0849f5fcd7 248 case FIND_NEUTRAL :
CodyMarquardt 99:9d0849f5fcd7 249 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 250 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 251 xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
CodyMarquardt 99:9d0849f5fcd7 252 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 253 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 254 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 255
CodyMarquardt 99:9d0849f5fcd7 256 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 257 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 258 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 259
CodyMarquardt 99:9d0849f5fcd7 260 //start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much
CodyMarquardt 99:9d0849f5fcd7 261 float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0;
CodyMarquardt 99:9d0849f5fcd7 262 //float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0;
CodyMarquardt 99:9d0849f5fcd7 263
CodyMarquardt 99:9d0849f5fcd7 264 bce().setPosition_mm(bce_find_neutral_mm);
CodyMarquardt 99:9d0849f5fcd7 265 batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position
CodyMarquardt 99:9d0849f5fcd7 266
CodyMarquardt 99:9d0849f5fcd7 267 //first iteration goes into Neutral Finding Sub-FSM
CodyMarquardt 99:9d0849f5fcd7 268 //set the first state of the FSM, and start the sub-FSM
CodyMarquardt 99:9d0849f5fcd7 269 _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
CodyMarquardt 99:9d0849f5fcd7 270 _previous_substate = -1;
CodyMarquardt 99:9d0849f5fcd7 271
CodyMarquardt 99:9d0849f5fcd7 272 //save this state to the array
CodyMarquardt 99:9d0849f5fcd7 273 _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
CodyMarquardt 99:9d0849f5fcd7 274 _substate_array_counter++;
CodyMarquardt 99:9d0849f5fcd7 275
CodyMarquardt 99:9d0849f5fcd7 276 runNeutralStateMachine();
CodyMarquardt 99:9d0849f5fcd7 277 }
CodyMarquardt 99:9d0849f5fcd7 278
CodyMarquardt 99:9d0849f5fcd7 279 // how exit? (exit with the timer, if timer still running continue processing sub FSM)
CodyMarquardt 99:9d0849f5fcd7 280 if (_fsm_timer > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 281 xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 282 sprintf(buf, "FIND_NEUTRAL - timed out roll=%f depth = %f now exit to EMERG_CLIMB\n\n", imu().getRoll(), depthLoop().getPosition());
CodyMarquardt 99:9d0849f5fcd7 283 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 284 _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
CodyMarquardt 99:9d0849f5fcd7 285 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 286 sprintf(buf, "FN: timed out [time:%0.1f sec], _neutral_success = -1 for info to float_broadcast\n", _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 287 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 288 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 289 _neutral_success = -1;
CodyMarquardt 99:9d0849f5fcd7 290 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 291
CodyMarquardt 99:9d0849f5fcd7 292 //record this to the NEUTRAL sub-FSM tracker
CodyMarquardt 99:9d0849f5fcd7 293 _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
CodyMarquardt 99:9d0849f5fcd7 294 _substate_array_counter++;
CodyMarquardt 99:9d0849f5fcd7 295 }
CodyMarquardt 99:9d0849f5fcd7 296
CodyMarquardt 99:9d0849f5fcd7 297
CodyMarquardt 99:9d0849f5fcd7 298 //what is active? (neutral finding sub-function runs until completion)
CodyMarquardt 99:9d0849f5fcd7 299 //check if substate returned exit state, if so stop running the sub-FSM
CodyMarquardt 99:9d0849f5fcd7 300
joel_ssc 97:2b4f78a54227 301 else if (runNeutralStateMachine() == NEUTRAL_EXIT) { // but this line will repeatedly runneutralstatemachine as long as the overall state is FIND_NEUTRAL
joel_ssc 97:2b4f78a54227 302 //if successful, FIND_NEUTRAL then goes to RISE
joel_ssc 97:2b4f78a54227 303 xbee().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
joel_ssc 97:2b4f78a54227 304 sprintf(buf, "FIND_NEUTRAL - at Neutral EXIT now go to RISE\n\n");
joel_ssc 97:2b4f78a54227 305 mbedLogger().appendDiagFile(buf,3);
joel_ssc 97:2b4f78a54227 306 _state = RISE; // this is the default, but other are possible.
joel_ssc 97:2b4f78a54227 307 if(_neutral_success == -1 ) { // failed in finding neutral - bad exit states
joel_ssc 97:2b4f78a54227 308 configFileIO().report_no_neutral_found( bce().getPosition_mm(), batt().getPosition_mm()); // this is a message file "no_float.txt"
joel_ssc 97:2b4f78a54227 309 _state = EMERGENCY_CLIMB;
CodyMarquardt 99:9d0849f5fcd7 310
joel_ssc 97:2b4f78a54227 311 sprintf(buf, "FN neutral_EXIT: FIND_NEUTRAL failed, on JUST GO to emergency climb\n\n");
joel_ssc 97:2b4f78a54227 312 mbedLogger().appendDiagFile(buf,3); //to the raspberry Pi control computer
joel_ssc 97:2b4f78a54227 313 // this code will break the old keyboard exit code, I think.
joel_ssc 97:2b4f78a54227 314 }
joel_ssc 97:2b4f78a54227 315
joel_ssc 97:2b4f78a54227 316 if (_neutral_entry_state == START_SWIM ) {
joel_ssc 97:2b4f78a54227 317 _state = EMERGENCY_CLIMB;
joel_ssc 97:2b4f78a54227 318 finish_leg =1;
joel_ssc 97:2b4f78a54227 319 sprintf(buf, "FN neutral_EXIT: but entry via start_swim, so finish_leg=1 is set. Will end and radio call\n\n\r");
joel_ssc 97:2b4f78a54227 320 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 321 } //exit case when not entered by keyboard
joel_ssc 97:2b4f78a54227 322 _isTimeoutRunning = false;
joel_ssc 97:2b4f78a54227 323 }
CodyMarquardt 99:9d0849f5fcd7 324 break;
CodyMarquardt 99:9d0849f5fcd7 325
CodyMarquardt 99:9d0849f5fcd7 326 case DIVE :
CodyMarquardt 99:9d0849f5fcd7 327 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 328
CodyMarquardt 99:9d0849f5fcd7 329 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 330 xbee().printf("\r\n\nstate: DIVE\r\n");
CodyMarquardt 99:9d0849f5fcd7 331 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 332 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 333 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 334
CodyMarquardt 99:9d0849f5fcd7 335 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 336 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 337 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 338
CodyMarquardt 99:9d0849f5fcd7 339 // what are the commands?
CodyMarquardt 99:9d0849f5fcd7 340 depthLoop().setCommand(_depth_command);
CodyMarquardt 99:9d0849f5fcd7 341 pitchLoop().setCommand(_pitch_command);
CodyMarquardt 99:9d0849f5fcd7 342
CodyMarquardt 99:9d0849f5fcd7 343 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 99:9d0849f5fcd7 344
CodyMarquardt 99:9d0849f5fcd7 345 xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 346 xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 347 xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 348
CodyMarquardt 99:9d0849f5fcd7 349 //reset max dive depth
CodyMarquardt 99:9d0849f5fcd7 350 _max_recorded_depth_dive = -99; //float to record max depth
CodyMarquardt 99:9d0849f5fcd7 351 }
CodyMarquardt 99:9d0849f5fcd7 352
CodyMarquardt 99:9d0849f5fcd7 353 // how exit?
CodyMarquardt 99:9d0849f5fcd7 354 if (_fsm_timer.read() > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 355 xbee().printf("DIVE: timed out\r\n\n");
CodyMarquardt 99:9d0849f5fcd7 356 _state = RISE; //new behavior 11/17/2017
CodyMarquardt 99:9d0849f5fcd7 357 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 358 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 359 } else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
CodyMarquardt 99:9d0849f5fcd7 360 xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 361 _state = RISE;
CodyMarquardt 99:9d0849f5fcd7 362 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 363 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 364 }
CodyMarquardt 99:9d0849f5fcd7 365
CodyMarquardt 99:9d0849f5fcd7 366 // WHAT IS ACTIVE?
CodyMarquardt 99:9d0849f5fcd7 367 xbee().printf("DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] n\r",
CodyMarquardt 99:9d0849f5fcd7 368 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
CodyMarquardt 99:9d0849f5fcd7 369 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 370 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
CodyMarquardt 99:9d0849f5fcd7 371 batt().setPosition_mm(pitchLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 372
CodyMarquardt 99:9d0849f5fcd7 373 // ACTIVE RUDDER CONTROL
CodyMarquardt 99:9d0849f5fcd7 374 rudder().setPosition_deg(headingLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 375
CodyMarquardt 99:9d0849f5fcd7 376 if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
CodyMarquardt 99:9d0849f5fcd7 377 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
CodyMarquardt 99:9d0849f5fcd7 378 }
CodyMarquardt 99:9d0849f5fcd7 379
CodyMarquardt 99:9d0849f5fcd7 380 break;
CodyMarquardt 99:9d0849f5fcd7 381 case START_SWIM :
CodyMarquardt 99:9d0849f5fcd7 382 // start local state timer and init any other one-shot actions
joel_ssc 97:2b4f78a54227 383 if (!_isTimeoutRunning) { // ends at 465
joel_ssc 87:6d95f853dab3 384 xbee().printf("\r\n\nstate: START_SWIM\r\n");
joel_ssc 87:6d95f853dab3 385 _fsm_timer.reset(); // timer goes back to zero
joel_ssc 87:6d95f853dab3 386 _fsm_timer.start(); // background timer starts running
joel_ssc 97:2b4f78a54227 387 sprintf(buf, "START_SWIM begun \n\r");
joel_ssc 97:2b4f78a54227 388 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 389 _yotimer.reset();
joel_ssc 87:6d95f853dab3 390 _yotimer.start();
joel_ssc 87:6d95f853dab3 391 _isTimeoutRunning = true;
joel_ssc 87:6d95f853dab3 392 //tare the pressure sensor
joel_ssc 97:2b4f78a54227 393 depth().tare(); // tares to ambient (do on surface) HOW certain am I that this tare only happens at surface?
joel_ssc 87:6d95f853dab3 394 if( fabs(imu().getRoll()) > 70 && depthLoop().getPosition() < 9.0) { //inversion operations
joel_ssc 87:6d95f853dab3 395 // what needs to be started?
joel_ssc 87:6d95f853dab3 396 bce().unpause();
joel_ssc 87:6d95f853dab3 397 batt().unpause();
joel_ssc 87:6d95f853dab3 398 rudder().unpause();
joel_ssc 87:6d95f853dab3 399 _depth_command = 10; // this should be meters depth
joel_ssc 87:6d95f853dab3 400 _heading_command = 90;
joel_ssc 97:2b4f78a54227 401 _pitch_command = 20; // what should this be? jcw 17may201
joel_ssc 97:2b4f78a54227 402 _timeout = _timeout_inversion; // 180;
joel_ssc 87:6d95f853dab3 403 sprintf(buf, "START_SWIM found upside down, starting to descend imu().getRoll()= %f \n\r", imu().getRoll());
joel_ssc 97:2b4f78a54227 404 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 405
joel_ssc 87:6d95f853dab3 406 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 87:6d95f853dab3 407 // These actions happen ONCE in the POSITION_DIVE sequence
joel_ssc 87:6d95f853dab3 408
joel_ssc 87:6d95f853dab3 409 //DEPTH and HEADING COMMANDS first
joel_ssc 87:6d95f853dab3 410 depthLoop().setCommand(_depth_command);
joel_ssc 87:6d95f853dab3 411 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 87:6d95f853dab3 412
joel_ssc 97:2b4f78a54227 413 // move BCE and batt to new target positions
joel_ssc 97:2b4f78a54227 414 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
joel_ssc 97:2b4f78a54227 415 // depthloop().getOutput() will tell bce() to basically hold at neutral if you are at the desired depth ( assuming that zeroOffset for depth is correct)
joel_ssc 87:6d95f853dab3 416
joel_ssc 97:2b4f78a54227 417 batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
joel_ssc 97:2b4f78a54227 418 //batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset); // dare not use neutral postions before knowing what neutral is
joel_ssc 97:2b4f78a54227 419 //bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is
joel_ssc 97:2b4f78a54227 420
joel_ssc 97:2b4f78a54227 421
joel_ssc 87:6d95f853dab3 422
joel_ssc 87:6d95f853dab3 423 xbee().printf("START_SWIM: inversion BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //g
joel_ssc 87:6d95f853dab3 424 xbee().printf("START_SWIM: inversion BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //g
joel_ssc 87:6d95f853dab3 425 xbee().printf("START_SWIM: inversion starting roll = : %3.1f\r\n",imu().getRoll() ); //g
joel_ssc 87:6d95f853dab3 426 } //end of inversion section
joel_ssc 87:6d95f853dab3 427 if( fabs(imu().getRoll()) >70 && depthLoop().getPosition() > 9.0) { //still inverted
joel_ssc 87:6d95f853dab3 428 // what needs to be started?
joel_ssc 87:6d95f853dab3 429 bce().unpause();
joel_ssc 87:6d95f853dab3 430 batt().unpause();
joel_ssc 87:6d95f853dab3 431 rudder().unpause();
joel_ssc 87:6d95f853dab3 432 _depth_command = 9;
joel_ssc 87:6d95f853dab3 433 _heading_command = 90;
joel_ssc 97:2b4f78a54227 434 _timeout = _timeout_inversion; // 180 seconds
joel_ssc 97:2b4f78a54227 435 _pitch_command = -20; // what should this be? jcw 17may2019
CodyMarquardt 99:9d0849f5fcd7 436
joel_ssc 87:6d95f853dab3 437 //DEPTH COMMAND
joel_ssc 87:6d95f853dab3 438 depthLoop().setCommand(_depth_command);
joel_ssc 87:6d95f853dab3 439 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 87:6d95f853dab3 440
joel_ssc 87:6d95f853dab3 441 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 87:6d95f853dab3 442 // These actions happen ONCE in the POSITION_DIVE sequence
CodyMarquardt 99:9d0849f5fcd7 443 //batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); // is this right ?? looks like climb commands
CodyMarquardt 99:9d0849f5fcd7 444 //bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is
CodyMarquardt 99:9d0849f5fcd7 445 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
CodyMarquardt 99:9d0849f5fcd7 446 batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
CodyMarquardt 99:9d0849f5fcd7 447
CodyMarquardt 99:9d0849f5fcd7 448
joel_ssc 87:6d95f853dab3 449 xbee().printf("START_SWIM: inversion BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //g
joel_ssc 87:6d95f853dab3 450 xbee().printf("START_SWIM: inversion BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //g
joel_ssc 87:6d95f853dab3 451 xbee().printf("START_SWIM: inversion starting roll = : %3.1f\r\n",imu().getRoll() ); //g
CodyMarquardt 99:9d0849f5fcd7 452 sprintf(buf, "START_SWIM still upside down but depth>9m, set up to limit descent: depth = %f roll=%f\n\n\r", depthLoop().getPosition(), imu().getRoll());
CodyMarquardt 99:9d0849f5fcd7 453 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 454 }
CodyMarquardt 99:9d0849f5fcd7 455 if( fabs(imu().getRoll()) <70 && _start_swim_entry == FLYING_IDLE ) { // starts out right side up, still inside first call to start_swim
CodyMarquardt 99:9d0849f5fcd7 456 finish_leg = 1; //this works to get to FB_EXIT,
CodyMarquardt 99:9d0849f5fcd7 457 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 458 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 459 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 460 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 461 sprintf(buf, "START_SWIM now upright, called by flying_idle, so end now. roll= %f depth = %f\n\r", imu().getRoll(), depthLoop().getPosition());
CodyMarquardt 99:9d0849f5fcd7 462 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 463 }
CodyMarquardt 99:9d0849f5fcd7 464 if( fabs(imu().getRoll()) <70 && _start_swim_entry != FLYING_IDLE ) { // starts out right side up, on second on/off cycle
CodyMarquardt 99:9d0849f5fcd7 465 _state = FIND_NEUTRAL;
CodyMarquardt 99:9d0849f5fcd7 466 _neutral_entry_state = START_SWIM;
CodyMarquardt 99:9d0849f5fcd7 467 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 468 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 469 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 470 sprintf(buf, "START_SWIM not called by FLYING_IDLE, so go to find_neutral: depth= %f\n\r", depthLoop().getPosition());
CodyMarquardt 99:9d0849f5fcd7 471 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 472 }
CodyMarquardt 99:9d0849f5fcd7 473 } //end of timeout running ==0
CodyMarquardt 99:9d0849f5fcd7 474
CodyMarquardt 99:9d0849f5fcd7 475 // how exit? keep diving and watching depth while also watching imu().getRoll()
CodyMarquardt 99:9d0849f5fcd7 476 if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) { // this is bad, still upside down. do I need yotimer timeout check?
CodyMarquardt 99:9d0849f5fcd7 477 xbee().printf("start_swim: timed out\r\n");
CodyMarquardt 99:9d0849f5fcd7 478 sprintf(buf, "start_swim timed out on yo_time or timeout - still upside down bad - go to FLOAT_BROADCAST roll=%f \n\n\r", imu().getRoll());
CodyMarquardt 99:9d0849f5fcd7 479 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 480 configFileIO().report_still_inverted( fabs(imu().getRoll()), _yo_time); // tells how long you waited, puts in file "inverted.txt"
joel_ssc 87:6d95f853dab3 481 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 482 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 483 _yotimer.reset();
joel_ssc 87:6d95f853dab3 484 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 485 } else if (fabs(imu().getRoll()) <30 ) { // pretty much righted itself go to FIND_NEUTRAL
joel_ssc 87:6d95f853dab3 486 _state = FIND_NEUTRAL;
joel_ssc 87:6d95f853dab3 487 _neutral_entry_state = START_SWIM;
CodyMarquardt 99:9d0849f5fcd7 488 sprintf(buf, "START_SWIM - turned self upright roll=%f depth = %f , now go toFIND_NEUTRAL\n\n\r", imu().getRoll(), depthLoop().getPosition());
CodyMarquardt 99:9d0849f5fcd7 489 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 490 // print message ?
CodyMarquardt 99:9d0849f5fcd7 491 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 492 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 493 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 494 }
CodyMarquardt 99:9d0849f5fcd7 495
CodyMarquardt 99:9d0849f5fcd7 496 //WHAT IS ACTIVE?
CodyMarquardt 99:9d0849f5fcd7 497 //print status to screen continuously
CodyMarquardt 99:9d0849f5fcd7 498 xbee().printf("START_SWIM: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
CodyMarquardt 99:9d0849f5fcd7 499 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
CodyMarquardt 99:9d0849f5fcd7 500 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 501
CodyMarquardt 99:9d0849f5fcd7 502 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
CodyMarquardt 99:9d0849f5fcd7 503 batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
CodyMarquardt 99:9d0849f5fcd7 504
CodyMarquardt 99:9d0849f5fcd7 505 break;
CodyMarquardt 99:9d0849f5fcd7 506
CodyMarquardt 99:9d0849f5fcd7 507 case RISE :
CodyMarquardt 99:9d0849f5fcd7 508 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 509
CodyMarquardt 99:9d0849f5fcd7 510 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 511 xbee().printf("\r\n\nstate: RISE\r\n");
CodyMarquardt 99:9d0849f5fcd7 512 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 513 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 514 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 515
CodyMarquardt 99:9d0849f5fcd7 516 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 517 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 518 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 519
CodyMarquardt 99:9d0849f5fcd7 520 // what are the commands?
CodyMarquardt 99:9d0849f5fcd7 521 depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
CodyMarquardt 99:9d0849f5fcd7 522 pitchLoop().setCommand(-_pitch_command);
CodyMarquardt 99:9d0849f5fcd7 523
CodyMarquardt 99:9d0849f5fcd7 524 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 99:9d0849f5fcd7 525
CodyMarquardt 99:9d0849f5fcd7 526 xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 527 xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 528 xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 529 }
CodyMarquardt 99:9d0849f5fcd7 530
CodyMarquardt 99:9d0849f5fcd7 531 // how exit?
CodyMarquardt 99:9d0849f5fcd7 532 if (_fsm_timer.read() > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 533 xbee().printf("RISE: timed out\r\n");
CodyMarquardt 99:9d0849f5fcd7 534 _state = EMERGENCY_CLIMB;
CodyMarquardt 99:9d0849f5fcd7 535 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 536 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 537 }
CodyMarquardt 99:9d0849f5fcd7 538
CodyMarquardt 99:9d0849f5fcd7 539 //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
CodyMarquardt 99:9d0849f5fcd7 540 //did not work correctly in bench test (stuck in rise state)
CodyMarquardt 99:9d0849f5fcd7 541 else if (depthLoop().getPosition() < 0.5) {
CodyMarquardt 99:9d0849f5fcd7 542 xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 543 sprintf(buf, "in RISE: at surface ... depth =%g ... now go to FLOAT_BROADCAST\n\n\r", depthLoop().getPosition());
CodyMarquardt 99:9d0849f5fcd7 544 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 545 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 546 _fsm_timer.reset();
joel_ssc 87:6d95f853dab3 547 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 548 }
CodyMarquardt 99:9d0849f5fcd7 549
CodyMarquardt 99:9d0849f5fcd7 550 // WHAT IS ACTIVE?
CodyMarquardt 99:9d0849f5fcd7 551 xbee().printf("RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] n\r",
CodyMarquardt 99:9d0849f5fcd7 552 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
CodyMarquardt 99:9d0849f5fcd7 553 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 554 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
CodyMarquardt 99:9d0849f5fcd7 555 batt().setPosition_mm(pitchLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 556
CodyMarquardt 99:9d0849f5fcd7 557 // ACTIVE RUDDER CONTROL
CodyMarquardt 99:9d0849f5fcd7 558 rudder().setPosition_deg(headingLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 559
CodyMarquardt 99:9d0849f5fcd7 560 break;
CodyMarquardt 99:9d0849f5fcd7 561
CodyMarquardt 99:9d0849f5fcd7 562 // NEW DIVE AND RISE SEQUENCES
CodyMarquardt 99:9d0849f5fcd7 563 case POSITION_DIVE :
CodyMarquardt 99:9d0849f5fcd7 564 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 565 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 566 xbee().printf("\r\n\nstate: POSITION DIVE\r\n");
CodyMarquardt 99:9d0849f5fcd7 567 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 568 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 569 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 570
CodyMarquardt 99:9d0849f5fcd7 571 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 572 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 573 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 574 rudder().unpause();
CodyMarquardt 99:9d0849f5fcd7 575
CodyMarquardt 99:9d0849f5fcd7 576 // what are the commands? (using inner loops except for heading outer loop)
CodyMarquardt 99:9d0849f5fcd7 577 // These actions happen ONCE in the POSITION_DIVE sequence
CodyMarquardt 99:9d0849f5fcd7 578 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
CodyMarquardt 99:9d0849f5fcd7 579 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
CodyMarquardt 99:9d0849f5fcd7 580
CodyMarquardt 99:9d0849f5fcd7 581 //DEPTH COMMAND
CodyMarquardt 99:9d0849f5fcd7 582 depthLoop().setCommand(_depth_command);
CodyMarquardt 99:9d0849f5fcd7 583
CodyMarquardt 99:9d0849f5fcd7 584 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 99:9d0849f5fcd7 585
CodyMarquardt 99:9d0849f5fcd7 586 xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 99:9d0849f5fcd7 587 xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 99:9d0849f5fcd7 588 xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 589
CodyMarquardt 99:9d0849f5fcd7 590 //reset max dive depth
CodyMarquardt 99:9d0849f5fcd7 591 _max_recorded_depth_dive = -99; //float to record max depth
CodyMarquardt 99:9d0849f5fcd7 592 }
CodyMarquardt 99:9d0849f5fcd7 593
CodyMarquardt 99:9d0849f5fcd7 594 // how exit?
