update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@74:d281aaef9766, 2018-08-14 (annotated)
- Committer:
- tnhnrl
- Date:
- Tue Aug 14 21:06:48 2018 +0000
- Revision:
- 74:d281aaef9766
- Parent:
- 73:f6f378311c8d
- Child:
- 75:92e79d23d29a
1) Fixed deadband on float broadcast ; 2) Fixed find neutral commands
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tzyoung | 0:ea293bbf9717 | 1 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 2 | #include "StaticDefs.hpp" |
tnhnrl | 65:2ac186553959 | 3 | |
tnhnrl | 65:2ac186553959 | 4 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 65:2ac186553959 | 5 | Ticker systemTicker; |
tnhnrl | 65:2ac186553959 | 6 | bool setup_complete = false; |
tnhnrl | 65:2ac186553959 | 7 | volatile unsigned int bTick = 0; |
tnhnrl | 65:2ac186553959 | 8 | volatile unsigned int timer_counter = 0; |
tnhnrl | 65:2ac186553959 | 9 | |
tnhnrl | 65:2ac186553959 | 10 | static unsigned int read_ticker(void) { //Basically this makes sure you're reading the data at one instance (not while it's changing) |
tnhnrl | 65:2ac186553959 | 11 | unsigned int val = bTick; |
tnhnrl | 65:2ac186553959 | 12 | if( val ) |
tnhnrl | 65:2ac186553959 | 13 | bTick = 0; |
tnhnrl | 65:2ac186553959 | 14 | return( val ); |
tnhnrl | 65:2ac186553959 | 15 | } |
tnhnrl | 65:2ac186553959 | 16 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 20:8987a9ae2bc7 | 17 | |
tnhnrl | 32:f2f8ae34aadc | 18 | // loop rate used to determine how fast events trigger in the while loop |
tnhnrl | 65:2ac186553959 | 19 | //Ticker main_loop_rate_ticker; |
tnhnrl | 65:2ac186553959 | 20 | //Ticker log_loop_rate_ticker; |
tnhnrl | 32:f2f8ae34aadc | 21 | |
tnhnrl | 65:2ac186553959 | 22 | volatile bool fsm_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 34:9b66c5188051 | 23 | volatile bool log_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 32:f2f8ae34aadc | 24 | |
tnhnrl | 65:2ac186553959 | 25 | void loop_trigger() { fsm_loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 26 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 27 | |
tnhnrl | 65:2ac186553959 | 28 | static int current_state = 0; |
tnhnrl | 65:2ac186553959 | 29 | static bool file_opened = false; |
tnhnrl | 65:2ac186553959 | 30 | |
tnhnrl | 73:f6f378311c8d | 31 | void FSM() { // FSM loop runs at 10 hz |
tnhnrl | 65:2ac186553959 | 32 | if(fsm_loop) { |
tnhnrl | 73:f6f378311c8d | 33 | // led one removed |
tnhnrl | 65:2ac186553959 | 34 | fsm_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 35 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 65:2ac186553959 | 36 | } |
tnhnrl | 65:2ac186553959 | 37 | } |
tnhnrl | 65:2ac186553959 | 38 | |
tnhnrl | 65:2ac186553959 | 39 | void log_function() { |
tnhnrl | 65:2ac186553959 | 40 | // log loop runs at 1 hz |
tnhnrl | 65:2ac186553959 | 41 | if (log_loop) { |
tnhnrl | 65:2ac186553959 | 42 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 65:2ac186553959 | 43 | |
tnhnrl | 68:8f549749b8ce | 44 | //if (current_state == TRANSMIT_MBED_LOG or current_state == RECEIVE_SEQUENCE) { |
tnhnrl | 68:8f549749b8ce | 45 | // ; //pass |
tnhnrl | 68:8f549749b8ce | 46 | // } |
tnhnrl | 65:2ac186553959 | 47 | |
tnhnrl | 68:8f549749b8ce | 48 | if(current_state != 0) { |
tnhnrl | 65:2ac186553959 | 49 | if (!file_opened) { //if the log file is not open, open it |
tnhnrl | 65:2ac186553959 | 50 | mbedLogger().appendLogFile(current_state, 0); //open MBED file once |
tnhnrl | 65:2ac186553959 | 51 | //sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 65:2ac186553959 | 52 | |
tnhnrl | 65:2ac