CodyMarquardt 99:9d0849f5fcd7 595 // timer runs out goes to POSITION_RISE
CodyMarquardt 99:9d0849f5fcd7 596 if (_fsm_timer.read() > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 597 xbee().printf("POS DIVE timed out\r\n\n");
CodyMarquardt 99:9d0849f5fcd7 598 _state = POSITION_RISE; //new behavior 11/17/2017
CodyMarquardt 99:9d0849f5fcd7 599 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 600 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 601 }
CodyMarquardt 99:9d0849f5fcd7 602
CodyMarquardt 99:9d0849f5fcd7 603 // when you reach the dive threshold, surface
CodyMarquardt 99:9d0849f5fcd7 604 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
CodyMarquardt 99:9d0849f5fcd7 605 xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 606 _state = POSITION_RISE;
CodyMarquardt 99:9d0849f5fcd7 607 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 608 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 609 }
CodyMarquardt 99:9d0849f5fcd7 610
CodyMarquardt 99:9d0849f5fcd7 611 // what is active?
CodyMarquardt 99:9d0849f5fcd7 612 xbee().printf("POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
CodyMarquardt 99:9d0849f5fcd7 613 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
CodyMarquardt 99:9d0849f5fcd7 614 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 615
CodyMarquardt 99:9d0849f5fcd7 616 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
CodyMarquardt 99:9d0849f5fcd7 617 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
CodyMarquardt 99:9d0849f5fcd7 618 }
CodyMarquardt 99:9d0849f5fcd7 619
CodyMarquardt 99:9d0849f5fcd7 620 // ACTIVE RUDDER CONTROL
CodyMarquardt 99:9d0849f5fcd7 621 rudder().setPosition_deg(headingLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 622
CodyMarquardt 99:9d0849f5fcd7 623 break;
CodyMarquardt 99:9d0849f5fcd7 624
CodyMarquardt 100:a21bb2e4493d 625 case LEG_POSITION_DIVE :
CodyMarquardt 100:a21bb2e4493d 626 // start local state timer and init any other one-shot actions
CodyMarquardt 100:a21bb2e4493d 627 if (!_isTimeoutRunning) {
CodyMarquardt 100:a21bb2e4493d 628 xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n");
CodyMarquardt 100:a21bb2e4493d 629 sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r");
CodyMarquardt 100:a21bb2e4493d 630 mbedLogger().appendDiagFile(buf,0);
CodyMarquardt 100:a21bb2e4493d 631 _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
CodyMarquardt 100:a21bb2e4493d 632 _fsm_timer.start(); // background timer starts running
CodyMarquardt 100:a21bb2e4493d 633 _isTimeoutRunning = true;
CodyMarquardt 100:a21bb2e4493d 634 _yotimer.reset();
CodyMarquardt 100:a21bb2e4493d 635 _yotimer.start(); //sets the yo_timer running on the dive
CodyMarquardt 100:a21bb2e4493d 636
CodyMarquardt 100:a21bb2e4493d 637 // what needs to be started?
CodyMarquardt 100:a21bb2e4493d 638 bce().unpause();
CodyMarquardt 100:a21bb2e4493d 639 batt().unpause();
CodyMarquardt 100:a21bb2e4493d 640 rudder().unpause();
CodyMarquardt 100:a21bb2e4493d 641
CodyMarquardt 100:a21bb2e4493d 642 // what are the commands? (using inner loops except for heading outer loop)
CodyMarquardt 100:a21bb2e4493d 643 // These actions happen ONCE in the POSITION_DIVE sequence
CodyMarquardt 100:a21bb2e4493d 644 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
CodyMarquardt 100:a21bb2e4493d 645 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
CodyMarquardt 100:a21bb2e4493d 646
CodyMarquardt 100:a21bb2e4493d 647
CodyMarquardt 100:a21bb2e4493d 648 //retrieve commands from structs (loaded from legfile.txt file)
CodyMarquardt 100:a21bb2e4493d 649 stateMachine().getLegParams();
CodyMarquardt 100:a21bb2e4493d 650
CodyMarquardt 100:a21bb2e4493d 651 leg_max_depth = currentLegStateStruct.max_depth;
CodyMarquardt 100:a21bb2e4493d 652 leg_heading = currentLegStateStruct.heading;
CodyMarquardt 100:a21bb2e4493d 653
CodyMarquardt 100:a21bb2e4493d 654
CodyMarquardt 100:a21bb2e4493d 655 //DEPTH COMMAND
CodyMarquardt 100:a21bb2e4493d 656 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
CodyMarquardt 100:a21bb2e4493d 657 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
CodyMarquardt 100:a21bb2e4493d 658
CodyMarquardt 100:a21bb2e4493d 659 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 100:a21bb2e4493d 660 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 100:a21bb2e4493d 661
CodyMarquardt 100:a21bb2e4493d 662 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 100:a21bb2e4493d 663 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 100:a21bb2e4493d 664 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
CodyMarquardt 100:a21bb2e4493d 665
CodyMarquardt 100:a21bb2e4493d 666 //reset max dive depth
CodyMarquardt 100:a21bb2e4493d 667 _max_recorded_depth_dive = -99; //float to record max depth
CodyMarquardt 100:a21bb2e4493d 668 lpd_oneshots = 1;
CodyMarquardt 100:a21bb2e4493d 669 }
CodyMarquardt 100:a21bb2e4493d 670
CodyMarquardt 100:a21bb2e4493d 671 if (!lpd_oneshots) {
joel_ssc 82:0981b9ada820 672 xbee().printf("\r\n\nstate: LEG POSITION DIVE oneshots\r\n");
joel_ssc 82:0981b9ada820 673 // _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
joel_ssc 82:0981b9ada820 674 // sm_timer.start(); // background timer starts running
joel_ssc 82:0981b9ada820 675 _yotimer.reset(); //sets the yo_timer running on the NEW dive
joel_ssc 82:0981b9ada820 676 _yotimer.start();
joel_ssc 82:0981b9ada820 677 //_isTimeoutRunning = true;
joel_ssc 82:0981b9ada820 678
joel_ssc 82:0981b9ada820 679 // what needs to be started?
joel_ssc 82:0981b9ada820 680 bce().unpause();
joel_ssc 82:0981b9ada820 681 batt().unpause();
joel_ssc 82:0981b9ada820 682 rudder().unpause();
joel_ssc 82:0981b9ada820 683
joel_ssc 82:0981b9ada820 684 // what are the commands? (using inner loops except for heading outer loop)
joel_ssc 82:0981b9ada820 685 // These actions happen ONCE in the POSITION_DIVE sequence
CodyMarquardt 100:a21bb2e4493d 686 batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
CodyMarquardt 100:a21bb2e4493d 687 bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
joel_ssc 82:0981b9ada820 688 //retrieve commands from structs (loaded from missionleg.cfg file)
CodyMarquardt 100:a21bb2e4493d 689 leg_max_depth = currentLegStateStruct.max_depth;
CodyMarquardt 100:a21bb2e4493d 690 leg_heading = currentLegStateStruct.heading;
joel_ssc 84:eccd8e837134 691 sprintf(buf, "LEG POSITION DIVE entered via Leg_pos_rise - lpd_oneshots, only restart _yotimer\n\n\r");
CodyMarquardt 100:a21bb2e4493d 692 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 693
joel_ssc 82:0981b9ada820 694 //DEPTH COMMAND
joel_ssc 82:0981b9ada820 695 //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 696 depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
joel_ssc 82:0981b9ada820 697
joel_ssc 82:0981b9ada820 698 //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 100:a21bb2e4493d 699 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
joel_ssc 82:0981b9ada820 700
joel_ssc 82:0981b9ada820 701 xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 702 xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
joel_ssc 82:0981b9ada820 703 xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
joel_ssc 82:0981b9ada820 704
joel_ssc 82:0981b9ada820 705 lpd_oneshots = 1;
joel_ssc 82:0981b9ada820 706 //reset max dive depth
joel_ssc 82:0981b9ada820 707 //_max_recorded_depth_dive = -99; //float to record max depth
CodyMarquardt 100:a21bb2e4493d 708 } // lpd_oneshots if timer is already running
joel_ssc 82:0981b9ada820 709
joel_ssc 82:0981b9ada820 710 // how exit?
joel_ssc 82:0981b9ada820 711 // timer runs out goes to LEG_POSITION_RISE but finish_leg flag is turned on.
joel_ssc 82:0981b9ada820 712 if (_fsm_timer.read() > _timeout) {
joel_ssc 82:0981b9ada820 713 xbee().printf("LEG POSITION DIVE timed out for overall leg time\r\n\n");
joel_ssc 82:0981b9ada820 714 _state = LEG_POSITION_RISE; // now start a timer on yo_timer for rise
joel_ssc 82:0981b9ada820 715 finish_leg =1;
joel_ssc 82:0981b9ada820 716 lpr_oneshots=0;
joel_ssc 84:eccd8e837134 717 sprintf(buf, "go to LEG POSITION DIVE on overall leg timeout, set finish_leg=1\n\n\r");
CodyMarquardt 100:a21bb2e4493d 718 mbedLogger().appendDiagFile(buf,0);
joel_ssc 82:0981b9ada820 719 // _fsm_timer.reset();
joel_ssc 82:0981b9ada820 720 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 721 }
joel_ssc 82:0981b9ada820 722
joel_ssc 82:0981b9ada820 723 // when you reach the dive threshold, surface
joel_ssc 82:0981b9ada820 724 else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
joel_ssc 82:0981b9ada820 725 xbee().printf("LEG POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 726 _state = LEG_POSITION_RISE;
joel_ssc 82:0981b9ada820 727 lpr_oneshots = 0;
CodyMarquardt 100:a21bb2e4493d 728
joel_ssc 82:0981b9ada820 729 // _fsm_timer.reset(); // reset time if still inside legg long timeout?
joel_ssc 82:0981b9ada820 730 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 731 } else if(_yotimer.read() > _yo_time ) {
CodyMarquardt 100:a21bb2e4493d 732 xbee().printf("LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 82:0981b9ada820 733 sprintf(buf, "LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE\n\n\r");
CodyMarquardt 100:a21bb2e4493d 734 mbedLogger().appendDiagFile(buf,3);
joel_ssc 82:0981b9ada820 735 _state = LEG_POSITION_RISE;
joel_ssc 84:eccd8e837134 736 finish_leg =1;
joel_ssc 82:0981b9ada820 737 //_yotimer.reset();
joel_ssc 82:0981b9ada820 738 //_yotimer.start(); // restart the yo timer for next yo in rise mode -- test if depth is small fraction of max_depth and exit to EC if small enough??
joel_ssc 82:0981b9ada820 739 lpr_oneshots=0;
joel_ssc 82:0981b9ada820 740 if (depthLoop().getPosition() < 0.7* depthLoop().getCommand()) { //too slow - exit
joel_ssc 84:eccd8e837134 741 _state = EMERGENCY_CLIMB; // overridden here for testing
joel_ssc 82:0981b9ada820 742 finish_leg = 1;
joel_ssc 82:0981b9ada820 743 xbee().printf("LEG POS DIVE:descent too slow (<0.7*maxdepth) - go to EMERGENCY_CLIMB actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
joel_ssc 84:eccd8e837134 744 sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb but not really for testing\n\n\r");
joel_ssc 82:0981b9ada820 745 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 100:a21bb2e4493d 746 _state = LEG_POSITION_RISE;
CodyMarquardt 100:a21bb2e4493d 747 // _fsm_timer.reset();
CodyMarquardt 100:a21bb2e4493d 748 // _isTimeoutRunning = false;
joel_ssc 82:0981b9ada820 749 }
joel_ssc 82:0981b9ada820 750 }
joel_ssc 82:0981b9ada820 751
joel_ssc 82:0981b9ada820 752 // what is active?
CodyMarquardt 100:a21bb2e4493d 753 xbee().printf("LEG POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
joel_ssc 82:0981b9ada820 754 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
joel_ssc 82:0981b9ada820 755 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
joel_ssc 82:0981b9ada820 756
joel_ssc 82:0981b9ada820 757 if (depthLoop().getPosition() > _max_recorded_depth_dive) {
CodyMarquardt 100:a21bb2e4493d 758 _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
joel_ssc 82:0981b9ada820 759 }
joel_ssc 82:0981b9ada820 760
joel_ssc 82:0981b9ada820 761 // ACTIVE RUDDER CONTROL
joel_ssc 82:0981b9ada820 762 rudder().setPosition_deg(headingLoop().getOutput());
joel_ssc 82:0981b9ada820 763
joel_ssc 82:0981b9ada820 764 break; // end LEG POSITION DIVE
CodyMarquardt 99:9d0849f5fcd7 765
CodyMarquardt 99:9d0849f5fcd7 766 case POSITION_RISE :
CodyMarquardt 99:9d0849f5fcd7 767 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 768
CodyMarquardt 99:9d0849f5fcd7 769 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 770 xbee().printf("\r\n\nstate: POSITION RISE\r\n");
CodyMarquardt 99:9d0849f5fcd7 771 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 772 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 773 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 774
CodyMarquardt 99:9d0849f5fcd7 775 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 776 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 777 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 778
CodyMarquardt 99:9d0849f5fcd7 779 // what are the commands? (using inner loops except for heading outer loop)
CodyMarquardt 99:9d0849f5fcd7 780 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
CodyMarquardt 99:9d0849f5fcd7 781 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
CodyMarquardt 99:9d0849f5fcd7 782
CodyMarquardt 99:9d0849f5fcd7 783 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 99:9d0849f5fcd7 784
CodyMarquardt 99:9d0849f5fcd7 785 xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 99:9d0849f5fcd7 786 xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 99:9d0849f5fcd7 787 xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 788 }
CodyMarquardt 99:9d0849f5fcd7 789
CodyMarquardt 99:9d0849f5fcd7 790 // how exit?
CodyMarquardt 99:9d0849f5fcd7 791 if (_fsm_timer.read() > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 792 xbee().printf("POS RISE: timed out\r\n");
CodyMarquardt 99:9d0849f5fcd7 793 _state = EMERGENCY_CLIMB;
CodyMarquardt 99:9d0849f5fcd7 794 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 795 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 796 } else if (depthLoop().getPosition() < 0.5) {
CodyMarquardt 99:9d0849f5fcd7 797 xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 798 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 799 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 800 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 801 }
CodyMarquardt 99:9d0849f5fcd7 802
CodyMarquardt 99:9d0849f5fcd7 803 // what is active?
CodyMarquardt 99:9d0849f5fcd7 804 xbee().printf("POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
CodyMarquardt 99:9d0849f5fcd7 805 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
CodyMarquardt 99:9d0849f5fcd7 806 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 807
CodyMarquardt 99:9d0849f5fcd7 808 // ACTIVE RUDDER CONTROL
CodyMarquardt 99:9d0849f5fcd7 809 rudder().setPosition_deg(headingLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 810
CodyMarquardt 99:9d0849f5fcd7 811 break; //end of POS RISE
CodyMarquardt 99:9d0849f5fcd7 812
CodyMarquardt 99:9d0849f5fcd7 813 case LEG_POSITION_RISE :
CodyMarquardt 100:a21bb2e4493d 814 // start local state timer and init any other one-shot actions
CodyMarquardt 100:a21bb2e4493d 815 leg_min_depth = currentLegStateStruct.min_depth;
CodyMarquardt 100:a21bb2e4493d 816 leg_heading = currentLegStateStruct.heading;
CodyMarquardt 100:a21bb2e4493d 817
CodyMarquardt 100:a21bb2e4493d 818 if (!_isTimeoutRunning) { // this should never occur. the only entry into this case is from LEG_POSITION_DIVE exit
CodyMarquardt 100:a21bb2e4493d 819 xbee().printf("\r\n\nstate: LEG POSITION RISE\r\n");
CodyMarquardt 100:a21bb2e4493d 820 sprintf(buf, "state: LEG POSITION RISE entered with timeout NOT running should not happen\n\n\r");
CodyMarquardt 100:a21bb2e4493d 821 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 100:a21bb2e4493d 822 // go and read the legparams just in case
CodyMarquardt 100:a21bb2e4493d 823
CodyMarquardt 100:a21bb2e4493d 824 //retrieve commands from structs (loaded from legfile.txt file)
CodyMarquardt 100:a21bb2e4493d 825 stateMachine().getLegParams();
CodyMarquardt 100:a21bb2e4493d 826 leg_min_depth = currentLegStateStruct.min_depth;
CodyMarquardt 100:a21bb2e4493d 827 leg_heading = currentLegStateStruct.heading;
CodyMarquardt 100:a21bb2e4493d 828
CodyMarquardt 100:a21bb2e4493d 829 //_fsm_timer.reset(); // timer goes back to zero --no
CodyMarquardt 100:a21bb2e4493d 830 _fsm_timer.start(); // background timer starts running
CodyMarquardt 100:a21bb2e4493d 831 _isTimeoutRunning = true;
CodyMarquardt 100:a21bb2e4493d 832 _yotimer.reset(); //reset yo_timer;
CodyMarquardt 100:a21bb2e4493d 833 _yotimer.start(); //and start it
CodyMarquardt 100:a21bb2e4493d 834
CodyMarquardt 100:a21bb2e4493d 835 // what needs to be started?
CodyMarquardt 100:a21bb2e4493d 836 bce().unpause();
CodyMarquardt 100:a21bb2e4493d 837 batt().unpause();
CodyMarquardt 100:a21bb2e4493d 838 stateMachine().getLegParams();
CodyMarquardt 100:a21bb2e4493d 839
CodyMarquardt 100:a21bb2e4493d 840 // what are the commands? (using inner loops except for heading outer loop)
CodyMarquardt 100:a21bb2e4493d 841 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
CodyMarquardt 100:a21bb2e4493d 842 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
CodyMarquardt 100:a21bb2e4493d 843 //retrieve commands from structs (loaded from missionleg.cfg file)
CodyMarquardt 100:a21bb2e4493d 844
CodyMarquardt 100:a21bb2e4493d 845 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 100:a21bb2e4493d 846
CodyMarquardt 100:a21bb2e4493d 847 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 100:a21bb2e4493d 848 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 100:a21bb2e4493d 849 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
CodyMarquardt 100:a21bb2e4493d 850 lpr_oneshots = 1;
CodyMarquardt 100:a21bb2e4493d 851 }
CodyMarquardt 100:a21bb2e4493d 852 if (!lpr_oneshots) {
CodyMarquardt 100:a21bb2e4493d 853 xbee().printf("\r\n\nstate: LEG POSITION RISE entered via LEG_POSiTION_DIVE finish\r\n");
CodyMarquardt 100:a21bb2e4493d 854 sprintf(buf, "state: LEG POSITION RISE entered via LEG_POSITION_DIVE\n\n\r");
CodyMarquardt 100:a21bb2e4493d 855 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 100:a21bb2e4493d 856 //_fsm_timer.reset(); // timer goes back to zero --no
CodyMarquardt 100:a21bb2e4493d 857 _yotimer.reset(); //reset yo_timer;
CodyMarquardt 100:a21bb2e4493d 858 _yotimer.start(); //and start it
CodyMarquardt 100:a21bb2e4493d 859 //_fsm_timer.start(); timer is already running // background timer starts running
CodyMarquardt 100:a21bb2e4493d 860 // _isTimeoutRunning = true;
CodyMarquardt 100:a21bb2e4493d 861
CodyMarquardt 100:a21bb2e4493d 862 // what needs to be started?
CodyMarquardt 100:a21bb2e4493d 863 bce().unpause();
CodyMarquardt 100:a21bb2e4493d 864 batt().unpause();
CodyMarquardt 100:a21bb2e4493d 865
CodyMarquardt 100:a21bb2e4493d 866 // what are the commands? (using inner loops except for heading outer loop)
CodyMarquardt 100:a21bb2e4493d 867 batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
CodyMarquardt 100:a21bb2e4493d 868 bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
CodyMarquardt 100:a21bb2e4493d 869 //retrieve commands from structs (loaded from missionleg.cfg file)
CodyMarquardt 100:a21bb2e4493d 870
CodyMarquardt 100:a21bb2e4493d 871 headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 100:a21bb2e4493d 872
CodyMarquardt 100:a21bb2e4493d 873 xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 100:a21bb2e4493d 874 xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
CodyMarquardt 100:a21bb2e4493d 875 xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
CodyMarquardt 100:a21bb2e4493d 876 lpr_oneshots = 1;
CodyMarquardt 100:a21bb2e4493d 877 } // end if(!lpr_oneshots)
CodyMarquardt 100:a21bb2e4493d 878
CodyMarquardt 100:a21bb2e4493d 879 // how exit?
CodyMarquardt 100:a21bb2e4493d 880 if (_fsm_timer.read() > _timeout) {
CodyMarquardt 100:a21bb2e4493d 881 xbee().printf("LEG POS RISE: timed out on overall timeout\r\n");
CodyMarquardt 100:a21bb2e4493d 882 // _state = EMERGENCY_CLIMB;
CodyMarquardt 100:a21bb2e4493d 883 finish_leg = 1; // not going immediately to Emergency_climb and not resetting timers means it will take 1 yo-time of rising first
CodyMarquardt 100:a21bb2e4493d 884 // _fsm_timer.reset();
CodyMarquardt 100:a21bb2e4493d 885 sprintf(buf, "LEG POSITION DIVE Ended via overall timeout\n\n\r");
CodyMarquardt 100:a21bb2e4493d 886 mbedLogger().appendDiagFile(buf,0);
CodyMarquardt 100:a21bb2e4493d 887 // _isTimeoutRunning = false;
CodyMarquardt 100:a21bb2e4493d 888 }
CodyMarquardt 100:a21bb2e4493d 889 else if (depthLoop().getPosition() < leg_min_depth - 0.5 ) { // add in check for finish_leg. Don't flip flop between states in that case
CodyMarquardt 100:a21bb2e4493d 890 xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 100:a21bb2e4493d 891 _state = LEG_POSITION_DIVE;
CodyMarquardt 100:a21bb2e4493d 892 sprintf(buf, "LEG POSITION RISE flip-flops to LEG_POSITION_DIVE on near surface pressure \n\n\r");
CodyMarquardt 100:a21bb2e4493d 893 mbedLogger().appendDiagFile(buf,0);
CodyMarquardt 100:a21bb2e4493d 894 //_fsm_timer.reset();
CodyMarquardt 100:a21bb2e4493d 895 //_isTimeoutRunning = false;
CodyMarquardt 100:a21bb2e4493d 896 lpd_oneshots=0;
CodyMarquardt 100:a21bb2e4493d 897 if(finish_leg ==1) {
CodyMarquardt 100:a21bb2e4493d 898 _state = EMERGENCY_CLIMB;
CodyMarquardt 100:a21bb2e4493d 899 _fsm_timer.reset(); _yotimer.reset();
CodyMarquardt 100:a21bb2e4493d 900 _isTimeoutRunning = false;
CodyMarquardt 100:a21bb2e4493d 901 sprintf(buf, "LEG POSITION RISE ... ENDS, and since finish_leg=1, go to Emergency climb\n\n\r");
CodyMarquardt 100:a21bb2e4493d 902 mbedLogger().appendDiagFile(buf,0);
CodyMarquardt 100:a21bb2e4493d 903 }
CodyMarquardt 100:a21bb2e4493d 904 }
CodyMarquardt 100:a21bb2e4493d 905 else if(_yotimer.read() > _yo_time ) {
CodyMarquardt 100:a21bb2e4493d 906 xbee().printf("LEG POS RISE: yo_time timed out - go to Emergency_CLIMB. Actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 100:a21bb2e4493d 907 _state = EMERGENCY_CLIMB; // add diagnostics message
CodyMarquardt 100:a21bb2e4493d 908 finish_leg = 1;
CodyMarquardt 100:a21bb2e4493d 909 _fsm_timer.reset(); _yotimer.reset();
CodyMarquardt 100:a21bb2e4493d 910 _isTimeoutRunning = false;
CodyMarquardt 100:a21bb2e4493d 911 sprintf(buf, "LEG POSITION DIVE ... ENDS on yo_time too long, exit to emergnecy climb + finish_leg=1\n\n\r");
CodyMarquardt 100:a21bb2e4493d 912 mbedLogger().appendDiagFile(buf,0);
CodyMarquardt 99:9d0849f5fcd7 913 }
CodyMarquardt 100:a21bb2e4493d 914
CodyMarquardt 100:a21bb2e4493d 915 // what is active?
CodyMarquardt 100:a21bb2e4493d 916 xbee().printf("LEG POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
CodyMarquardt 100:a21bb2e4493d 917 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
CodyMarquardt 100:a21bb2e4493d 918 rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 100:a21bb2e4493d 919
CodyMarquardt 100:a21bb2e4493d 920 // ACTIVE RUDDER CONTROL
CodyMarquardt 100:a21bb2e4493d 921 rudder().setPosition_deg(headingLoop().getOutput());
CodyMarquardt 100:a21bb2e4493d 922
CodyMarquardt 100:a21bb2e4493d 923 break; // end LEG POS RISE
CodyMarquardt 99:9d0849f5fcd7 924 // NEW DIVE AND RISE SEQUENCES
CodyMarquardt 99:9d0849f5fcd7 925
CodyMarquardt 99:9d0849f5fcd7 926 case FLOAT_LEVEL :
CodyMarquardt 99:9d0849f5fcd7 927 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 928 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 929 xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
CodyMarquardt 99:9d0849f5fcd7 930 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 931 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 932 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 933
CodyMarquardt 99:9d0849f5fcd7 934 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 935 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 936 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 937
CodyMarquardt 99:9d0849f5fcd7 938 // what are the commands?
CodyMarquardt 99:9d0849f5fcd7 939 bce().setPosition_mm(_bceFloatPosition);
CodyMarquardt 99:9d0849f5fcd7 940 pitchLoop().setCommand(0.0);
CodyMarquardt 99:9d0849f5fcd7 941 }
CodyMarquardt 99:9d0849f5fcd7 942
CodyMarquardt 99:9d0849f5fcd7 943 // how exit?
CodyMarquardt 99:9d0849f5fcd7 944 if (_fsm_timer > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 945 xbee().printf("FL: timed out\r\n");
CodyMarquardt 99:9d0849f5fcd7 946 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 947 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 948 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 949 } else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
CodyMarquardt 99:9d0849f5fcd7 950 xbee().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
CodyMarquardt 99:9d0849f5fcd7 951 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 952 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 953 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 954 }
CodyMarquardt 99:9d0849f5fcd7 955
CodyMarquardt 99:9d0849f5fcd7 956 // what is active?
CodyMarquardt 99:9d0849f5fcd7 957 xbee().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(), _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 958 batt().setPosition_mm(pitchLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 959
CodyMarquardt 99:9d0849f5fcd7 960 break;
CodyMarquardt 99:9d0849f5fcd7 961
CodyMarquardt 99:9d0849f5fcd7 962 case FLOAT_BROADCAST :
CodyMarquardt 99:9d0849f5fcd7 963 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 964 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 965 xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
CodyMarquardt 99:9d0849f5fcd7 966 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 967 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 968 _yotimer.reset();
CodyMarquardt 99:9d0849f5fcd7 969 _yotimer.start();
CodyMarquardt 99:9d0849f5fcd7 970 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 971
CodyMarquardt 99:9d0849f5fcd7 972 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 973 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 974 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 975
CodyMarquardt 99:9d0849f5fcd7 976 // what are the commands?
CodyMarquardt 99:9d0849f5fcd7 977 bce().setPosition_mm(_bceFloatPosition); // 320.0
CodyMarquardt 99:9d0849f5fcd7 978 batt().setPosition_mm(_battFloatPosition); // 73.0
CodyMarquardt 99:9d0849f5fcd7 979
CodyMarquardt 99:9d0849f5fcd7 980 //set rudder to center
CodyMarquardt 99:9d0849f5fcd7 981 rudder().setPosition_deg(0.0); //set rudder to center, zero degrees
CodyMarquardt 99:9d0849f5fcd7 982 }
CodyMarquardt 99:9d0849f5fcd7 983
CodyMarquardt 99:9d0849f5fcd7 984 // how exit?
CodyMarquardt 99:9d0849f5fcd7 985
CodyMarquardt 99:9d0849f5fcd7 986 if (_fsm_timer > _timeout || ( _yotimer > _state_transition_time)) {
CodyMarquardt 99:9d0849f5fcd7 987 xbee().printf("FB: timed out\r\n");
CodyMarquardt 99:9d0849f5fcd7 988 sprintf(buf, "in FLOAT_BRADCAST timed out ... go to SIT_IDLE\n\n");
CodyMarquardt 99:9d0849f5fcd7 989 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 990 _state = SIT_IDLE;
CodyMarquardt 99:9d0849f5fcd7 991 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 992
CodyMarquardt 99:9d0849f5fcd7 993 //stop recording data
CodyMarquardt 99:9d0849f5fcd7 994 //mbedLogger().closeFile();
CodyMarquardt 99:9d0849f5fcd7 995
CodyMarquardt 99:9d0849f5fcd7 996 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 997 if(finish_leg == 1 || _neutral_success == -1 ) {
CodyMarquardt 99:9d0849f5fcd7 998 _state = ENDLEG_WAIT;
CodyMarquardt 99:9d0849f5fcd7 999 sprintf(buf, "in FLOAT_BROADCAST still timed out .... but also finish_leg==1 so go to ENDLEG_WAIT\n\n");
CodyMarquardt 99:9d0849f5fcd7 1000 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 1001 } // allows wait at surface for xbee messaging to not close program
CodyMarquardt 99:9d0849f5fcd7 1002 }
CodyMarquardt 99:9d0849f5fcd7 1003
CodyMarquardt 99:9d0849f5fcd7 1004 //fix on float_broadcast to account for BCE stopping early in current hardware
CodyMarquardt 99:9d0849f5fcd7 1005 else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) and
CodyMarquardt 99:9d0849f5fcd7 1006 (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
CodyMarquardt 99:9d0849f5fcd7 1007 xbee().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());
CodyMarquardt 99:9d0849f5fcd7 1008 _state = SIT_IDLE;
CodyMarquardt 99:9d0849f5fcd7 1009 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 1010 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1011
CodyMarquardt 99:9d0849f5fcd7 1012 //stop recording data
CodyMarquardt 99:9d0849f5fcd7 1013 //mbedLogger().closeFile();
CodyMarquardt 99:9d0849f5fcd7 1014 if(finish_leg == 1) {
CodyMarquardt 99:9d0849f5fcd7 1015 _state = ENDLEG_WAIT; // allows exit via wait at surface first
CodyMarquardt 99:9d0849f5fcd7 1016 }
CodyMarquardt 99:9d0849f5fcd7 1017 }
CodyMarquardt 99:9d0849f5fcd7 1018
CodyMarquardt 99:9d0849f5fcd7 1019 // what is active?
CodyMarquardt 99:9d0849f5fcd7 1020 xbee().printf("FB: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
CodyMarquardt 99:9d0849f5fcd7 1021 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
CodyMarquardt 99:9d0849f5fcd7 1022 depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1023
CodyMarquardt 99:9d0849f5fcd7 1024 // if (finish_leg == 1) { _state = FB_EXIT;}
CodyMarquardt 99:9d0849f5fcd7 1025 break;
CodyMarquardt 99:9d0849f5fcd7 1026
CodyMarquardt 99:9d0849f5fcd7 1027 case MULTI_DIVE :
CodyMarquardt 99:9d0849f5fcd7 1028 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 1029 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 1030 xbee().printf("\r\n\nstate: MULTI-DIVE\r\n");
CodyMarquardt 99:9d0849f5fcd7 1031 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 1032 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 1033 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 1034
CodyMarquardt 99:9d0849f5fcd7 1035 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 1036 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 1037 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 1038
CodyMarquardt 99:9d0849f5fcd7 1039 //retrieve commands from structs (loaded from sequence.cfg file)
CodyMarquardt 99:9d0849f5fcd7 1040 float sequence_depth_command = currentStateStruct.depth;
CodyMarquardt 99:9d0849f5fcd7 1041 float sequence_pitch_command = currentStateStruct.pitch;
CodyMarquardt 99:9d0849f5fcd7 1042
CodyMarquardt 99:9d0849f5fcd7 1043 // what are the commands?
CodyMarquardt 99:9d0849f5fcd7 1044 depthLoop().setCommand(sequence_depth_command);
CodyMarquardt 99:9d0849f5fcd7 1045 pitchLoop().setCommand(sequence_pitch_command);
CodyMarquardt 99:9d0849f5fcd7 1046
CodyMarquardt 99:9d0849f5fcd7 1047
CodyMarquardt 99:9d0849f5fcd7 1048 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 99:9d0849f5fcd7 1049 xbee().printf("MULTI-DIVE: depth cmd: %3.1f m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 1050
CodyMarquardt 99:9d0849f5fcd7 1051 //no max depth recording right now
CodyMarquardt 99:9d0849f5fcd7 1052 }
CodyMarquardt 99:9d0849f5fcd7 1053
CodyMarquardt 99:9d0849f5fcd7 1054 // how exit?
CodyMarquardt 99:9d0849f5fcd7 1055 if (_fsm_timer > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 1056 xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1057 _state = MULTI_RISE; //new behavior 11/17/2017
CodyMarquardt 99:9d0849f5fcd7 1058 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 1059 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1060 } else if (depthLoop().getPosition() > depthLoop().getCommand()) {
CodyMarquardt 99:9d0849f5fcd7 1061 xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 1062 _state = MULTI_RISE;
CodyMarquardt 99:9d0849f5fcd7 1063 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 1064 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1065 }
CodyMarquardt 99:9d0849f5fcd7 1066
CodyMarquardt 99:9d0849f5fcd7 1067 // WHAT IS ACTIVE?
CodyMarquardt 99:9d0849f5fcd7 1068 xbee().printf("MD: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
CodyMarquardt 99:9d0849f5fcd7 1069 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1070 bce().setPosition_mm(depthLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 1071 batt().setPosition_mm(pitchLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 1072
CodyMarquardt 99:9d0849f5fcd7 1073 // ACTIVE RUDDER CONTROL
CodyMarquardt 99:9d0849f5fcd7 1074 rudder().setPosition_deg(headingLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 1075
CodyMarquardt 99:9d0849f5fcd7 1076 break;
CodyMarquardt 99:9d0849f5fcd7 1077
CodyMarquardt 99:9d0849f5fcd7 1078 case MULTI_RISE :
CodyMarquardt 99:9d0849f5fcd7 1079 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 1080 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 1081 xbee().printf("\r\n\nstate: MULTI-RISE\r\n");
CodyMarquardt 99:9d0849f5fcd7 1082 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 1083 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 1084 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 1085
CodyMarquardt 99:9d0849f5fcd7 1086 // what needs to be started?
CodyMarquardt 99:9d0849f5fcd7 1087 bce().unpause();
CodyMarquardt 99:9d0849f5fcd7 1088 batt().unpause();
CodyMarquardt 99:9d0849f5fcd7 1089
CodyMarquardt 99:9d0849f5fcd7 1090 //NEW: retrieve depth and pitch commands from config file struct
CodyMarquardt 99:9d0849f5fcd7 1091 // concept is to load this each time the multi-dive restarts
CodyMarquardt 99:9d0849f5fcd7 1092 stateMachine().getDiveSequence();
CodyMarquardt 99:9d0849f5fcd7 1093
CodyMarquardt 99:9d0849f5fcd7 1094 //retrieve just pitch command from struct
CodyMarquardt 99:9d0849f5fcd7 1095 float sequence_pitch_command = currentStateStruct.pitch;
CodyMarquardt 99:9d0849f5fcd7 1096
CodyMarquardt 99:9d0849f5fcd7 1097 // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
CodyMarquardt 99:9d0849f5fcd7 1098 depthLoop().setCommand(0.5);
CodyMarquardt 99:9d0849f5fcd7 1099 pitchLoop().setCommand(-sequence_pitch_command);
CodyMarquardt 99:9d0849f5fcd7 1100
CodyMarquardt 99:9d0849f5fcd7 1101 headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
CodyMarquardt 99:9d0849f5fcd7 1102 xbee().printf("MULTI-RISE: depth cmd: 0.0 m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 1103 }
CodyMarquardt 99:9d0849f5fcd7 1104
CodyMarquardt 99:9d0849f5fcd7 1105 // how exit?
CodyMarquardt 99:9d0849f5fcd7 1106 if (_fsm_timer > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 1107 xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1108 _state = EMERGENCY_CLIMB;
CodyMarquardt 99:9d0849f5fcd7 1109 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 1110 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1111
CodyMarquardt 99:9d0849f5fcd7 1112 //reset multi-dive sequence to start
CodyMarquardt 99:9d0849f5fcd7 1113 _multi_dive_counter = 0;
CodyMarquardt 99:9d0849f5fcd7 1114
tnhnrl 68:8f549749b8ce 1115 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 1116 // sequenceController().loadSequence();
CodyMarquardt 99:9d0849f5fcd7 1117 } else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
CodyMarquardt 99:9d0849f5fcd7 1118 xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 1119
CodyMarquardt 99:9d0849f5fcd7 1120 //going to next state
CodyMarquardt 99:9d0849f5fcd7 1121 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1122
CodyMarquardt 99:9d0849f5fcd7 1123 //successful dive-rise sequence CONTINUES the multi-dive sequence
CodyMarquardt 99:9d0849f5fcd7 1124 _multi_dive_counter++;
CodyMarquardt 99:9d0849f5fcd7 1125
CodyMarquardt 99:9d0849f5fcd7 1126 //UPDATE THE SEQUENCE DATA HERE
CodyMarquardt 99:9d0849f5fcd7 1127 stateMachine().getDiveSequence();
CodyMarquardt 99:9d0849f5fcd7 1128
CodyMarquardt 99:9d0849f5fcd7 1129 //check if this is the end of the dive sequence
CodyMarquardt 99:9d0849f5fcd7 1130 //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
CodyMarquardt 99:9d0849f5fcd7 1131 if (currentStateStruct.state == FLOAT_BROADCAST) {
tnhnrl 68:8f549749b8ce 1132 // //Reload the dive sequence on exit
tnhnrl 68:8f549749b8ce 1133 // sequenceController().loadSequence();
CodyMarquardt 99:9d0849f5fcd7 1134
CodyMarquardt 99:9d0849f5fcd7 1135 _state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 1136 }
CodyMarquardt 99:9d0849f5fcd7 1137
CodyMarquardt 99:9d0849f5fcd7 1138 else
CodyMarquardt 99:9d0849f5fcd7 1139 _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
CodyMarquardt 99:9d0849f5fcd7 1140
CodyMarquardt 99:9d0849f5fcd7 1141 //have to stop this with the _multi_dive_counter variable!
CodyMarquardt 99:9d0849f5fcd7 1142 }
CodyMarquardt 99:9d0849f5fcd7 1143
CodyMarquardt 99:9d0849f5fcd7 1144 // WHAT IS ACTIVE?
CodyMarquardt 99:9d0849f5fcd7 1145 xbee().printf("MR: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
CodyMarquardt 99:9d0849f5fcd7 1146 bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1147 bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
CodyMarquardt 99:9d0849f5fcd7 1148 batt().setPosition_mm(pitchLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 1149
CodyMarquardt 99:9d0849f5fcd7 1150 // ACTIVE RUDDER CONTROL
CodyMarquardt 99:9d0849f5fcd7 1151 rudder().setPosition_deg(headingLoop().getOutput());
CodyMarquardt 99:9d0849f5fcd7 1152
CodyMarquardt 99:9d0849f5fcd7 1153 break;
CodyMarquardt 99:9d0849f5fcd7 1154
CodyMarquardt 99:9d0849f5fcd7 1155 case TX_MBED_LOG:
CodyMarquardt 99:9d0849f5fcd7 1156 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 1157 xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n");
CodyMarquardt 99:9d0849f5fcd7 1158 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 1159 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 1160 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 1161
CodyMarquardt 99:9d0849f5fcd7 1162 //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
CodyMarquardt 99:9d0849f5fcd7 1163
CodyMarquardt 99:9d0849f5fcd7 1164 xbee().printf("TX_MBED_LOG set to zero\n\r");
CodyMarquardt 99:9d0849f5fcd7 1165
CodyMarquardt 99:9d0849f5fcd7 1166 //function to read the file and get number of lines (packets to transmit)
CodyMarquardt 99:9d0849f5fcd7 1167 _timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
CodyMarquardt 99:9d0849f5fcd7 1168
CodyMarquardt 99:9d0849f5fcd7 1169 mbedLogger().setTransmitPacketNumber(0); //reset to zero
tnhnrl 17:7c16b5671d0e 1170 }
CodyMarquardt 99:9d0849f5fcd7 1171
CodyMarquardt 99:9d0849f5fcd7 1172 //TIMED OUT
CodyMarquardt 99:9d0849f5fcd7 1173 if (_fsm_timer.read() > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 1174 xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n");
CodyMarquardt 99:9d0849f5fcd7 1175
CodyMarquardt 99:9d0849f5fcd7 1176 //STATE
CodyMarquardt 99:9d0849f5fcd7 1177 _state = SIT_IDLE;
CodyMarquardt 99:9d0849f5fcd7 1178
CodyMarquardt 99:9d0849f5fcd7 1179 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 1180 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1181
CodyMarquardt 99:9d0849f5fcd7 1182 //mbedLogger().closeLogFile();
CodyMarquardt 99:9d0849f5fcd7 1183 xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
CodyMarquardt 99:9d0849f5fcd7 1184 }
CodyMarquardt 99:9d0849f5fcd7 1185
CodyMarquardt 99:9d0849f5fcd7 1186 //received end transmission packet (if this is true)
CodyMarquardt 99:9d0849f5fcd7 1187 if (mbedLogger().endTransmitPacket()) {
CodyMarquardt 99:9d0849f5fcd7 1188 //STATE
CodyMarquardt 99:9d0849f5fcd7 1189 led3() = !led3();
CodyMarquardt 99:9d0849f5fcd7 1190
CodyMarquardt 99:9d0849f5fcd7 1191 _state = SIT_IDLE;
CodyMarquardt 99:9d0849f5fcd7 1192
CodyMarquardt 99:9d0849f5fcd7 1193 //reset timer
CodyMarquardt 99:9d0849f5fcd7 1194 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 1195
CodyMarquardt 99:9d0849f5fcd7 1196 //mbedLogger().closeLogFile();
CodyMarquardt 99:9d0849f5fcd7 1197
CodyMarquardt 99:9d0849f5fcd7 1198 xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
CodyMarquardt 99:9d0849f5fcd7 1199 }
CodyMarquardt 99:9d0849f5fcd7 1200
CodyMarquardt 99:9d0849f5fcd7 1201 //What is active?
CodyMarquardt 99:9d0849f5fcd7 1202 //mbedLogger().fsmTransmitData();
CodyMarquardt 99:9d0849f5fcd7 1203 mbedLogger().checkForPythonTransmitRequest();
CodyMarquardt 99:9d0849f5fcd7 1204 led1() = !led1();
CodyMarquardt 99:9d0849f5fcd7 1205
CodyMarquardt 99:9d0849f5fcd7 1206 break;
CodyMarquardt 99:9d0849f5fcd7 1207
CodyMarquardt 99:9d0849f5fcd7 1208 case RX_SEQUENCE :
CodyMarquardt 99:9d0849f5fcd7 1209 xbee().printf("state: RX_SEQUENCE\r\n");
CodyMarquardt 99:9d0849f5fcd7 1210
CodyMarquardt 99:9d0849f5fcd7 1211 if (!_isTimeoutRunning) {
CodyMarquardt 99:9d0849f5fcd7 1212 xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n");
CodyMarquardt 99:9d0849f5fcd7 1213 _fsm_timer.reset(); // timer goes back to zero
CodyMarquardt 99:9d0849f5fcd7 1214 _fsm_timer.start(); // background timer starts running
CodyMarquardt 99:9d0849f5fcd7 1215 _isTimeoutRunning = true;
CodyMarquardt 99:9d0849f5fcd7 1216 }
CodyMarquardt 99:9d0849f5fcd7 1217
CodyMarquardt 99:9d0849f5fcd7 1218 if (_fsm_timer.read() > _timeout) {
CodyMarquardt 99:9d0849f5fcd7 1219 xbee().printf("RX_SEQUENCE: timed out!\r\n");
CodyMarquardt 99:9d0849f5fcd7 1220 _state = SIT_IDLE;
CodyMarquardt 99:9d0849f5fcd7 1221 _fsm_timer.reset();
CodyMarquardt 99:9d0849f5fcd7 1222 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1223 }
CodyMarquardt 99:9d0849f5fcd7 1224
CodyMarquardt 99:9d0849f5fcd7 1225 // what is active?
CodyMarquardt 99:9d0849f5fcd7 1226 xbee().printf("Receive sequence active?\r\n");
CodyMarquardt 99:9d0849f5fcd7 1227
CodyMarquardt 99:9d0849f5fcd7 1228 break;
CodyMarquardt 99:9d0849f5fcd7 1229
CodyMarquardt 99:9d0849f5fcd7 1230 default :
CodyMarquardt 99:9d0849f5fcd7 1231 xbee().printf("DEBUG: SIT_IDLE\r\n");
tnhnrl 45:16b8162188ca 1232 _state = SIT_IDLE;
tnhnrl 28:16c83a2fdefa 1233 }
CodyMarquardt 99:9d0849f5fcd7 1234
tnhnrl 28:16c83a2fdefa 1235 //save the state to print to user
tnhnrl 28:16c83a2fdefa 1236 if (_previous_state != _state) {
tnhnrl 28:16c83a2fdefa 1237 _state_array[_state_array_counter] = _state; //save to state array
tnhnrl 28:16c83a2fdefa 1238 _state_array_counter++;
CodyMarquardt 99:9d0849f5fcd7 1239
tnhnrl 28:16c83a2fdefa 1240 _previous_state = _state;
tnhnrl 28:16c83a2fdefa 1241 }
CodyMarquardt 99:9d0849f5fcd7 1242
tnhnrl 34:9b66c5188051 1243 return _state;
tnhnrl 73:f6f378311c8d 1244 } /* end of runStateMachine */
CodyMarquardt 99:9d0849f5fcd7 1245
tnhnrl 16:3363b9f14913 1246 // output the keyboard menu for user's reference
CodyMarquardt 99:9d0849f5fcd7 1247 void StateMachine::printSimpleMenu()
CodyMarquardt 99:9d0849f5fcd7 1248 {
tnhnrl 74:d281aaef9766 1249 xbee().printf("\r\r\n\nSIMPLE KEYBOARD MENU (08/13/2018):\r\r\n"); //make sure depth sensor tares itself on startup
tnhnrl 74:d281aaef9766 1250 xbee().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit());
CodyMarquardt 99:9d0849f5fcd7 1251
tnhnrl 74:d281aaef9766 1252 xbee().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
tnhnrl 74:d281aaef9766 1253 xbee().printf(" J to float level\r\n");
tnhnrl 74:d281aaef9766 1254 xbee().printf(" B to float at broadcast pitch\r\n");
tnhnrl 74:d281aaef9766 1255 xbee().printf(" E to initiate emergency climb\r\n");
tnhnrl 74:d281aaef9766 1256 xbee().printf(" P to print the current log file.\r\n");
tnhnrl 74:d281aaef9766 1257 xbee().printf(" G to transmit MBED log file\r\n");
tnhnrl 74:d281aaef9766 1258 xbee().printf(" I to receive multi-dive sequence file\r\n");
tnhnrl 74:d281aaef9766 1259 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
CodyMarquardt 99:9d0849f5fcd7 1260
CodyMarquardt 99:9d0849f5fcd7 1261 xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset);
tnhnrl 74:d281aaef9766 1262 xbee().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = dive)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
tnhnrl 74:d281aaef9766 1263 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
joel_ssc 85:dd8176285b6e 1264 xbee().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition());
CodyMarquardt 99:9d0849f5fcd7 1265 xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
CodyMarquardt 99:9d0849f5fcd7 1266
tnhnrl 74:d281aaef9766 1267 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
CodyMarquardt 99:9d0849f5fcd7 1268 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
tnhnrl 74:d281aaef9766 1269 xbee().printf(" ? to reset mbed\r\n");
tnhnrl 74:d281aaef9766 1270 xbee().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
tnhnrl 57:ec69651c8c21 1271 }
tnhnrl 57:ec69651c8c21 1272
CodyMarquardt 99:9d0849f5fcd7 1273 void StateMachine::printDebugMenu()
CodyMarquardt 99:9d0849f5fcd7 1274 {
tnhnrl 74:d281aaef9766 1275 xbee().printf("\r\r\n\nDEBUG KEYBOARD MENU (08/08/2018):\r\r\n");
tnhnrl 74:d281aaef9766 1276 xbee().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
tnhnrl 74:d281aaef9766 1277 xbee().printf(" N to find neutral\r\n");
tnhnrl 74:d281aaef9766 1278 xbee().printf(" M to initiate multi-dive cycle\r\n");
tnhnrl 74:d281aaef9766 1279 xbee().printf(" D to initiate dive cycle\r\n");
tnhnrl 74:d281aaef9766 1280 xbee().printf(" R to initiate rise\r\n");
tnhnrl 74:d281aaef9766 1281 xbee().printf(" J to float level\r\n");
tnhnrl 74:d281aaef9766 1282 xbee().printf(" B to float at broadcast pitch\r\n");
tnhnrl 74:d281aaef9766 1283 xbee().printf(" E to initiate emergency climb\r\n");
tnhnrl 74:d281aaef9766 1284 xbee().printf(" '}' to HOME the BCE (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1285 xbee().printf(" '|' to HOME the BMM (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1286 xbee().printf(" Z to show FSM and sub-FSM states.\r\n");
tnhnrl 74:d281aaef9766 1287 xbee().printf(" P to print the current log file.\r\n");
tnhnrl 74:d281aaef9766 1288 xbee().printf(" X to print the list of log files.\r\n");
tnhnrl 74:d281aaef9766 1289 xbee().printf(" I to receive data.\r\n");
tnhnrl 74:d281aaef9766 1290 xbee().printf(" G to transmit MBED log file (60 second timeout)\r\n");
tnhnrl 74:d281aaef9766 1291 xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
tnhnrl 74:d281aaef9766 1292 xbee().printf("; or : to TYPE in the BCE neutral position: %0.1f\r\n", _neutral_bce_pos_mm);
tnhnrl 74:d281aaef9766 1293 xbee().printf("[ or { to TYPE in the BMM neutral position: %0.1f\r\n", _neutral_batt_pos_mm);
tnhnrl 74:d281aaef9766 1294 xbee().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch());
joel_ssc 85:dd8176285b6e 1295 xbee().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1296 xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
CodyMarquardt 99:9d0849f5fcd7 1297 xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
CodyMarquardt 99:9d0849f5fcd7 1298 xbee().printf("F to TYPE the number of samples for altimeter data filter (default is 10): %d\r\n",adc().CH2OVERSAMPLE);
tnhnrl 58:94b7fd55185e 1299
tnhnrl 74:d281aaef9766 1300 xbee().printf(" 1 BCE PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1301 xbee().printf(" 2 BATT PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1302 xbee().printf(" 3 Depth PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1303 xbee().printf(" 4 Pitch PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1304 xbee().printf(" 5 Rudder (servo) sub-menu\r\n");
tnhnrl 74:d281aaef9766 1305 xbee().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n");
tnhnrl 74:d281aaef9766 1306 xbee().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE *** (bce 200, bmm 40, rudder 1640)\r\n");
tnhnrl 74:d281aaef9766 1307 xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
CodyMarquardt 99:9d0849f5fcd7 1308
tnhnrl 74:d281aaef9766 1309 xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
tnhnrl 74:d281aaef9766 1310 xbee().printf(" ? to reset mbed\r\n");
tnhnrl 74:d281aaef9766 1311 xbee().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
tnhnrl 16:3363b9f14913 1312 }
CodyMarquardt 99:9d0849f5fcd7 1313
tnhnrl 74:d281aaef9766 1314 //FIND_NEUTRAL sub-Finite State Machine (sub-FSM)
tnhnrl 67:c86a4b464682 1315 // Note: the sub-FSM only moves the pistons once at the start of each timer loop
tnhnrl 67:c86a4b464682 1316 // (timer completes, moves piston, timer completes, moves piston, etc)
CodyMarquardt 99:9d0849f5fcd7 1317 int StateMachine::runNeutralStateMachine()
CodyMarquardt 99:9d0849f5fcd7 1318 {
CodyMarquardt 99:9d0849f5fcd7 1319 char buf[256];
tnhnrl 24:c7d9b5bf3829 1320 switch (_substate) {
tnhnrl 20:8987a9ae2bc7 1321 case NEUTRAL_SINKING :
tnhnrl 17:7c16b5671d0e 1322 //start the 10 second timer
CodyMarquardt 99:9d0849f5fcd7 1323 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1324 _neutral_timer = _fsm_timer.read() + 5; //record the time when this block is first entered and add 5 seconds
CodyMarquardt 99:9d0849f5fcd7 1325
tnhnrl 74:d281aaef9766 1326 xbee().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (BCE getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
CodyMarquardt 99:9d0849f5fcd7 1327
tnhnrl 74:d281aaef9766 1328 // what are the commands? (BCE linear actuator active, no BMM or pitch movement)
tnhnrl 74:d281aaef9766 1329 bce().setPosition_mm(bce().getSetPosition_mm() - 2.5);
CodyMarquardt 99:9d0849f5fcd7 1330
tnhnrl 74:d281aaef9766 1331 xbee().printf("NEUTRAL_SINKING: Retracting piston 2.5 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
CodyMarquardt 99:9d0849f5fcd7 1332
tnhnrl 28:16c83a2fdefa 1333 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 1334 }
CodyMarquardt 99:9d0849f5fcd7 1335
tnhnrl 20:8987a9ae2bc7 1336 // how exit?
tnhnrl 20:8987a9ae2bc7 1337 //once reached the travel limit, no need to keep trying, so exit
tnhnrl 25:249e4d56b27c 1338 if (bce().getPosition_mm() <= 0) {
tnhnrl 74:d281aaef9766 1339 xbee().printf("\r\nDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\r\n", bce().getPosition_mm());
joel_ssc 87:6d95f853dab3 1340 sprintf(buf, "in RUNneutral: state failed at bce.getPosition()\n\n");
joel_ssc 87:6d95f853dab3 1341 mbedLogger().appendDiagFile(buf,3);
tnhnrl 25:249e4d56b27c 1342 _substate = NEUTRAL_EXIT;
CodyMarquardt 99:9d0849f5fcd7 1343 _neutral_success = -1;
tnhnrl 28:16c83a2fdefa 1344 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 74:d281aaef9766 1345 }
CodyMarquardt 99:9d0849f5fcd7 1346
tnhnrl 74:d281aaef9766 1347 //Troy: Pressure vessel went beyond set depth limit, goes to next state
tnhnrl 20:8987a9ae2bc7 1348 //once deeper than the commanded setpoint...
tnhnrl 32:f2f8ae34aadc 1349 else if (depthLoop().getPosition() > _depth_command) {
tnhnrl 24:c7d9b5bf3829 1350 _substate = NEUTRAL_SLOWLY_RISE; // next state
tnhnrl 28:16c83a2fdefa 1351 _isSubStateTimerRunning = false; //reset the sub state timer
CodyMarquardt 99:9d0849f5fcd7 1352 } else if ( (depthLoop().getVelocity() > 0.05) && (depthLoop().getPosition() > 0.6 * _depth_command) ) { // need to code in FILTERED vertical velocity
joel_ssc 87:6d95f853dab3 1353 _substate = NEUTRAL_SLOWLY_RISE; // next state
joel_ssc 87:6d95f853dab3 1354 _isSubStateTimerRunning = false; //reset the sub state timer
joel_ssc 87:6d95f853dab3 1355 }
tnhnrl 20:8987a9ae2bc7 1356 // what is active?
tnhnrl 20:8987a9ae2bc7 1357 //once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1358 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1359 xbee().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1360
tnhnrl 28:16c83a2fdefa 1361 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 1362 }
CodyMarquardt 99:9d0849f5fcd7 1363
tnhnrl 39:58375ca6b6ff 1364 // what is active? (only the buoyancy engine moved every 5 seconds at start)
joel_ssc 85:dd8176285b6e 1365 xbee().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f m)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
CodyMarquardt 99:9d0849f5fcd7 1366
tnhnrl 74:d281aaef9766 1367 //the BCE moves every 5 seconds. No BMM or rudder movement.
CodyMarquardt 99:9d0849f5fcd7 1368
tnhnrl 17:7c16b5671d0e 1369 break;
CodyMarquardt 99:9d0849f5fcd7 1370
tnhnrl 17:7c16b5671d0e 1371 case NEUTRAL_SLOWLY_RISE:
CodyMarquardt 99:9d0849f5fcd7 1372 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1373 _neutral_timer = _fsm_timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
CodyMarquardt 99:9d0849f5fcd7 1374
tnhnrl 74:d281aaef9766 1375 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1376
tnhnrl 20:8987a9ae2bc7 1377 // what are the commands?
tnhnrl 32:f2f8ae34aadc 1378 //move piston at start of sequence (default: extend 2.0 mm)
tnhnrl 74:d281aaef9766 1379 //Pressure vessel should slowly rise
tnhnrl 74:d281aaef9766 1380 bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command, only motor position
CodyMarquardt 99:9d0849f5fcd7 1381
tnhnrl 74:d281aaef9766 1382 //Troy: I commented out this command, we're finding pitch in the next state.
tnhnrl 23:434f04ef1fad 1383 // it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
tnhnrl 74:d281aaef9766 1384 //pitchLoop().setCommand(0.0);
CodyMarquardt 99:9d0849f5fcd7 1385
tnhnrl 74:d281aaef9766 1386 xbee().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 2.0 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
tnhnrl 24:c7d9b5bf3829 1387
tnhnrl 28:16c83a2fdefa 1388 _isSubStateTimerRunning = true; //disable this block after one iteration
tnhnrl 17:7c16b5671d0e 1389 }
CodyMarquardt 99:9d0849f5fcd7 1390
tnhnrl 20:8987a9ae2bc7 1391 // how exit?
tnhnrl 24:c7d9b5bf3829 1392 //once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
tnhnrl 24:c7d9b5bf3829 1393 if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
CodyMarquardt 99:9d0849f5fcd7 1394 _substate = NEUTRAL_EXIT;
joel_ssc 93:50e789e48b41 1395 sprintf(buf, "in RUNneutral: SLOWLY RISE state failed at bce.getsetPosition() > bce.getTravelLimit()\n\n");
joel_ssc 87:6d95f853dab3 1396 mbedLogger().appendDiagFile(buf,3);
CodyMarquardt 99:9d0849f5fcd7 1397 _neutral_success = -1; //another failed state
tnhnrl 28:16c83a2fdefa 1398 _isSubStateTimerRunning = false; // reset the sub state timer
tnhnrl 17:7c16b5671d0e 1399 }
tnhnrl 74:d281aaef9766 1400 //Troy: Depth rate will go negative as the pressure vessel starts rising
tnhnrl 17:7c16b5671d0e 1401 //depth rate or sink rate < 0 ft/s, go to the next substate the next iteration
joel_ssc 85:dd8176285b6e 1402 else if (depthLoop().getVelocity() < 0) { //less than zero ft/s should now be m/s
joel_ssc 85:dd8176285b6e 1403 xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 m/s [time: %0.1f]\r\n", _fsm_timer.read());
tnhnrl 24:c7d9b5bf3829 1404 _substate = NEUTRAL_CHECK_PITCH;
tnhnrl 28:16c83a2fdefa 1405 _isSubStateTimerRunning = false; // reset the sub state timer
CodyMarquardt 99:9d0849f5fcd7 1406 }
tnhnrl 20:8987a9ae2bc7 1407 // what is active?
tnhnrl 20:8987a9ae2bc7 1408 //once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1409 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1410 xbee().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1411
tnhnrl 28:16c83a2fdefa 1412 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 17:7c16b5671d0e 1413 }
CodyMarquardt 99:9d0849f5fcd7 1414
tnhnrl 32:f2f8ae34aadc 1415 // what is active? (only the buoyancy engine moved every 5 seconds)
tnhnrl 74:d281aaef9766 1416 xbee().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
CodyMarquardt 99:9d0849f5fcd7 1417
CodyMarquardt 99:9d0849f5fcd7 1418 break;
CodyMarquardt 99:9d0849f5fcd7 1419
danstrider 22:a10ee088403b 1420 case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
danstrider 22:a10ee088403b 1421 // start local state timer and init any other one-shot actions
CodyMarquardt 99:9d0849f5fcd7 1422
CodyMarquardt 99:9d0849f5fcd7 1423 if (!_isSubStateTimerRunning) {
tnhnrl 73:f6f378311c8d 1424 _neutral_timer = _fsm_timer.read() + 10; // record time when this block is entered and add several seconds
tnhnrl 74:d281aaef9766 1425 xbee().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read());
CodyMarquardt 99:9d0849f5fcd7 1426
tnhnrl 32:f2f8ae34aadc 1427 // what are the commands? (default: retract or extend 0.5 mm)
tnhnrl 74:d281aaef9766 1428 if (pitchLoop().getPosition() > 2) { // nose is high (extend batteries)
tnhnrl 39:58375ca6b6ff 1429 batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
tnhnrl 74:d281aaef9766 1430 xbee().printf("\r\nNeutral Check Pitch: moving battery FWD in 0.5 mm increments\r\n\n");
CodyMarquardt 99:9d0849f5fcd7 1431 } else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries)
tnhnrl 39:58375ca6b6ff 1432 batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
tnhnrl 74:d281aaef9766 1433 xbee().printf("\r\nNeutral Check Pitch: moving battery AFT in 0.5 mm increments\r\n\n");
danstrider 22:a10ee088403b 1434 }
tnhnrl 24:c7d9b5bf3829 1435
tnhnrl 28:16c83a2fdefa 1436 _isSubStateTimerRunning = true; //disable this block after one iteration
danstrider 22:a10ee088403b 1437 }
CodyMarquardt 99:9d0849f5fcd7 1438
CodyMarquardt 99:9d0849f5fcd7 1439 // how exit?
tnhnrl 20:8987a9ae2bc7 1440 //pitch angle and pitch rate within small tolerance
tnhnrl 20:8987a9ae2bc7 1441 //benchtop tests confirm angle needs to be around 2 degrees
CodyMarquardt 99:9d0849f5fcd7 1442 if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
tnhnrl 74:d281aaef9766 1443 xbee().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
danstrider 22:a10ee088403b 1444 // found level, but don't need to save anything this time
CodyMarquardt 99:9d0849f5fcd7 1445
tnhnrl 28:16c83a2fdefa 1446 if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
tnhnrl 28:16c83a2fdefa 1447 _max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
tnhnrl 28:16c83a2fdefa 1448 }
CodyMarquardt 99:9d0849f5fcd7 1449
CodyMarquardt 99:9d0849f5fcd7 1450 // found level and at depth too, so save it all now
tnhnrl 32:f2f8ae34aadc 1451 if (_substate == NEUTRAL_CHECK_PITCH) {
danstrider 22:a10ee088403b 1452 //save positions locally
joel_ssc 94:7ea429bcbbae 1453 _neutral_batt_pos_mm = batt().getPosition_mm(); // how about a comment here
danstrider 22:a10ee088403b 1454 _neutral_bce_pos_mm = bce().getPosition_mm();
CodyMarquardt 99:9d0849f5fcd7 1455
danstrider 22:a10ee088403b 1456 //set the neutral positions in each outer loop
danstrider 22:a10ee088403b 1457 depthLoop().setOutputOffset(_neutral_bce_pos_mm);
danstrider 22:a10ee088403b 1458 pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
CodyMarquardt 99:9d0849f5fcd7 1459
danstrider 22:a10ee088403b 1460 // save into the depth.txt and pitch.txt files
CodyMarquardt 99:9d0849f5fcd7 1461
tnhnrl 73:f6f378311c8d 1462 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
tnhnrl 73:f6f378311c8d 1463 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); //P,I,D, bce zeroOffset
tnhnrl 73:f6f378311c8d 1464
tnhnrl 74:d281aaef9766 1465 xbee().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
CodyMarquardt 99:9d0849f5fcd7 1466
CodyMarquardt 99:9d0849f5fcd7 1467 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
tnhnrl 24:c7d9b5bf3829 1468 _substate = NEUTRAL_EXIT;
joel_ssc 87:6d95f853dab3 1469 sprintf(buf, "in RUNneutral: state succeeded! at NEUTRAL_CHECK PITCH line 1452\n\n");
CodyMarquardt 99:9d0849f5fcd7 1470 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 1471 _neutral_success = 1;
joel_ssc 87:6d95f853dab3 1472 configFileIO().saveNeutralStatus(_neutral_success, _neutral_bce_pos_mm, _neutral_batt_pos_mm); // saves to tell re-started program neutral has been found
CodyMarquardt 99:9d0849f5fcd7 1473
tnhnrl 24:c7d9b5bf3829 1474 }
CodyMarquardt 99:9d0849f5fcd7 1475
tnhnrl 24:c7d9b5bf3829 1476 else {
tnhnrl 74:d281aaef9766 1477 xbee().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
tnhnrl 24:c7d9b5bf3829 1478 _substate = NEUTRAL_EXIT;
joel_ssc 87:6d95f853dab3 1479 sprintf(buf, "in RUNneutral: state failed at final fallthrough point line 1462\n\n");
joel_ssc 87:6d95f853dab3 1480 mbedLogger().appendDiagFile(buf,3);
danstrider 22:a10ee088403b 1481 }
tnhnrl 17:7c16b5671d0e 1482 }
CodyMarquardt 99:9d0849f5fcd7 1483
danstrider 22:a10ee088403b 1484 // what is active?
danstrider 22:a10ee088403b 1485 //once timer complete, reset the timeout so the state one-shot entry will move the setpoint
tnhnrl 73:f6f378311c8d 1486 if (_fsm_timer.read() >= _neutral_timer) {
tnhnrl 74:d281aaef9766 1487 xbee().printf("\r\n\nlevel timer COMPLETE!");
tnhnrl 74:d281aaef9766 1488 xbee().printf("\r\n\n (BATT POS: %0.1f) moving 1 mm [timer: %0.1f]\r\n", batt().getPosition_mm(), _fsm_timer.read());
tnhnrl 28:16c83a2fdefa 1489 _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
danstrider 22:a10ee088403b 1490 }
tnhnrl 74:d281aaef9766 1491
tnhnrl 17:7c16b5671d0e 1492 break;
CodyMarquardt 99:9d0849f5fcd7 1493
danstrider 22:a10ee088403b 1494 //this state could be removed, it is only used as a transition but is needed to stop entering this function
danstrider 22:a10ee088403b 1495 case NEUTRAL_EXIT :
CodyMarquardt 99:9d0849f5fcd7 1496 xbee().printf("substate: NEUTRAL_EXIT\r\n");
tnhnrl 20:8987a9ae2bc7 1497 break;
CodyMarquardt 99:9d0849f5fcd7 1498
danstrider 22:a10ee088403b 1499 default :
tnhnrl 74:d281aaef9766 1500 xbee().printf("how did we get to substate: default?\r\n"); //debug
tnhnrl 23:434f04ef1fad 1501 //a default within the sub-state machine
CodyMarquardt 99:9d0849f5fcd7 1502 _substate = NEUTRAL_EXIT;
danstrider 22:a10ee088403b 1503 break;
tnhnrl 17:7c16b5671d0e 1504 }
CodyMarquardt 99:9d0849f5fcd7 1505
tnhnrl 30:2964617e7676 1506 // reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
tnhnrl 24:c7d9b5bf3829 1507 if (_substate == NEUTRAL_EXIT) {
tnhnrl 74:d281aaef9766 1508 xbee().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
tnhnrl 24:c7d9b5bf3829 1509
tnhnrl 30:2964617e7676 1510 //reset internal sub-state back to first entry conditions (first state is immediately sinking)
tnhnrl 30:2964617e7676 1511 _substate = NEUTRAL_SINKING;
tnhnrl 28:16c83a2fdefa 1512 _isSubStateTimerRunning = false; // reset the sub state timer
CodyMarquardt 99:9d0849f5fcd7 1513
tnhnrl 24:c7d9b5bf3829 1514 //record sub-states to view after sequence
tnhnrl 30:2964617e7676 1515 _substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
tnhnrl 28:16c83a2fdefa 1516 _substate_array_counter++;
CodyMarquardt 99:9d0849f5fcd7 1517
tnhnrl 24:c7d9b5bf3829 1518 //reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
tnhnrl 24:c7d9b5bf3829 1519 _previous_substate = -1;
tnhnrl 24:c7d9b5bf3829 1520
tnhnrl 24:c7d9b5bf3829 1521 //NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
tnhnrl 24:c7d9b5bf3829 1522 return NEUTRAL_EXIT; // message to calling function we just exited
CodyMarquardt 99:9d0849f5fcd7 1523 } else {
tnhnrl 24:c7d9b5bf3829 1524 //record sub-states to view after sequence (when changed)
tnhnrl 24:c7d9b5bf3829 1525 if (_previous_substate != _substate) {
tnhnrl 28:16c83a2fdefa 1526 _substate_array[_substate_array_counter] = _substate; //save current state to state array
tnhnrl 28:16c83a2fdefa 1527 _substate_array_counter++;
CodyMarquardt 99:9d0849f5fcd7 1528
CodyMarquardt 99:9d0849f5fcd7 1529 //record the current substate for comparison
tnhnrl 24:c7d9b5bf3829 1530 _previous_substate = _substate;
CodyMarquardt 99:9d0849f5fcd7 1531 }
CodyMarquardt 99:9d0849f5fcd7 1532
tnhnrl 24:c7d9b5bf3829 1533 return _substate; // message to calling function of what sub-state it's in
tnhnrl 23:434f04ef1fad 1534 }
tnhnrl 17:7c16b5671d0e 1535 }
CodyMarquardt 99:9d0849f5fcd7 1536
tnhnrl 57:ec69651c8c21 1537 /* keyboard runs independently of the state machine, handling one key at a time
tnhnrl 57:ec69651c8c21 1538 keyboard updates the desired _keyboard_state that is used in the state machine
tnhnrl 57:ec69651c8c21 1539 and only allows input when the state is "idle" */
CodyMarquardt 99:9d0849f5fcd7 1540
CodyMarquardt 99:9d0849f5fcd7 1541 void StateMachine::keyboard()
CodyMarquardt 99:9d0849f5fcd7 1542 {
tnhnrl 57:ec69651c8c21 1543 char user_input;
joel_ssc 85:dd8176285b6e 1544 char buf[256];
CodyMarquardt 99:9d0849f5fcd7 1545
tnhnrl 16:3363b9f14913 1546 // check keyboard and make settings changes as requested
tnhnrl 17:7c16b5671d0e 1547 // states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
CodyMarquardt 99:9d0849f5fcd7 1548
tnhnrl 37:357e98a929cc 1549 //TEST
tnhnrl 37:357e98a929cc 1550 int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
joel_ssc 85:dd8176285b6e 1551 static int yocount = -3;
joel_ssc 85:dd8176285b6e 1552 static float htime = 0.0;
joel_ssc 85:dd8176285b6e 1553 if(_state == ENDLEG_WAIT) {
CodyMarquardt 99:9d0849f5fcd7 1554 yocount = int(_yotimer.read());
CodyMarquardt 99:9d0849f5fcd7 1555 if ( ( (yocount % 5) == 0 ) && ( _yotimer.read() > 2.5+htime) ) { // send out a heartbeat message, need to cast as an int from float
CodyMarquardt 99:9d0849f5fcd7 1556 xbee().printf("\nFSG on surface at end of leg, hit c to wake up\r\n");
CodyMarquardt 99:9d0849f5fcd7 1557 sprintf(buf, "ENDLEG WAIT heartbeat message sent yotimer=%f \n\n\r", _yotimer.read());
joel_ssc 85:dd8176285b6e 1558 mbedLogger().appendDiagFile(buf,0);
joel_ssc 85:dd8176285b6e 1559 htime = _yotimer.read();
joel_ssc 85:dd8176285b6e 1560 }
CodyMarquardt 99:9d0849f5fcd7 1561 if( _yotimer > _state_transition_time) {
joel_ssc 85:dd8176285b6e 1562 _keyboard_state = FB_EXIT;
joel_ssc 85:dd8176285b6e 1563 _state = FB_EXIT;
CodyMarquardt 99:9d0849f5fcd7 1564 }
CodyMarquardt 99:9d0849f5fcd7 1565 }
CodyMarquardt 99:9d0849f5fcd7 1566 if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD || _state == ENDLEG_WAIT)) { //ends at very end of function 1740
joel_ssc 85:dd8176285b6e 1567 // then get the key
CodyMarquardt 99:9d0849f5fcd7 1568 user_input = xbee().getc();
joel_ssc 85:dd8176285b6e 1569 // and exit from ENDLEG_WAIT - you got a keyboard input
CodyMarquardt 99:9d0849f5fcd7 1570 if(_state == ENDLEG_WAIT) { //edited by CAM
CodyMarquardt 99:9d0849f5fcd7 1571 _keyboard_state = SIT_IDLE; // this is installed in _state at end of function
CodyMarquardt 99:9d0849f5fcd7 1572 }
CodyMarquardt 99:9d0849f5fcd7 1573
tnhnrl 28:16c83a2fdefa 1574 //record that the keyboard was used
tnhnrl 28:16c83a2fdefa 1575 _state_array[_state_array_counter] = KEYBOARD;
tnhnrl 28:16c83a2fdefa 1576 _state_array_counter++;
CodyMarquardt 99:9d0849f5fcd7 1577
tnhnrl 21:38c8544db6f4 1578 // keyboard has to reset timer each time it's used
tnhnrl 28:16c83a2fdefa 1579 _isTimeoutRunning = false;
CodyMarquardt 99:9d0849f5fcd7 1580
tnhnrl 16:3363b9f14913 1581 // check command against desired control buttons
CodyMarquardt 99:9d0849f5fcd7 1582
CodyMarquardt 99:9d0849f5fcd7 1583 /***************************** COMMON COMMANDS *****************************/
tnhnrl 72:250b2665755c 1584 if (user_input == 'W') {
tnhnrl 74:d281aaef9766 1585 xbee().printf(">> Please enter the heading (deg).\r\n");
tnhnrl 72:250b2665755c 1586 _heading_command = getFloatUserInput();
tnhnrl 72:250b2665755c 1587 }
CodyMarquardt 99:9d0849f5fcd7 1588
CodyMarquardt 99:9d0849f5fcd7 1589 //////////////////// TEST
tnhnrl 73:f6f378311c8d 1590 // else if (user_input == 'l') {
tnhnrl 74:d281aaef9766 1591 // xbee().printf("CUT OFF RUDDER SERVO????\n\r");
tnhnrl 73:f6f378311c8d 1592 // rudder().pwm_pulse_off();
tnhnrl 73:f6f378311c8d 1593 // }
tnhnrl 73:f6f378311c8d 1594 //////////////////// TEST
CodyMarquardt 99:9d0849f5fcd7 1595
tnhnrl 74:d281aaef9766 1596 else if (user_input == 'K') {
tnhnrl 74:d281aaef9766 1597 xbee().printf("(K) BLAST DATA AND EXIT! \n\r");
tnhnrl 74:d281aaef9766 1598 mbedLogger().blastData();
tnhnrl 74:d281aaef9766 1599 }
CodyMarquardt 99:9d0849f5fcd7 1600
tnhnrl 73:f6f378311c8d 1601 else if (user_input == 'U') {
tnhnrl 74:d281aaef9766 1602 xbee().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
CodyMarquardt 99:9d0849f5fcd7 1603
tnhnrl 73:f6f378311c8d 1604 mbedLogger().transmitMultiplePackets();
tnhnrl 73:f6f378311c8d 1605 }
CodyMarquardt 99:9d0849f5fcd7 1606
tnhnrl 73:f6f378311c8d 1607 else if (user_input == 'H') {
tnhnrl 74:d281aaef9766 1608 xbee().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
tnhnrl 73:f6f378311c8d 1609 wait(1);
tnhnrl 73:f6f378311c8d 1610 mbedLogger().blastData();
CodyMarquardt 99:9d0849f5fcd7 1611
CodyMarquardt 99:9d0849f5fcd7 1612 mbedLogger().transmitMultiplePackets();
tnhnrl 73:f6f378311c8d 1613 }
CodyMarquardt 99:9d0849f5fcd7 1614
tnhnrl 73:f6f378311c8d 1615 else if (user_input == 'G') {
tnhnrl 74:d281aaef9766 1616 xbee().printf("(G) BLAST DATA TEST and use FSM! \n\r");
tnhnrl 73:f6f378311c8d 1617 wait(1);
tnhnrl 73:f6f378311c8d 1618 mbedLogger().blastData();
CodyMarquardt 99:9d0849f5fcd7 1619
tnhnrl 73:f6f378311c8d 1620 _keyboard_state = TX_MBED_LOG;
tnhnrl 73:f6f378311c8d 1621 }
CodyMarquardt 99:9d0849f5fcd7 1622
tnhnrl 74:d281aaef9766 1623 else if (user_input == 'I') {
tnhnrl 74:d281aaef9766 1624 xbee().printf("(I) Receive Multi-Dive Sequence! \n\r");
tnhnrl 74:d281aaef9766 1625 mbedLogger().receiveSequenceFile(); //receive sequence.txt files
tnhnrl 74:d281aaef9766 1626 }
CodyMarquardt 99:9d0849f5fcd7 1627
tnhnrl 72:250b2665755c 1628 else if (user_input == '8') {
tnhnrl 72:250b2665755c 1629 keyboard_menu_STREAM_STATUS();
tnhnrl 72:250b2665755c 1630 }
CodyMarquardt 99:9d0849f5fcd7 1631
tnhnrl 72:250b2665755c 1632 else if (user_input == '?') {
tnhnrl 74:d281aaef9766 1633 xbee().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
tnhnrl 72:250b2665755c 1634 wait(0.5);
tnhnrl 72:250b2665755c 1635 mbed_reset();
tnhnrl 72:250b2665755c 1636 }
CodyMarquardt 99:9d0849f5fcd7 1637
tnhnrl 72:250b2665755c 1638 else if (user_input == 'T') {
tnhnrl 74:d281aaef9766 1639 xbee().printf("Please enter the timeout (timer) value below: \n\r");
tnhnrl 72:250b2665755c 1640 _timeout = fabs(getFloatUserInput());
tnhnrl 72:250b2665755c 1641 }
CodyMarquardt 99:9d0849f5fcd7 1642
tnhnrl 80:4e5d306d695b 1643 else if (user_input == '~') {
tnhnrl 80:4e5d306d695b 1644 xbee().printf("MBED LOG FILE MENU!\r\n");
tnhnrl 80:4e5d306d695b 1645 stateMachine().logFileMenu();
CodyMarquardt 99:9d0849f5fcd7 1646
tnhnrl 80:4e5d306d695b 1647 //xbee().printf("ERASING MBED LOG FILE\r\n"); //legacy method
tnhnrl 80:4e5d306d695b 1648 //mbedLogger().eraseFile();
tnhnrl 80:4e5d306d695b 1649 }
CodyMarquardt 99:9d0849f5fcd7 1650
tnhnrl 73:f6f378311c8d 1651 else if (user_input == 'C' or user_input == 'c') {
CodyMarquardt 99:9d0849f5fcd7 1652
tnhnrl 74:d281aaef9766 1653 xbee().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
CodyMarquardt 99:9d0849f5fcd7 1654
tnhnrl 74:d281aaef9766 1655 xbee().printf("raw BCE pos: %d \r\n",adc().readCh0());
tnhnrl 74:d281aaef9766 1656 xbee().printf("raw BMM pos: %d \r\n",adc().readCh1());
tnhnrl 74:d281aaef9766 1657 xbee().printf("raw BCE current sense: %d \r\n",adc().readCh2());
tnhnrl 74:d281aaef9766 1658 xbee().printf("raw BMM current sense: %d \r\n",adc().readCh3());
tnhnrl 74:d281aaef9766 1659 xbee().printf("raw depth pressure: %d \r\n",adc().readCh4());
tnhnrl 74:d281aaef9766 1660 xbee().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),sensors().getInternalPressurePSI());
tnhnrl 74:d281aaef9766 1661 //xbee().printf("raw vessel pressure: %d \r\n",adc().readCh5());
tnhnrl 74:d281aaef9766 1662 xbee().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),sensors().getVoltageInput());
tnhnrl 74:d281aaef9766 1663 xbee().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), sensors().getCurrentInput());
tnhnrl 74:d281aaef9766 1664 xbee().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
tnhnrl 74:d281aaef9766 1665 xbee().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
tnhnrl 74:d281aaef9766 1666 xbee().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5());
tnhnrl 73:f6f378311c8d 1667 // End of ADC Test
CodyMarquardt 99:9d0849f5fcd7 1668
joel_ssc 85:dd8176285b6e 1669 xbee().printf("depth: %3.1f m\r\n",depthLoop().getPosition());
tnhnrl 74:d281aaef9766 1670 xbee().printf("pitch: %3.1f deg\r\n",imu().getPitch());
tnhnrl 74:d281aaef9766 1671 xbee().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
tnhnrl 74:d281aaef9766 1672 xbee().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm());
tnhnrl 74:d281aaef9766 1673 xbee().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm());
tnhnrl 74:d281aaef9766 1674 xbee().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
tnhnrl 74:d281aaef9766 1675 xbee().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
tnhnrl 74:d281aaef9766 1676 xbee().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
CodyMarquardt 99:9d0849f5fcd7 1677
tnhnrl 74:d281aaef9766 1678 xbee().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
tnhnrl 74:d281aaef9766 1679 xbee().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 74:d281aaef9766 1680 xbee().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 74:d281aaef9766 1681 xbee().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
CodyMarquardt 99:9d0849f5fcd7 1682
tnhnrl 74:d281aaef9766 1683 xbee().printf("\r\n");
tnhnrl 76:c802e1da4179 1684 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
tnhnrl 76:c802e1da4179 1685 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 74:d281aaef9766 1686 xbee().printf("rudder min_pwm:%6.1f, center_pwm:%6.1f, max_pwm:%6.1f (min_deg:%6.1f max_deg:%6.1f)\r\n",rudder().getMinPWM(),rudder().getCenterPWM(),rudder().getMaxPWM(),rudder().getMinDeg(),rudder().getMaxDeg());
tnhnrl 74:d281aaef9766 1687 xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
tnhnrl 74:d281aaef9766 1688 xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 74:d281aaef9766 1689 xbee().printf("heading P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
tnhnrl 73:f6f378311c8d 1690 }
CodyMarquardt 99:9d0849f5fcd7 1691
CodyMarquardt 99:9d0849f5fcd7 1692 /***************************** COMMON COMMANDS *****************************/
CodyMarquardt 99:9d0849f5fcd7 1693
CodyMarquardt 99:9d0849f5fcd7 1694 /***************************** DEBUG MENU *****************************/
CodyMarquardt 99:9d0849f5fcd7 1695 if (_debug_menu_on) { // ends around +175 lines
tnhnrl 57:ec69651c8c21 1696 if (user_input == 'D') {
tnhnrl 57:ec69651c8c21 1697 _keyboard_state = DIVE;
tnhnrl 57:ec69651c8c21 1698 }
CodyMarquardt 99:9d0849f5fcd7 1699
tnhnrl 74:d281aaef9766 1700 else if (user_input == '}') {
tnhnrl 74:d281aaef9766 1701 xbee().printf("HOMING the BCE (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1702 wait(5);
tnhnrl 74:d281aaef9766 1703 bce().homePiston();
tnhnrl 74:d281aaef9766 1704 }
CodyMarquardt 99:9d0849f5fcd7 1705
tnhnrl 74:d281aaef9766 1706 else if (user_input == '|') {
tnhnrl 74:d281aaef9766 1707 xbee().printf("HOMING the BMM (5 second delay)\r\n");
tnhnrl 74:d281aaef9766 1708 wait(5);
tnhnrl 74:d281aaef9766 1709 batt().homePiston();
tnhnrl 74:d281aaef9766 1710 }
CodyMarquardt 99:9d0849f5fcd7 1711
tnhnrl 57:ec69651c8c21 1712 else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1713 _keyboard_state = FIND_NEUTRAL;
CodyMarquardt 99:9d0849f5fcd7 1714 } else if (user_input == 'M') {
tnhnrl 57:ec69651c8c21 1715 //currently does not run if there is no file.
CodyMarquardt 99:9d0849f5fcd7 1716
CodyMarquardt 99:9d0849f5fcd7 1717 //need to add method to Sequence Controller that returns -1
tnhnrl 57:ec69651c8c21 1718 // or some check that insures you cannot run the dive sequence without a file
CodyMarquardt 99:9d0849f5fcd7 1719
tnhnrl 68:8f549749b8ce 1720 //load sequence from file
tnhnrl 68:8f549749b8ce 1721 _multi_dive_counter = 0;
tnhnrl 68:8f549749b8ce 1722 sequenceController().loadSequence();
tnhnrl 68:8f549749b8ce 1723 wait(1); //test if this resets the sequence
CodyMarquardt 99:9d0849f5fcd7 1724
tnhnrl 57:ec69651c8c21 1725 stateMachine().getDiveSequence(); //get first sequence on keyboard press
tnhnrl 57:ec69651c8c21 1726 _keyboard_state = currentStateStruct.state;
CodyMarquardt 99:9d0849f5fcd7 1727
tnhnrl 74:d281aaef9766 1728 xbee().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
CodyMarquardt 99:9d0849f5fcd7 1729
CodyMarquardt 99:9d0849f5fcd7 1730 } else if (user_input == 'R') {
tnhnrl 57:ec69651c8c21 1731 _keyboard_state = RISE;
CodyMarquardt 99:9d0849f5fcd7 1732 } else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1733 _keyboard_state = FLOAT_LEVEL;
CodyMarquardt 99:9d0849f5fcd7 1734 } else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1735 _keyboard_state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 1736 } else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1737 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1738 }
CodyMarquardt 99:9d0849f5fcd7 1739
tnhnrl 65:2ac186553959 1740 else if (user_input == 'Y') {
tnhnrl 57:ec69651c8c21 1741 _keyboard_state = CHECK_TUNING;
tnhnrl 57:ec69651c8c21 1742 }
CodyMarquardt 99:9d0849f5fcd7 1743
tnhnrl 57:ec69651c8c21 1744 // some debug tools below
tnhnrl 57:ec69651c8c21 1745 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1746 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1747 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1748 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
CodyMarquardt 99:9d0849f5fcd7 1749 } else if (user_input == 'X') {
tnhnrl 57:ec69651c8c21 1750 mbedLogger().printMbedDirectory(); //print all log files to the screen
CodyMarquardt 99:9d0849f5fcd7 1751 } else if (user_input == 'Z') {
tnhnrl 74:d281aaef9766 1752 xbee().printf("FSG FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1753 string string_state;
CodyMarquardt 99:9d0849f5fcd7 1754
tnhnrl 57:ec69651c8c21 1755 for (int i = 0; i < _state_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1756 if (_state_array[i] == SIT_IDLE)
tnhnrl 57:ec69651c8c21 1757 string_state = "SIT_IDLE <END>";
tnhnrl 57:ec69651c8c21 1758 else if (_state_array[i] == FIND_NEUTRAL)
tnhnrl 57:ec69651c8c21 1759 string_state = "FIND_NEUTRAL";
tnhnrl 57:ec69651c8c21 1760 else if (_state_array[i] == DIVE)
tnhnrl 57:ec69651c8c21 1761 string_state = "DIVE";
tnhnrl 57:ec69651c8c21 1762 else if (_state_array[i] == RISE)
tnhnrl 57:ec69651c8c21 1763 string_state = "RISE";
tnhnrl 57:ec69651c8c21 1764 else if (_state_array[i] == FLOAT_LEVEL)
tnhnrl 57:ec69651c8c21 1765 string_state = "FLOAT_LEVEL";
tnhnrl 57:ec69651c8c21 1766 else if (_state_array[i] == FLOAT_BROADCAST)
CodyMarquardt 99:9d0849f5fcd7 1767 string_state = "FLOAT_BROADCAST";
tnhnrl 57:ec69651c8c21 1768 else if (_state_array[i] == EMERGENCY_CLIMB)
tnhnrl 57:ec69651c8c21 1769 string_state = "EMERGENCY_CLIMB";
tnhnrl 57:ec69651c8c21 1770 else if (_state_array[i] == MULTI_DIVE)
tnhnrl 57:ec69651c8c21 1771 string_state = "MULTI_DIVE";
tnhnrl 57:ec69651c8c21 1772 else if (_state_array[i] == MULTI_RISE)
tnhnrl 57:ec69651c8c21 1773 string_state = "MULTI_RISE";
tnhnrl 57:ec69651c8c21 1774 else if (_state_array[i] == KEYBOARD)
joel_ssc 85:dd8176285b6e 1775 string_state = "KEYBOARD";
joel_ssc 85:dd8176285b6e 1776 else if (_state_array[i] == LEG_POSITION_DIVE)
joel_ssc 85:dd8176285b6e 1777 string_state = "LEG_POS_DIVE";
joel_ssc 85:dd8176285b6e 1778 else if (_state_array[i] == LEG_POSITION_RISE)
joel_ssc 85:dd8176285b6e 1779 string_state = "LEG_POS_RISE";
joel_ssc 85:dd8176285b6e 1780 else if (_state_array[i] == FB_EXIT)
CodyMarquardt 99:9d0849f5fcd7 1781 string_state = "FB_EXIT";
joel_ssc 85:dd8176285b6e 1782 else if (_state_array[i] == ENDLEG_WAIT)
CodyMarquardt 99:9d0849f5fcd7 1783 string_state = "ENDLEG_WAIT";
tnhnrl 74:d281aaef9766 1784 xbee().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
tnhnrl 57:ec69651c8c21 1785 }
CodyMarquardt 99:9d0849f5fcd7 1786
tnhnrl 74:d281aaef9766 1787 xbee().printf("\r\nNeutral sub-FSM States: \r\n");
tnhnrl 57:ec69651c8c21 1788 string string_substate;
CodyMarquardt 99:9d0849f5fcd7 1789
tnhnrl 57:ec69651c8c21 1790 for (int i = 0; i < _substate_array_counter; i++) {
tnhnrl 57:ec69651c8c21 1791 if (_substate_array[i] == NEUTRAL_SINKING)
tnhnrl 57:ec69651c8c21 1792 string_substate = "NEUTRAL_SINKING";
tnhnrl 57:ec69651c8c21 1793 else if (_substate_array[i] == NEUTRAL_SLOWLY_RISE)
tnhnrl 57:ec69651c8c21 1794 string_substate = "NEUTRAL_SLOWLY_RISE";
tnhnrl 57:ec69651c8c21 1795 else if (_substate_array[i] == NEUTRAL_CHECK_PITCH)
tnhnrl 57:ec69651c8c21 1796 string_substate = "NEUTRAL_CHECK_PITCH";
tnhnrl 57:ec69651c8c21 1797 else if (_substate_array[i] == NEUTRAL_EXIT)
tnhnrl 57:ec69651c8c21 1798 string_substate = "NEUTRAL_EXIT <-- ";
tnhnrl 57:ec69651c8c21 1799 else if (_substate_array[i] == EMERGENCY_CLIMB)
CodyMarquardt 99:9d0849f5fcd7 1800 string_substate = " -- > EMERGENCY_CLIMB <-- ";
tnhnrl 74:d281aaef9766 1801 xbee().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
tnhnrl 57:ec69651c8c21 1802 }
tnhnrl 74:d281aaef9766 1803 xbee().printf("\r\n"); //make space between printouts
CodyMarquardt 99:9d0849f5fcd7 1804 }
tnhnrl 72:250b2665755c 1805 //BATTERY/PITCH
tnhnrl 57:ec69651c8c21 1806 else if (user_input == '[' or user_input == '{') {
tnhnrl 74:d281aaef9766 1807 xbee().printf("Please TYPE in the new BATT neutral position.\n\r");
tnhnrl 72:250b2665755c 1808 _neutral_batt_pos_mm = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1809 pitchLoop().setOutputOffset(_neutral_batt_pos_mm); // decrease the batt neutral setpoint
tnhnrl 74:d281aaef9766 1810 xbee().printf("Adjusting batt neutral position. new offset: %0.1f\r\n",pitchLoop().getOutputOffset());
tnhnrl 57:ec69651c8c21 1811 // save neutral pitch value to config file
tnhnrl 73:f6f378311c8d 1812 configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
tnhnrl 57:ec69651c8c21 1813 }
CodyMarquardt 99:9d0849f5fcd7 1814
tnhnrl 72:250b2665755c 1815 //BCE/DEPTH
tnhnrl 72:250b2665755c 1816 else if (user_input == ';' or user_input == ':') {
tnhnrl 74:d281aaef9766 1817 xbee().printf("Please TYPE in the new BCE neutral position.\n\r");
tnhnrl 72:250b2665755c 1818 _neutral_bce_pos_mm = getFloatUserInput();
tnhnrl 72:250b2665755c 1819 depthLoop().setOutputOffset(_neutral_bce_pos_mm); // decrease the bce neutral setpoint
tnhnrl 74:d281aaef9766 1820 xbee().printf("Adjusting bce neutral position. new offset: %0.1f\r\n",depthLoop().getOutputOffset());
tnhnrl 72:250b2665755c 1821 // save neutral depth value to config file
tnhnrl 73:f6f378311c8d 1822 configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband);
tnhnrl 57:ec69651c8c21 1823 }
CodyMarquardt 99:9d0849f5fcd7 1824
CodyMarquardt 99:9d0849f5fcd7 1825 // change settings
CodyMarquardt 99:9d0849f5fcd7 1826 //heading is in the common controls
tnhnrl 72:250b2665755c 1827 else if (user_input == 'Q') {
tnhnrl 74:d281aaef9766 1828 xbee().printf(">> Please enter the desired PITCH (deg).\r\n");
tnhnrl 72:250b2665755c 1829 _pitch_command = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 1830 } else if (user_input == 'A') {
joel_ssc 85:dd8176285b6e 1831 xbee().printf(">> Please enter the desired DEPTH (m).\r\n");
tnhnrl 72:250b2665755c 1832 _depth_command = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1833 }
CodyMarquardt 99:9d0849f5fcd7 1834
CodyMarquardt 99:9d0849f5fcd7 1835 else if (user_input == 'F') { // Added by CAM
CodyMarquardt 99:9d0849f5fcd7 1836 xbee().printf("Please enter the # of samples for altimeter filter below: \n\r");
CodyMarquardt 99:9d0849f5fcd7 1837 adc().CH2OVERSAMPLE = int(getFloatUserInput());
CodyMarquardt 99:9d0849f5fcd7 1838 }
CodyMarquardt 99:9d0849f5fcd7 1839
tnhnrl 57:ec69651c8c21 1840 else if (user_input == '5') {
tnhnrl 58:94b7fd55185e 1841 keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 57:ec69651c8c21 1842 }
CodyMarquardt 99:9d0849f5fcd7 1843
tnhnrl 57:ec69651c8c21 1844 else if (user_input == '6') {
tnhnrl 58:94b7fd55185e 1845 keyboard_menu_HEADING_PID_settings();
CodyMarquardt 99:9d0849f5fcd7 1846 }
CodyMarquardt 99:9d0849f5fcd7 1847
tnhnrl 58:94b7fd55185e 1848 // go to tuning sub-menu
tnhnrl 57:ec69651c8c21 1849 else if (user_input == '7') {
tnhnrl 58:94b7fd55185e 1850 keyboard_menu_MANUAL_TUNING();
tnhnrl 57:ec69651c8c21 1851 }
CodyMarquardt 99:9d0849f5fcd7 1852
tnhnrl 73:f6f378311c8d 1853 // else if (user_input == 'U') {
tnhnrl 73:f6f378311c8d 1854 // keyboard_menu_POSITION_READINGS();
tnhnrl 73:f6f378311c8d 1855 // }
CodyMarquardt 99:9d0849f5fcd7 1856
tnhnrl 57:ec69651c8c21 1857 // go to sub-menus for the PID gains (this is blocking)
tnhnrl 57:ec69651c8c21 1858 else if (user_input == '1') {
tnhnrl 57:ec69651c8c21 1859 keyboard_menu_BCE_PID_settings();
CodyMarquardt 99:9d0849f5fcd7 1860 } else if (user_input == '2') {
tnhnrl 57:ec69651c8c21 1861 keyboard_menu_BATT_PID_settings();
CodyMarquardt 99:9d0849f5fcd7 1862 } else if (user_input == '3') {
tnhnrl 57:ec69651c8c21 1863 keyboard_menu_DEPTH_PID_settings();
CodyMarquardt 99:9d0849f5fcd7 1864 } else if (user_input == '4') {
tnhnrl 57:ec69651c8c21 1865 keyboard_menu_PITCH_PID_settings();
tnhnrl 28:16c83a2fdefa 1866 }
CodyMarquardt 99:9d0849f5fcd7 1867
tnhnrl 57:ec69651c8c21 1868 else if (user_input == '*') {
CodyMarquardt 99:9d0849f5fcd7 1869 xbee().printf("SWITCHING TO SIMPLE MENU!\r\n");
tnhnrl 74:d281aaef9766 1870 wait(1);
tnhnrl 57:ec69651c8c21 1871 _debug_menu_on = false;
tnhnrl 57:ec69651c8c21 1872 }
joel_ssc 85:dd8176285b6e 1873 } //end of debug menu matches line 1445 approx -180
CodyMarquardt 99:9d0849f5fcd7 1874 /***************************** DEBUG MENU *****************************/
CodyMarquardt 99:9d0849f5fcd7 1875
CodyMarquardt 99:9d0849f5fcd7 1876 /***************************** SIMPLE MENU *****************************/
CodyMarquardt 99:9d0849f5fcd7 1877 else{
tnhnrl 58:94b7fd55185e 1878 if (user_input == 'V') {
tnhnrl 58:94b7fd55185e 1879 _keyboard_state = POSITION_DIVE;
CodyMarquardt 99:9d0849f5fcd7 1880 } else if (user_input == 'N') {
tnhnrl 57:ec69651c8c21 1881 _keyboard_state = FIND_NEUTRAL;
CodyMarquardt 99:9d0849f5fcd7 1882 } else if (user_input == 'J') {
tnhnrl 57:ec69651c8c21 1883 _keyboard_state = FLOAT_LEVEL;
CodyMarquardt 99:9d0849f5fcd7 1884 } else if (user_input == 'B') {
tnhnrl 57:ec69651c8c21 1885 _keyboard_state = FLOAT_BROADCAST;
CodyMarquardt 99:9d0849f5fcd7 1886 } else if (user_input == 'E') {
tnhnrl 57:ec69651c8c21 1887 _keyboard_state = EMERGENCY_CLIMB;
tnhnrl 57:ec69651c8c21 1888 }
CodyMarquardt 99:9d0849f5fcd7 1889
tnhnrl 57:ec69651c8c21 1890 // some debug tools below
tnhnrl 57:ec69651c8c21 1891 else if (user_input == 'P') {
tnhnrl 57:ec69651c8c21 1892 //Print current SD card log file
tnhnrl 57:ec69651c8c21 1893 //printCurrentSdLog();
tnhnrl 57:ec69651c8c21 1894 mbedLogger().printCurrentLogFile(); //print the current log file to the screen
tnhnrl 72:250b2665755c 1895 }
CodyMarquardt 99:9d0849f5fcd7 1896
tnhnrl 57:ec69651c8c21 1897 //POSITION DIVE COMMANDS
tnhnrl 72:250b2665755c 1898 else if (user_input == 'Q') {
tnhnrl 74:d281aaef9766 1899 xbee().printf(">> Please enter the desired BMM offset (mm).\r\n");
tnhnrl 72:250b2665755c 1900 _BMM_dive_offset = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 1901 } else if (user_input == 'A') {
tnhnrl 74:d281aaef9766 1902 xbee().printf(">> Please enter the desired BCE offset (mm).\r\n");
tnhnrl 72:250b2665755c 1903 _BCE_dive_offset = getFloatUserInput();
tnhnrl 57:ec69651c8c21 1904 }
CodyMarquardt 99:9d0849f5fcd7 1905
tnhnrl 73:f6f378311c8d 1906 else if (user_input == 'S') {
joel_ssc 85:dd8176285b6e 1907 xbee().printf(">> Please enter the desired DEPTH (m).\r\n");
tnhnrl 73:f6f378311c8d 1908 _depth_command = getFloatUserInput();
tnhnrl 73:f6f378311c8d 1909 }
tnhnrl 57:ec69651c8c21 1910 //POSITION DIVE COMMANDS
CodyMarquardt 99:9d0849f5fcd7 1911
tnhnrl 57:ec69651c8c21 1912 else if (user_input == '*') {
CodyMarquardt 99:9d0849f5fcd7 1913 xbee().printf("SWITCHING TO DEBUG MENU!\r\n");
tnhnrl 57:ec69651c8c21 1914 _debug_menu_on = true;
tnhnrl 74:d281aaef9766 1915 wait(1);
tnhnrl 57:ec69651c8c21 1916 }
tnhnrl 16:3363b9f14913 1917 }
CodyMarquardt 99:9d0849f5fcd7 1918 /***************************** END SIMPLE MENU *****************************/
CodyMarquardt 99:9d0849f5fcd7 1919
tnhnrl 17:7c16b5671d0e 1920 //when you read the keyboard successfully, change the state
tnhnrl 28:16c83a2fdefa 1921 _state = _keyboard_state; //set state at the end of this function
tnhnrl 74:d281aaef9766 1922 //xbee().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
joel_ssc 85:dd8176285b6e 1923 } //matches very top of function - first if()
tnhnrl 16:3363b9f14913 1924 }
tnhnrl 52:f207567d3ea4 1925
CodyMarquardt 99:9d0849f5fcd7 1926 void StateMachine::keyboard_menu_STREAM_STATUS()
CodyMarquardt 99:9d0849f5fcd7 1927 {
tnhnrl 52:f207567d3ea4 1928 char STATUS_key;
CodyMarquardt 99:9d0849f5fcd7 1929
tnhnrl 52:f207567d3ea4 1930 // show the menu
tnhnrl 74:d281aaef9766 1931 xbee().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
CodyMarquardt 99:9d0849f5fcd7 1932
tnhnrl 52:f207567d3ea4 1933 while (1) {
tnhnrl 74:d281aaef9766 1934 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1935 STATUS_key = xbee().getc(); //get each keystroke
tnhnrl 52:f207567d3ea4 1936 }
CodyMarquardt 99:9d0849f5fcd7 1937
tnhnrl 52:f207567d3ea4 1938 else {
CodyMarquardt 99:9d0849f5fcd7 1939
CodyMarquardt 99:9d0849f5fcd7 1940 wait(1);
CodyMarquardt 99:9d0849f5fcd7 1941
CodyMarquardt 99:9d0849f5fcd7 1942
CodyMarquardt 99:9d0849f5fcd7 1943 // xbee().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_m: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
joel_ssc 85:dd8176285b6e 1944 xbee().printf("BCE POS: %0.1f (cmd %0.1f) BATT POS: %0.1f (cmd %0.1f) PRESS_psi: %0.2f [depth_m: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rdr_pwm: %0.1f [FILT/RAW 0(%d,%d),1(%d,%d),2(%d,%d),3(%d,%d),4(%d,%d),5(%d,%d),6(%d,%d),7(%d,%d)] Switch: BCE(%d) BMM(%d)\r",
CodyMarquardt 99:9d0849f5fcd7 1945 bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),
CodyMarquardt 99:9d0849f5fcd7 1946 depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(),
CodyMarquardt 99:9d0849f5fcd7 1947 adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),
CodyMarquardt 99:9d0849f5fcd7 1948 adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),
CodyMarquardt 99:9d0849f5fcd7 1949 bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
CodyMarquardt 99:9d0849f5fcd7 1950
tnhnrl 52:f207567d3ea4 1951 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1952 }
CodyMarquardt 99:9d0849f5fcd7 1953
CodyMarquardt 99:9d0849f5fcd7 1954 // process the keys
CodyMarquardt 99:9d0849f5fcd7 1955 if (STATUS_key == 'X') {
CodyMarquardt 99:9d0849f5fcd7 1956 xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
tnhnrl 52:f207567d3ea4 1957 break; //exit the while loop
tnhnrl 52:f207567d3ea4 1958 }
CodyMarquardt 99:9d0849f5fcd7 1959
tnhnrl 52:f207567d3ea4 1960 else {
tnhnrl 74:d281aaef9766 1961 xbee().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
tnhnrl 52:f207567d3ea4 1962 }
tnhnrl 52:f207567d3ea4 1963 }
tnhnrl 52:f207567d3ea4 1964 }
tnhnrl 52:f207567d3ea4 1965
CodyMarquardt 99:9d0849f5fcd7 1966 void StateMachine::keyboard_menu_RUDDER_SERVO_settings()
CodyMarquardt 99:9d0849f5fcd7 1967 {
tnhnrl 52:f207567d3ea4 1968 //load current parameters from the rudder
tnhnrl 52:f207567d3ea4 1969 float rudder_min_pwm = rudder().getMinPWM();
tnhnrl 52:f207567d3ea4 1970 float rudder_max_pwm = rudder().getMaxPWM();
tnhnrl 52:f207567d3ea4 1971 float rudder_ctr_pwm = rudder().getCenterPWM();
tnhnrl 52:f207567d3ea4 1972 float rudder_min_deg = rudder().getMinDeg();
tnhnrl 52:f207567d3ea4 1973 float rudder_max_deg = rudder().getMaxDeg();
CodyMarquardt 99:9d0849f5fcd7 1974
tnhnrl 52:f207567d3ea4 1975 char RUDDER_PID_key;
CodyMarquardt 99:9d0849f5fcd7 1976
tnhnrl 52:f207567d3ea4 1977 // print the menu
tnhnrl 74:d281aaef9766 1978 xbee().printf("\r\nRUDDER (servo driver) settings (MENU)");
tnhnrl 74:d281aaef9766 1979 xbee().printf("\r\nAdjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L");
tnhnrl 74:d281aaef9766 1980 xbee().printf("\r\nHit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
tnhnrl 74:d281aaef9766 1981 xbee().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());
CodyMarquardt 99:9d0849f5fcd7 1982
tnhnrl 52:f207567d3ea4 1983 // handle the key presses
tnhnrl 52:f207567d3ea4 1984 while(1) {
tnhnrl 52:f207567d3ea4 1985 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 1986 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 1987 RUDDER_PID_key = xbee().getc();
CodyMarquardt 99:9d0849f5fcd7 1988 } else {
tnhnrl 52:f207567d3ea4 1989 continue; // didn't get a user input, so keep waiting for it
tnhnrl 52:f207567d3ea4 1990 }
CodyMarquardt 99:9d0849f5fcd7 1991
CodyMarquardt 99:9d0849f5fcd7 1992 // handle the user's key input
tnhnrl 52:f207567d3ea4 1993 if (RUDDER_PID_key == 'S') { // user wants to save the modified values
tnhnrl 52:f207567d3ea4 1994 // set global values
tnhnrl 52:f207567d3ea4 1995 rudder().setMinPWM(rudder_min_pwm);
tnhnrl 52:f207567d3ea4 1996 rudder().setMaxPWM(rudder_max_pwm);
tnhnrl 52:f207567d3ea4 1997 rudder().setCenterPWM(rudder_ctr_pwm);
tnhnrl 52:f207567d3ea4 1998 rudder().setMinDeg(rudder_min_deg);
tnhnrl 52:f207567d3ea4 1999 rudder().setMaxDeg(rudder_max_deg);
CodyMarquardt 99:9d0849f5fcd7 2000
tnhnrl 52:f207567d3ea4 2001 // save rudder servo driver values for inner loop
tnhnrl 52:f207567d3ea4 2002 configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
tnhnrl 74:d281aaef9766 2003 xbee().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());
tnhnrl 74:d281aaef9766 2004 xbee().printf("Adjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L\r\n");
CodyMarquardt 99:9d0849f5fcd7 2005 } else if (RUDDER_PID_key == 'X') {
tnhnrl 52:f207567d3ea4 2006 break; //exit the while loop
tnhnrl 52:f207567d3ea4 2007 }
CodyMarquardt 99:9d0849f5fcd7 2008 // MIN PWM
tnhnrl 52:f207567d3ea4 2009 else if (RUDDER_PID_key == 'N') {
tnhnrl 74:d281aaef9766 2010 xbee().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 2011 rudder_min_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 2012 }
CodyMarquardt 99:9d0849f5fcd7 2013 // MAX PWM
tnhnrl 52:f207567d3ea4 2014 else if (RUDDER_PID_key == 'M') {
tnhnrl 74:d281aaef9766 2015 xbee().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 2016 rudder_max_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 2017 }
CodyMarquardt 99:9d0849f5fcd7 2018 // CENTER PWM
tnhnrl 52:f207567d3ea4 2019 else if (RUDDER_PID_key == 'C') {
tnhnrl 74:d281aaef9766 2020 xbee().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 2021 rudder_ctr_pwm = getFloatUserInput();
tnhnrl 52:f207567d3ea4 2022 }
CodyMarquardt 99:9d0849f5fcd7 2023 // MIN DEG
tnhnrl 52:f207567d3ea4 2024 else if (RUDDER_PID_key == 'K') {
tnhnrl 74:d281aaef9766 2025 xbee().printf(">> Type in rudder_min_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 2026 rudder_min_deg = getFloatUserInput();
tnhnrl 52:f207567d3ea4 2027 }
CodyMarquardt 99:9d0849f5fcd7 2028 // MAX DEG
tnhnrl 52:f207567d3ea4 2029 else if (RUDDER_PID_key == 'L') {
tnhnrl 74:d281aaef9766 2030 xbee().printf(">> Type in rudder_max_deg with keyboard.\r\n");
tnhnrl 52:f207567d3ea4 2031 rudder_max_deg = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2032 } else {
tnhnrl 74:d281aaef9766 2033 xbee().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
tnhnrl 52:f207567d3ea4 2034 }
tnhnrl 52:f207567d3ea4 2035 }
tnhnrl 52:f207567d3ea4 2036 }
tnhnrl 54:d4990fb68404 2037
CodyMarquardt 99:9d0849f5fcd7 2038 void StateMachine::keyboard_menu_COUNTS_STATUS()
CodyMarquardt 99:9d0849f5fcd7 2039 {
CodyMarquardt 99:9d0849f5fcd7 2040 // DELETE REMOVE
tnhnrl 54:d4990fb68404 2041 }
tnhnrl 56:48a8a5a65b82 2042
CodyMarquardt 99:9d0849f5fcd7 2043 void StateMachine::keyboard_menu_MANUAL_TUNING()
CodyMarquardt 99:9d0849f5fcd7 2044 {
tnhnrl 49:47ffa4feb6db 2045 char TUNING_key;
CodyMarquardt 99:9d0849f5fcd7 2046
tnhnrl 56:48a8a5a65b82 2047 //made these into internal parameters
tnhnrl 74:d281aaef9766 2048 float _tuning_bce_pos_mm = 200.0; //safe starting position
tnhnrl 74:d281aaef9766 2049 float _tuning_batt_pos_mm = 40.0; //safe starting position
tnhnrl 56:48a8a5a65b82 2050 float _tuning_rudder_pos_deg = 0.0; //safe starting position
tnhnrl 74:d281aaef9766 2051 float _tuning_rudder_pwm = 1640.0;
CodyMarquardt 99:9d0849f5fcd7 2052
tnhnrl 56:48a8a5a65b82 2053 //immediately start at those positions
tnhnrl 56:48a8a5a65b82 2054 bce().setPosition_mm(_tuning_bce_pos_mm);
tnhnrl 56:48a8a5a65b82 2055 batt().setPosition_mm(_tuning_batt_pos_mm);
tnhnrl 56:48a8a5a65b82 2056 rudder().setPosition_deg(_tuning_rudder_pos_deg);
CodyMarquardt 99:9d0849f5fcd7 2057
tnhnrl 74:d281aaef9766 2058 // show the menu
tnhnrl 74:d281aaef9766 2059 xbee().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
tnhnrl 74:d281aaef9766 2060 xbee().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
joel_ssc 85:dd8176285b6e 2061 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
CodyMarquardt 99:9d0849f5fcd7 2062
tnhnrl 49:47ffa4feb6db 2063 // what needs to be started?
tnhnrl 49:47ffa4feb6db 2064 bce().unpause(); //this is now active
tnhnrl 49:47ffa4feb6db 2065 batt().unpause(); //this is now active
tnhnrl 56:48a8a5a65b82 2066 rudder().unpause();
CodyMarquardt 99:9d0849f5fcd7 2067
tnhnrl 69:919ac8d7e023 2068 while (1) {
CodyMarquardt 99:9d0849f5fcd7 2069 wait(0.1);
CodyMarquardt 99:9d0849f5fcd7 2070
tnhnrl 74:d281aaef9766 2071 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2072 TUNING_key = xbee().getc(); //get each keystroke
tnhnrl 49:47ffa4feb6db 2073 }
CodyMarquardt 99:9d0849f5fcd7 2074
CodyMarquardt 99:9d0849f5fcd7 2075 else {
CodyMarquardt 99:9d0849f5fcd7 2076 //xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 2077 continue; // didn't get a user input, so keep waiting for it
tnhnrl 49:47ffa4feb6db 2078 }
CodyMarquardt 99:9d0849f5fcd7 2079
CodyMarquardt 99:9d0849f5fcd7 2080 // process the keys
CodyMarquardt 99:9d0849f5fcd7 2081 if (TUNING_key == 'X') {
tnhnrl 49:47ffa4feb6db 2082 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 49:47ffa4feb6db 2083 bce().pause();
tnhnrl 49:47ffa4feb6db 2084 batt().pause();
tnhnrl 56:48a8a5a65b82 2085 rudder().pause();
CodyMarquardt 99:9d0849f5fcd7 2086
tnhnrl 56:48a8a5a65b82 2087 //right now the rudder is always active................................................hmm
tnhnrl 56:48a8a5a65b82 2088 //deactivate the pin? new/delete?
CodyMarquardt 99:9d0849f5fcd7 2089
tnhnrl 49:47ffa4feb6db 2090 break; //exit the while loop
tnhnrl 49:47ffa4feb6db 2091 }
CodyMarquardt 99:9d0849f5fcd7 2092
tnhnrl 56:48a8a5a65b82 2093 //Buoyancy Engine
tnhnrl 74:d281aaef9766 2094 else if (TUNING_key == 'A' or TUNING_key == 'a') {
tnhnrl 56:48a8a5a65b82 2095 _tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 2096 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
joel_ssc 85:dd8176285b6e 2097 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
joel_ssc 85:dd8176285b6e 2098 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 52:f207567d3ea4 2099 }
CodyMarquardt 99:9d0849f5fcd7 2100
tnhnrl 74:d281aaef9766 2101 else if (TUNING_key == 'S' or TUNING_key == 's') {
tnhnrl 56:48a8a5a65b82 2102 _tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 2103 bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
joel_ssc 85:dd8176285b6e 2104 xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
joel_ssc 85:dd8176285b6e 2105 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 2106 }
CodyMarquardt 99:9d0849f5fcd7 2107
tnhnrl 56:48a8a5a65b82 2108 //BATTERY
tnhnrl 74:d281aaef9766 2109 else if (TUNING_key == 'Q' or TUNING_key == 'q') {
tnhnrl 56:48a8a5a65b82 2110 _tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
tnhnrl 56:48a8a5a65b82 2111 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
joel_ssc 85:dd8176285b6e 2112 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
joel_ssc 85:dd8176285b6e 2113 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 2114 }
CodyMarquardt 99:9d0849f5fcd7 2115
tnhnrl 74:d281aaef9766 2116 else if (TUNING_key == 'W' or TUNING_key == 'w') {
tnhnrl 56:48a8a5a65b82 2117 _tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
tnhnrl 56:48a8a5a65b82 2118 batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
joel_ssc 85:dd8176285b6e 2119 xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
joel_ssc 85:dd8176285b6e 2120 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 2121 }
CodyMarquardt 99:9d0849f5fcd7 2122
tnhnrl 56:48a8a5a65b82 2123 else if (TUNING_key == 'c' or TUNING_key == 'C') {
joel_ssc 85:dd8176285b6e 2124 xbee().printf("\r\nMT: (CURRENT POSITIONS) BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 2125 }
CodyMarquardt 99:9d0849f5fcd7 2126
tnhnrl 56:48a8a5a65b82 2127 //RUDER
tnhnrl 74:d281aaef9766 2128 else if (TUNING_key == 'R' or TUNING_key == 'r') {
tnhnrl 56:48a8a5a65b82 2129 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
tnhnrl 56:48a8a5a65b82 2130 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 74:d281aaef9766 2131 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
joel_ssc 85:dd8176285b6e 2132 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 2133 }
CodyMarquardt 99:9d0849f5fcd7 2134
tnhnrl 74:d281aaef9766 2135 else if (TUNING_key == 'E' or TUNING_key == 'e') {
tnhnrl 56:48a8a5a65b82 2136 _tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
tnhnrl 56:48a8a5a65b82 2137 rudder().setPosition_deg(_tuning_rudder_pos_deg);
tnhnrl 74:d281aaef9766 2138 xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
joel_ssc 85:dd8176285b6e 2139 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 2140 }
CodyMarquardt 99:9d0849f5fcd7 2141
tnhnrl 74:d281aaef9766 2142 else if (TUNING_key == '-' or TUNING_key == '_') {
tnhnrl 74:d281aaef9766 2143 _tuning_rudder_pwm -= 10.0;
tnhnrl 74:d281aaef9766 2144 rudder().setPWM(_tuning_rudder_pwm);
tnhnrl 74:d281aaef9766 2145 xbee().printf("MT: (-) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
joel_ssc 85:dd8176285b6e 2146 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 56:48a8a5a65b82 2147 }
CodyMarquardt 99:9d0849f5fcd7 2148
tnhnrl 74:d281aaef9766 2149 else if (TUNING_key == '=' or TUNING_key == '+') {
tnhnrl 74:d281aaef9766 2150 _tuning_rudder_pwm += 10.0;
tnhnrl 74:d281aaef9766 2151 rudder().setPWM(_tuning_rudder_pwm);
tnhnrl 74:d281aaef9766 2152 xbee().printf("MT: (+) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
joel_ssc 85:dd8176285b6e 2153 xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
tnhnrl 49:47ffa4feb6db 2154 }
CodyMarquardt 99:9d0849f5fcd7 2155
tnhnrl 49:47ffa4feb6db 2156 else {
tnhnrl 74:d281aaef9766 2157 xbee().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
CodyMarquardt 99:9d0849f5fcd7 2158 }
tnhnrl 49:47ffa4feb6db 2159 }
tnhnrl 49:47ffa4feb6db 2160 }
tnhnrl 52:f207567d3ea4 2161
CodyMarquardt 99:9d0849f5fcd7 2162 void StateMachine::keyboard_menu_CHANNEL_READINGS()
CodyMarquardt 99:9d0849f5fcd7 2163 {
tnhnrl 52:f207567d3ea4 2164 char TUNING_key;
CodyMarquardt 99:9d0849f5fcd7 2165
tnhnrl 52:f207567d3ea4 2166 // show the menu
tnhnrl 74:d281aaef9766 2167 xbee().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
CodyMarquardt 99:9d0849f5fcd7 2168
tnhnrl 55:f4ec445c42fe 2169 while (1) {
tnhnrl 74:d281aaef9766 2170 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2171 TUNING_key = xbee().getc(); //get each keystroke
tnhnrl 55:f4ec445c42fe 2172 }
CodyMarquardt 99:9d0849f5fcd7 2173
CodyMarquardt 99:9d0849f5fcd7 2174 // process the keys
CodyMarquardt 99:9d0849f5fcd7 2175 if (TUNING_key == 'X') {
tnhnrl 55:f4ec445c42fe 2176 // STOP THE MOTORS BEFORE LEAVING! (Just in case.)
tnhnrl 55:f4ec445c42fe 2177 bce().pause();
tnhnrl 55:f4ec445c42fe 2178 batt().pause();
CodyMarquardt 99:9d0849f5fcd7 2179
tnhnrl 55:f4ec445c42fe 2180 break; //exit the while loop
tnhnrl 55:f4ec445c42fe 2181 }
CodyMarquardt 99:9d0849f5fcd7 2182
tnhnrl 55:f4ec445c42fe 2183 else {
CodyMarquardt 99:9d0849f5fcd7 2184 wait(0.5);
CodyMarquardt 99:9d0849f5fcd7 2185 xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
tnhnrl 55:f4ec445c42fe 2186 continue; // didn't get a user input, so keep waiting for it
CodyMarquardt 99:9d0849f5fcd7 2187 }
tnhnrl 55:f4ec445c42fe 2188 }
tnhnrl 55:f4ec445c42fe 2189 }
CodyMarquardt 99:9d0849f5fcd7 2190
CodyMarquardt 99:9d0849f5fcd7 2191 void StateMachine::keyboard_menu_BCE_PID_settings()
CodyMarquardt 99:9d0849f5fcd7 2192 {
tnhnrl 73:f6f378311c8d 2193 char BCE_PID_key;
CodyMarquardt 99:9d0849f5fcd7 2194
tnhnrl 76:c802e1da4179 2195 // load current values from files
tnhnrl 76:c802e1da4179 2196 float bce_KP = bce().getControllerP();
tnhnrl 76:c802e1da4179 2197 float bce_KI = bce().getControllerI();
tnhnrl 76:c802e1da4179 2198 float bce_KD = bce().getControllerD();
CodyMarquardt 99:9d0849f5fcd7 2199
tnhnrl 76:c802e1da4179 2200 float bce_deadband = bce().getDeadband();
tnhnrl 76:c802e1da4179 2201 float bce_frequency = bce().getFilterFrequency();
CodyMarquardt 99:9d0849f5fcd7 2202 int bce_zero_offset = bce().getZeroCounts();
tnhnrl 76:c802e1da4179 2203 //BCE frequency and deadband are hardcoded!
CodyMarquardt 99:9d0849f5fcd7 2204
tnhnrl 16:3363b9f14913 2205 // show the menu
tnhnrl 76:c802e1da4179 2206 xbee().printf("\n\rBuoyancy Engine PID gain settings (MENU). ADJUST WITH CARE!");
tnhnrl 76:c802e1da4179 2207 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B, zero offset = Z\n\r");
tnhnrl 74:d281aaef9766 2208 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
CodyMarquardt 99:9d0849f5fcd7 2209 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2210
tnhnrl 63:6cb0405fc6e6 2211 // handle the key presses
tnhnrl 63:6cb0405fc6e6 2212 while(1) {
tnhnrl 63:6cb0405fc6e6 2213 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2214 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2215 BCE_PID_key = xbee().getc();
CodyMarquardt 99:9d0849f5fcd7 2216 } else {
tnhnrl 63:6cb0405fc6e6 2217 continue; // didn't get a user input, so keep waiting for it
tnhnrl 63:6cb0405fc6e6 2218 }
CodyMarquardt 99:9d0849f5fcd7 2219
tnhnrl 63:6cb0405fc6e6 2220 // handle the user's key input
tnhnrl 73:f6f378311c8d 2221 if (BCE_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2222 // set values
tnhnrl 63:6cb0405fc6e6 2223 bce().setControllerP(bce_KP);
tnhnrl 63:6cb0405fc6e6 2224 bce().setControllerI(bce_KI);
CodyMarquardt 99:9d0849f5fcd7 2225 bce().setControllerD(bce_KD);
CodyMarquardt 99:9d0849f5fcd7 2226
tnhnrl 76:c802e1da4179 2227 bce().setDeadband(bce_deadband);
tnhnrl 76:c802e1da4179 2228 bce().setFilterFrequency(bce_frequency);
tnhnrl 76:c802e1da4179 2229 bce().setZeroCounts(bce_zero_offset); //integer value
CodyMarquardt 99:9d0849f5fcd7 2230
tnhnrl 73:f6f378311c8d 2231 // save to "BCE.TXT" file
tnhnrl 76:c802e1da4179 2232 //saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband)
tnhnrl 76:c802e1da4179 2233 configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD, bce_zero_offset, bce_frequency, bce_deadband);
tnhnrl 76:c802e1da4179 2234 xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2235 } else if (BCE_PID_key == 'X') {
tnhnrl 63:6cb0405fc6e6 2236 break; //exit the while loop
CodyMarquardt 99:9d0849f5fcd7 2237 } else if (BCE_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2238 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2239 bce_KP = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2240 } else if (BCE_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2241 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2242 bce_KI = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2243 } else if (BCE_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2244 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2245 bce_KD = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2246 } else if (BCE_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2247 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2248 bce_frequency = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2249 } else if (BCE_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2250 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2251 bce_deadband = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2252 } else if (BCE_PID_key == 'Z') {
tnhnrl 76:c802e1da4179 2253 xbee().printf(">> Type in zero count offset with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2254 bce_zero_offset = (int)getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2255 } else {
tnhnrl 74:d281aaef9766 2256 xbee().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
tnhnrl 63:6cb0405fc6e6 2257 }
tnhnrl 63:6cb0405fc6e6 2258 }
tnhnrl 63:6cb0405fc6e6 2259 }
tnhnrl 63:6cb0405fc6e6 2260
CodyMarquardt 99:9d0849f5fcd7 2261 void StateMachine::keyboard_menu_BATT_PID_settings()
CodyMarquardt 99:9d0849f5fcd7 2262 {
tnhnrl 73:f6f378311c8d 2263 char BMM_PID_key;
tnhnrl 76:c802e1da4179 2264
tnhnrl 76:c802e1da4179 2265 // load current values from files
tnhnrl 76:c802e1da4179 2266 float batt_KP = batt().getControllerP();
tnhnrl 76:c802e1da4179 2267 float batt_KI = batt().getControllerI();
tnhnrl 76:c802e1da4179 2268 float batt_KD = batt().getControllerD();
CodyMarquardt 99:9d0849f5fcd7 2269
tnhnrl 76:c802e1da4179 2270 float batt_deadband = batt().getDeadband();
tnhnrl 76:c802e1da4179 2271 float batt_frequency = batt().getFilterFrequency();
CodyMarquardt 99:9d0849f5fcd7 2272 int batt_zero_offset = batt().getZeroCounts();
tnhnrl 76:c802e1da4179 2273 //BATT frequency and deadband are hardcoded!
CodyMarquardt 99:9d0849f5fcd7 2274
tnhnrl 63:6cb0405fc6e6 2275 // print the menu
tnhnrl 74:d281aaef9766 2276 xbee().printf("\n\rBattery Motor PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2277 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2278 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 76:c802e1da4179 2279 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
tnhnrl 76:c802e1da4179 2280
tnhnrl 16:3363b9f14913 2281 // handle the key presses
tnhnrl 16:3363b9f14913 2282 while(1) {
tnhnrl 16:3363b9f14913 2283 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2284 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2285 BMM_PID_key = xbee().getc();
CodyMarquardt 99:9d0849f5fcd7 2286 } else {
tnhnrl 16:3363b9f14913 2287 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2288 }
CodyMarquardt 99:9d0849f5fcd7 2289
tnhnrl 16:3363b9f14913 2290 // handle the user's key input
tnhnrl 73:f6f378311c8d 2291 if (BMM_PID_key == 'S') { // user wants to save these modified values
tnhnrl 16:3363b9f14913 2292 // set values
tnhnrl 63:6cb0405fc6e6 2293 batt().setControllerP(batt_KP);
tnhnrl 63:6cb0405fc6e6 2294 batt().setControllerI(batt_KI);
tnhnrl 76:c802e1da4179 2295 batt().setControllerD(batt_KD);
CodyMarquardt 99:9d0849f5fcd7 2296
tnhnrl 76:c802e1da4179 2297 batt().setDeadband(batt_deadband);
tnhnrl 76:c802e1da4179 2298 batt().setFilterFrequency(batt_frequency);
tnhnrl 76:c802e1da4179 2299 batt().setZeroCounts(batt_zero_offset); //integer value
CodyMarquardt 99:9d0849f5fcd7 2300
tnhnrl 38:83d06c294807 2301 // save to "BATT.TXT" file
tnhnrl 76:c802e1da4179 2302 //saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband)
tnhnrl 76:c802e1da4179 2303 configFileIO().saveBattData(batt_KP, batt_KI, batt_KD, batt_zero_offset, batt_frequency, batt_deadband);
tnhnrl 76:c802e1da4179 2304 xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2305 } else if (BMM_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2306 break; //exit the while loop
CodyMarquardt 99:9d0849f5fcd7 2307 } else if (BMM_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2308 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2309 batt_KP = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2310 } else if (BMM_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2311 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2312 batt_KI = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2313 } else if (BMM_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2314 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2315 batt_KD = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2316 } else if (BMM_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2317 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2318 batt_frequency = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2319 } else if (BMM_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2320 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2321 batt_deadband = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2322 } else if (BMM_PID_key == 'Z') {
tnhnrl 76:c802e1da4179 2323 xbee().printf(">> Type in zero count offset with keyboard.\n\r");
tnhnrl 76:c802e1da4179 2324 batt_zero_offset = (int)getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2325 } else {
tnhnrl 74:d281aaef9766 2326 xbee().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
tnhnrl 16:3363b9f14913 2327 }
tnhnrl 16:3363b9f14913 2328 }
tnhnrl 16:3363b9f14913 2329 }
CodyMarquardt 99:9d0849f5fcd7 2330
CodyMarquardt 99:9d0849f5fcd7 2331 void StateMachine::keyboard_menu_DEPTH_PID_settings()
CodyMarquardt 99:9d0849f5fcd7 2332 {
tnhnrl 73:f6f378311c8d 2333 char DEPTH_PID_key;
CodyMarquardt 99:9d0849f5fcd7 2334
tnhnrl 63:6cb0405fc6e6 2335 float depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2336 float depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2337 float depth_KD = depthLoop().getControllerD(); // load current depth value
CodyMarquardt 99:9d0849f5fcd7 2338
tnhnrl 73:f6f378311c8d 2339 float depth_freq = depthLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2340 float depth_deadband = depthLoop().getDeadband();
CodyMarquardt 99:9d0849f5fcd7 2341
tnhnrl 63:6cb0405fc6e6 2342 // print the menu
tnhnrl 74:d281aaef9766 2343 xbee().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2344 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2345 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 74:d281aaef9766 2346 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2347
tnhnrl 16:3363b9f14913 2348 // handle the key presses
tnhnrl 16:3363b9f14913 2349 while(1) {
tnhnrl 16:3363b9f14913 2350 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2351 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2352 DEPTH_PID_key = xbee().getc();
CodyMarquardt 99:9d0849f5fcd7 2353 } else {
tnhnrl 16:3363b9f14913 2354 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2355 }
CodyMarquardt 99:9d0849f5fcd7 2356
tnhnrl 16:3363b9f14913 2357 // handle the user's key input
tnhnrl 73:f6f378311c8d 2358 if (DEPTH_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2359 // set values
tnhnrl 63:6cb0405fc6e6 2360 depthLoop().setControllerP(depth_KP);
tnhnrl 63:6cb0405fc6e6 2361 depthLoop().setControllerI(depth_KI);
tnhnrl 73:f6f378311c8d 2362 depthLoop().setControllerD(depth_KD);
CodyMarquardt 99:9d0849f5fcd7 2363
tnhnrl 73:f6f378311c8d 2364 depthLoop().setFilterFrequency(depth_freq);
tnhnrl 73:f6f378311c8d 2365 depthLoop().setDeadband(depth_deadband);
CodyMarquardt 99:9d0849f5fcd7 2366
tnhnrl 63:6cb0405fc6e6 2367 // save to "DEPTH.TXT" file
tnhnrl 73:f6f378311c8d 2368 configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm, depth_freq, depth_deadband); //P,I,D, bce zeroOffset
CodyMarquardt 99:9d0849f5fcd7 2369
tnhnrl 74:d281aaef9766 2370 xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2371
tnhnrl 63:6cb0405fc6e6 2372 //set class variables that will be used in find neutral sequence
tnhnrl 63:6cb0405fc6e6 2373 _depth_KP = depthLoop().getControllerP(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2374 _depth_KI = depthLoop().getControllerI(); // load current depth value
tnhnrl 63:6cb0405fc6e6 2375 _depth_KD = depthLoop().getControllerD(); // load current depth value
CodyMarquardt 99:9d0849f5fcd7 2376 } else if (DEPTH_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2377 break; //exit the while loop
CodyMarquardt 99:9d0849f5fcd7 2378 } else if (DEPTH_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2379 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2380 depth_KP = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2381 } else if (DEPTH_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2382 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2383 depth_KI = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2384 } else if (DEPTH_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2385 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2386 depth_KD = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2387 } else if (DEPTH_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2388 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2389 depth_freq = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2390 } else if (DEPTH_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2391 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2392 depth_deadband = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2393 } else {
tnhnrl 74:d281aaef9766 2394 xbee().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
tnhnrl 16:3363b9f14913 2395 }
tnhnrl 16:3363b9f14913 2396 }
tnhnrl 16:3363b9f14913 2397 }
CodyMarquardt 99:9d0849f5fcd7 2398
CodyMarquardt 99:9d0849f5fcd7 2399 void StateMachine::keyboard_menu_PITCH_PID_settings()
CodyMarquardt 99:9d0849f5fcd7 2400 {
tnhnrl 73:f6f378311c8d 2401 char PITCH_PID_key;
CodyMarquardt 99:9d0849f5fcd7 2402
tnhnrl 63:6cb0405fc6e6 2403 float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2404 float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2405 float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
tnhnrl 76:c802e1da4179 2406
tnhnrl 73:f6f378311c8d 2407 float pitch_freq = pitchLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2408 float pitch_deadband = pitchLoop().getDeadband();
CodyMarquardt 99:9d0849f5fcd7 2409
tnhnrl 16:3363b9f14913 2410 // print the menu
tnhnrl 74:d281aaef9766 2411 xbee().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2412 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2413 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
tnhnrl 74:d281aaef9766 2414 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2415
tnhnrl 16:3363b9f14913 2416 // handle the key presses
tnhnrl 16:3363b9f14913 2417 while(1) {
tnhnrl 16:3363b9f14913 2418 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2419 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2420 PITCH_PID_key = xbee().getc();
CodyMarquardt 99:9d0849f5fcd7 2421 } else {
tnhnrl 16:3363b9f14913 2422 continue; // didn't get a user input, so keep waiting for it
tnhnrl 16:3363b9f14913 2423 }
CodyMarquardt 99:9d0849f5fcd7 2424
tnhnrl 16:3363b9f14913 2425 // handle the user's key input
tnhnrl 73:f6f378311c8d 2426 if (PITCH_PID_key == 'S') { // user wants to save these modified values
tnhnrl 63:6cb0405fc6e6 2427 // set values
tnhnrl 63:6cb0405fc6e6 2428 pitchLoop().setControllerP(pitch_KP);
tnhnrl 63:6cb0405fc6e6 2429 pitchLoop().setControllerI(pitch_KI);
tnhnrl 73:f6f378311c8d 2430 pitchLoop().setControllerD(pitch_KD);
CodyMarquardt 99:9d0849f5fcd7 2431
tnhnrl 73:f6f378311c8d 2432 pitchLoop().setFilterFrequency(pitch_freq);
tnhnrl 73:f6f378311c8d 2433 pitchLoop().setDeadband(pitch_deadband);
CodyMarquardt 99:9d0849f5fcd7 2434
tnhnrl 73:f6f378311c8d 2435 // save to "PITCH.TXT" file (doesn't modify neutral position)
tnhnrl 73:f6f378311c8d 2436 configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm, pitch_freq, pitch_deadband);
CodyMarquardt 99:9d0849f5fcd7 2437
tnhnrl 74:d281aaef9766 2438 xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
tnhnrl 73:f6f378311c8d 2439
tnhnrl 63:6cb0405fc6e6 2440 _pitch_KP = pitchLoop().getControllerP(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2441 _pitch_KI = pitchLoop().getControllerI(); // load current pitch value
tnhnrl 63:6cb0405fc6e6 2442 _pitch_KD = pitchLoop().getControllerD(); // load current pitch value
CodyMarquardt 99:9d0849f5fcd7 2443 } else if (PITCH_PID_key == 'X') {
tnhnrl 16:3363b9f14913 2444 break; //exit the while loop
CodyMarquardt 99:9d0849f5fcd7 2445 } else if (PITCH_PID_key == 'P') {
tnhnrl 74:d281aaef9766 2446 xbee().printf(">> Type in proportional gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2447 pitch_KP = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2448 } else if (PITCH_PID_key == 'I') {
tnhnrl 74:d281aaef9766 2449 xbee().printf(">> Type in integral gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2450 pitch_KI = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2451 } else if (PITCH_PID_key == 'D') {
tnhnrl 74:d281aaef9766 2452 xbee().printf(">> Type in derivative gain with keyboard.\n\r");
tnhnrl 63:6cb0405fc6e6 2453 pitch_KD = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2454 } else if (PITCH_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2455 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2456 pitch_freq = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2457 } else if (PITCH_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2458 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2459 pitch_deadband = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2460 } else {
tnhnrl 74:d281aaef9766 2461 xbee().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
tnhnrl 73:f6f378311c8d 2462 }
tnhnrl 73:f6f378311c8d 2463 }
tnhnrl 73:f6f378311c8d 2464 }
tnhnrl 73:f6f378311c8d 2465
CodyMarquardt 99:9d0849f5fcd7 2466 void StateMachine::keyboard_menu_HEADING_PID_settings()
CodyMarquardt 99:9d0849f5fcd7 2467 {
tnhnrl 73:f6f378311c8d 2468 char HEADING_PID_key;
CodyMarquardt 99:9d0849f5fcd7 2469
tnhnrl 73:f6f378311c8d 2470 float heading_KP = headingLoop().getControllerP();
tnhnrl 73:f6f378311c8d 2471 float heading_KI = headingLoop().getControllerI();
CodyMarquardt 99:9d0849f5fcd7 2472 float heading_KD = headingLoop().getControllerD();
CodyMarquardt 99:9d0849f5fcd7 2473
tnhnrl 73:f6f378311c8d 2474 float heading_offset_deg = headingLoop().getOutputOffset();
tnhnrl 73:f6f378311c8d 2475 float heading_freq = headingLoop().getFilterFrequency();
tnhnrl 73:f6f378311c8d 2476 float heading_deadband = headingLoop().getDeadband();
CodyMarquardt 99:9d0849f5fcd7 2477
tnhnrl 73:f6f378311c8d 2478 // print the menu
tnhnrl 74:d281aaef9766 2479 xbee().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
tnhnrl 74:d281aaef9766 2480 xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
tnhnrl 74:d281aaef9766 2481 xbee().printf("\n\r Adjust zero offset with O (oh).");
tnhnrl 74:d281aaef9766 2482 xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
tnhnrl 74:d281aaef9766 2483 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2484
tnhnrl 73:f6f378311c8d 2485 // handle the key presses
tnhnrl 73:f6f378311c8d 2486 while(1) {
tnhnrl 73:f6f378311c8d 2487 // get the user's keystroke from either of the two inputs
tnhnrl 74:d281aaef9766 2488 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 2489 HEADING_PID_key = xbee().getc();
CodyMarquardt 99:9d0849f5fcd7 2490 } else {
tnhnrl 73:f6f378311c8d 2491 continue; // didn't get a user input, so keep waiting for it
tnhnrl 73:f6f378311c8d 2492 }
CodyMarquardt 99:9d0849f5fcd7 2493
CodyMarquardt 99:9d0849f5fcd7 2494 // handle the user's key input
tnhnrl 73:f6f378311c8d 2495 if (HEADING_PID_key == 'S') { // user wants to save the modified values
tnhnrl 73:f6f378311c8d 2496 // set global values
tnhnrl 73:f6f378311c8d 2497 headingLoop().setControllerP(heading_KP);
tnhnrl 73:f6f378311c8d 2498 headingLoop().setControllerI(heading_KI);
tnhnrl 73:f6f378311c8d 2499 headingLoop().setControllerD(heading_KD);
tnhnrl 73:f6f378311c8d 2500 headingLoop().setOutputOffset(heading_offset_deg);
tnhnrl 74:d281aaef9766 2501 headingLoop().setFilterFrequency(heading_freq);
tnhnrl 74:d281aaef9766 2502 headingLoop().setDeadband(heading_deadband);
CodyMarquardt 99:9d0849f5fcd7 2503
tnhnrl 73:f6f378311c8d 2504 // save pitch PID values for outer loop (must save neutral position also)
tnhnrl 74:d281aaef9766 2505 configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, heading_freq, heading_deadband); //_neutral_heading_pos_deg);
tnhnrl 74:d281aaef9766 2506 xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
CodyMarquardt 99:9d0849f5fcd7 2507 } else if (HEADING_PID_key == 'X') {
tnhnrl 73:f6f378311c8d 2508 break; //exit the while loop
tnhnrl 73:f6f378311c8d 2509 }
CodyMarquardt 99:9d0849f5fcd7 2510
tnhnrl 73:f6f378311c8d 2511 else if (HEADING_PID_key == 'P') {
tnhnrl 73:f6f378311c8d 2512 heading_KP = getFloatUserInput();;
CodyMarquardt 99:9d0849f5fcd7 2513 } else if (HEADING_PID_key == 'I') {
tnhnrl 73:f6f378311c8d 2514 heading_KI = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2515 } else if (HEADING_PID_key == 'D') {
tnhnrl 73:f6f378311c8d 2516 heading_KD = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2517 } else if (HEADING_PID_key == 'F') {
tnhnrl 74:d281aaef9766 2518 xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2519 heading_freq = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2520 } else if (HEADING_PID_key == 'B') {
tnhnrl 74:d281aaef9766 2521 xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
tnhnrl 73:f6f378311c8d 2522 heading_deadband = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2523 } else if (HEADING_PID_key == 'O') {
tnhnrl 73:f6f378311c8d 2524 heading_offset_deg = getFloatUserInput();
CodyMarquardt 99:9d0849f5fcd7 2525 } else {
tnhnrl 74:d281aaef9766 2526 xbee().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
tnhnrl 16:3363b9f14913 2527 }
tnhnrl 16:3363b9f14913 2528 }
tnhnrl 16:3363b9f14913 2529 }
CodyMarquardt 99:9d0849f5fcd7 2530
CodyMarquardt 99:9d0849f5fcd7 2531 float StateMachine::getDepthCommand()
CodyMarquardt 99:9d0849f5fcd7 2532 {
tnhnrl 32:f2f8ae34aadc 2533 return _depth_command;
tnhnrl 16:3363b9f14913 2534 }
CodyMarquardt 99:9d0849f5fcd7 2535
CodyMarquardt 99:9d0849f5fcd7 2536 float StateMachine::getPitchCommand()
CodyMarquardt 99:9d0849f5fcd7 2537 {
tnhnrl 32:f2f8ae34aadc 2538 return _pitch_command;
tnhnrl 32:f2f8ae34aadc 2539 }
tnhnrl 32:f2f8ae34aadc 2540
CodyMarquardt 99:9d0849f5fcd7 2541 float StateMachine::getDepthReading()
CodyMarquardt 99:9d0849f5fcd7 2542 {
tnhnrl 32:f2f8ae34aadc 2543 return _depth_reading;
tnhnrl 32:f2f8ae34aadc 2544 }
CodyMarquardt 99:9d0849f5fcd7 2545
CodyMarquardt 99:9d0849f5fcd7 2546 float StateMachine::getPitchReading()
CodyMarquardt 99:9d0849f5fcd7 2547 {
tnhnrl 32:f2f8ae34aadc 2548 return _pitch_reading;
tnhnrl 32:f2f8ae34aadc 2549 }
tnhnrl 32:f2f8ae34aadc 2550
CodyMarquardt 99:9d0849f5fcd7 2551 float StateMachine::getTimerReading()
CodyMarquardt 99:9d0849f5fcd7 2552 {
tnhnrl 32:f2f8ae34aadc 2553 return _timer_reading;
tnhnrl 17:7c16b5671d0e 2554 }
tnhnrl 28:16c83a2fdefa 2555
CodyMarquardt 99:9d0849f5fcd7 2556 void StateMachine::setState(int input_state)
CodyMarquardt 99:9d0849f5fcd7 2557 {
tnhnrl 21:38c8544db6f4 2558 _state = input_state;
CodyMarquardt 99:9d0849f5fcd7 2559
tnhnrl 73:f6f378311c8d 2560 _isTimeoutRunning = false; //to start each state you have to reset this
tnhnrl 17:7c16b5671d0e 2561 }
CodyMarquardt 99:9d0849f5fcd7 2562
CodyMarquardt 99:9d0849f5fcd7 2563 int StateMachine::getState()
CodyMarquardt 99:9d0849f5fcd7 2564 {
tnhnrl 17:7c16b5671d0e 2565 return _state; //return the current state of the system
tnhnrl 17:7c16b5671d0e 2566 }
CodyMarquardt 99:9d0849f5fcd7 2567
CodyMarquardt 99:9d0849f5fcd7 2568 void StateMachine::setTimeout(float input_timeout)
CodyMarquardt 99:9d0849f5fcd7 2569 {
tnhnrl 17:7c16b5671d0e 2570 _timeout = input_timeout;
tnhnrl 17:7c16b5671d0e 2571 }
CodyMarquardt 99:9d0849f5fcd7 2572
CodyMarquardt 99:9d0849f5fcd7 2573 void StateMachine::setDepthCommand(float input_depth_command)
CodyMarquardt 99:9d0849f5fcd7 2574 {
tnhnrl 32:f2f8ae34aadc 2575 _depth_command = input_depth_command;
tnhnrl 17:7c16b5671d0e 2576 }
CodyMarquardt 99:9d0849f5fcd7 2577
CodyMarquardt 99:9d0849f5fcd7 2578 void StateMachine::setPitchCommand(float input_pitch_command)
CodyMarquardt 99:9d0849f5fcd7 2579 {
tnhnrl 32:f2f8ae34aadc 2580 _pitch_command = input_pitch_command;
tnhnrl 17:7c16b5671d0e 2581 }
CodyMarquardt 99:9d0849f5fcd7 2582
CodyMarquardt 99:9d0849f5fcd7 2583 void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm)
CodyMarquardt 99:9d0849f5fcd7 2584 {
tnhnrl 21:38c8544db6f4 2585 _neutral_batt_pos_mm = batt_pos_mm;
tnhnrl 21:38c8544db6f4 2586 _neutral_bce_pos_mm = bce_pos_mm;
CodyMarquardt 99:9d0849f5fcd7 2587
tnhnrl 74:d281aaef9766 2588 xbee().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
tnhnrl 17:7c16b5671d0e 2589 }
CodyMarquardt 99:9d0849f5fcd7 2590
tnhnrl 17:7c16b5671d0e 2591 //process one state at a time
CodyMarquardt 99:9d0849f5fcd7 2592 void StateMachine::getDiveSequence()
CodyMarquardt 99:9d0849f5fcd7 2593 {
tnhnrl 17:7c16b5671d0e 2594 //iterate through this sequence using the FSM
tnhnrl 24:c7d9b5bf3829 2595 currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
tnhnrl 24:c7d9b5bf3829 2596 currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
tnhnrl 24:c7d9b5bf3829 2597 currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
tnhnrl 24:c7d9b5bf3829 2598 currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
CodyMarquardt 99:9d0849f5fcd7 2599
tnhnrl 17:7c16b5671d0e 2600 _timeout = currentStateStruct.timeout; //set timeout before exiting this function
tnhnrl 32:f2f8ae34aadc 2601 }
joel_ssc 82:0981b9ada820 2602 //process one state at a time
CodyMarquardt 100:a21bb2e4493d 2603 void StateMachine::getLegParams() {
joel_ssc 82:0981b9ada820 2604 //iterate through this sequence using the FSM
joel_ssc 82:0981b9ada820 2605 currentLegStateStruct.state = legController().legStructLoaded[_multi_leg_counter].state;
joel_ssc 82:0981b9ada820 2606 currentLegStateStruct.timeout = legController().legStructLoaded[_multi_leg_counter].timeout;
joel_ssc 82:0981b9ada820 2607 currentLegStateStruct.yo_time = legController().legStructLoaded[_multi_leg_counter].yo_time; //timer for each up/down segment
joel_ssc 82:0981b9ada820 2608 currentLegStateStruct.min_depth = legController().legStructLoaded[_multi_leg_counter].min_depth;
joel_ssc 82:0981b9ada820 2609 currentLegStateStruct.max_depth = legController().legStructLoaded[_multi_leg_counter].max_depth;
joel_ssc 82:0981b9ada820 2610 currentLegStateStruct.heading = legController().legStructLoaded[_multi_leg_counter].heading;
joel_ssc 82:0981b9ada820 2611
joel_ssc 82:0981b9ada820 2612 _timeout = currentLegStateStruct.timeout; //set timeout before exiting this function
joel_ssc 82:0981b9ada820 2613 _yo_time = currentLegStateStruct.yo_time;
joel_ssc 82:0981b9ada820 2614 _state = currentLegStateStruct.state;
joel_ssc 85:dd8176285b6e 2615 // _multi_leg_counter += 1; // this is wrong, because this subroutine is called multiple times on the same leg, I need indicator of 'next_leg', first.
joel_ssc 82:0981b9ada820 2616 }
CodyMarquardt 99:9d0849f5fcd7 2617 void StateMachine::setstate_frommain(int set_state_val, int new_timeout) // used for setting state from main, when find_neutral has not been run
CodyMarquardt 99:9d0849f5fcd7 2618 {
joel_ssc 88:1813f583cee9 2619 _state = set_state_val;
joel_ssc 88:1813f583cee9 2620 _timeout = new_timeout;
CodyMarquardt 99:9d0849f5fcd7 2621 }
CodyMarquardt 99:9d0849f5fcd7 2622
CodyMarquardt 99:9d0849f5fcd7 2623
CodyMarquardt 99:9d0849f5fcd7 2624 void StateMachine::printCurrentSdLog()
CodyMarquardt 99:9d0849f5fcd7 2625 {
tnhnrl 74:d281aaef9766 2626 xbee().printf("SD card log work in progress\r\n");
tnhnrl 32:f2f8ae34aadc 2627 //might be worth saving the last few logs to the MBED...
tnhnrl 32:f2f8ae34aadc 2628 }
tnhnrl 32:f2f8ae34aadc 2629
tnhnrl 52:f207567d3ea4 2630 // 06/06/2018
CodyMarquardt 99:9d0849f5fcd7 2631 float StateMachine::getFloatUserInput()
CodyMarquardt 99:9d0849f5fcd7 2632 {
tnhnrl 52:f207567d3ea4 2633 float float_conversion = 0.0;
CodyMarquardt 99:9d0849f5fcd7 2634
tnhnrl 52:f207567d3ea4 2635 while(1) {
tnhnrl 52:f207567d3ea4 2636 bool valid_input = false; //flag for valid or invalid input
CodyMarquardt 99:9d0849f5fcd7 2637
tnhnrl 74:d281aaef9766 2638 xbee().printf("\n\rPlease enter your number below and press ENTER:\r\n");
tnhnrl 52:f207567d3ea4 2639 char user_string [80]; //variable to store input as a character array
CodyMarquardt 99:9d0849f5fcd7 2640
tnhnrl 74:d281aaef9766 2641 xbee().scanf("%s", user_string); //read formatted data from stdin
tnhnrl 74:d281aaef9766 2642 xbee().printf("\n\n\ruser_string was <%s>\r\n", user_string);
CodyMarquardt 99:9d0849f5fcd7 2643
tnhnrl 52:f207567d3ea4 2644 //check through the string for invalid characters (decimal values 43 through 57)
tnhnrl 52:f207567d3ea4 2645 for (int c = 0; c < strlen(user_string); c++) {
tnhnrl 74:d281aaef9766 2646 //xbee().printf("character is [%c]\r\n", user_string[c]); //debug
tnhnrl 52:f207567d3ea4 2647 if (user_string[c] >= 43 and user_string[c] <= 57) {
tnhnrl 74:d281aaef9766 2648 //xbee().printf("VALID CHARACTER!\r\n"); //debug
tnhnrl 52:f207567d3ea4 2649 ;
CodyMarquardt 99:9d0849f5fcd7 2650 } else {
tnhnrl 74:d281aaef9766 2651 xbee().printf("INVALID INPUT!\r\n");
tnhnrl 52:f207567d3ea4 2652 break;
tnhnrl 52:f207567d3ea4 2653 }
CodyMarquardt 99:9d0849f5fcd7 2654
tnhnrl 52:f207567d3ea4 2655 if (c == (strlen(user_string) - 1)) {
tnhnrl 52:f207567d3ea4 2656 valid_input = true;
tnhnrl 52:f207567d3ea4 2657 }
tnhnrl 52:f207567d3ea4 2658 }
CodyMarquardt 99:9d0849f5fcd7 2659
tnhnrl 52:f207567d3ea4 2660 if (valid_input) {
tnhnrl 52:f207567d3ea4 2661 float_conversion = atof(user_string);
tnhnrl 74:d281aaef9766 2662 xbee().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
tnhnrl 52:f207567d3ea4 2663 break;
tnhnrl 52:f207567d3ea4 2664 }
tnhnrl 52:f207567d3ea4 2665 }
CodyMarquardt 99:9d0849f5fcd7 2666
tnhnrl 52:f207567d3ea4 2667 return float_conversion;
tnhnrl 67:c86a4b464682 2668 }
tnhnrl 67:c86a4b464682 2669
CodyMarquardt 99:9d0849f5fcd7 2670 float StateMachine::getTimerValue()
CodyMarquardt 99:9d0849f5fcd7 2671 {
CodyMarquardt 99:9d0849f5fcd7 2672 return _fsm_timer;
tnhnrl 80:4e5d306d695b 2673 }
tnhnrl 80:4e5d306d695b 2674
CodyMarquardt 99:9d0849f5fcd7 2675 void StateMachine::logFileMenu()
CodyMarquardt 99:9d0849f5fcd7 2676 {
tnhnrl 80:4e5d306d695b 2677 char FILE_MENU_key;
CodyMarquardt 99:9d0849f5fcd7 2678
tnhnrl 80:4e5d306d695b 2679 // print the menu
tnhnrl 80:4e5d306d695b 2680 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
CodyMarquardt 99:9d0849f5fcd7 2681
tnhnrl 80:4e5d306d695b 2682 // handle the key presses
tnhnrl 80:4e5d306d695b 2683 while(1) {
tnhnrl 80:4e5d306d695b 2684 // get the user's keystroke from either of the two inputs
tnhnrl 80:4e5d306d695b 2685 if (xbee().readable()) {
tnhnrl 80:4e5d306d695b 2686 xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
tnhnrl 80:4e5d306d695b 2687 FILE_MENU_key = xbee().getc();
CodyMarquardt 99:9d0849f5fcd7 2688 } else {
tnhnrl 80:4e5d306d695b 2689 continue; // didn't get a user input, so keep waiting for it
tnhnrl 80:4e5d306d695b 2690 }
CodyMarquardt 99:9d0849f5fcd7 2691
tnhnrl 80:4e5d306d695b 2692 // handle the user's key input
tnhnrl 80:4e5d306d695b 2693 if (FILE_MENU_key == 'P') { // user wants to save these modified values
tnhnrl 80:4e5d306d695b 2694 xbee().printf("\n\r>> Printing log file size!\n\r");
tnhnrl 80:4e5d306d695b 2695 wait(2);
tnhnrl 80:4e5d306d695b 2696 mbedLogger().getFileSize("/local/LOG000.csv");
CodyMarquardt 99:9d0849f5fcd7 2697 } else if (FILE_MENU_key == 'Y') {
tnhnrl 80:4e5d306d695b 2698 xbee().printf("\n\r>> Erasing MBED LOG FILE!\n\r");
tnhnrl 80:4e5d306d695b 2699 wait(2);
tnhnrl 80:4e5d306d695b 2700 mbedLogger().eraseFile();
tnhnrl 80:4e5d306d695b 2701 break;
CodyMarquardt 99:9d0849f5fcd7 2702 } else if (FILE_MENU_key == 'N') {
tnhnrl 80:4e5d306d695b 2703 xbee().printf("\n\r>> EXITING MENU. Log file intact.\n\r");
tnhnrl 80:4e5d306d695b 2704 wait(2);
tnhnrl 80:4e5d306d695b 2705 break;
CodyMarquardt 99:9d0849f5fcd7 2706 } else {
tnhnrl 80:4e5d306d695b 2707 xbee().printf("\n\r[%c] This key does nothing here. \r", FILE_MENU_key);
tnhnrl 80:4e5d306d695b 2708 }
tnhnrl 80:4e5d306d695b 2709 }
tnhnrl 16:3363b9f14913 2710 }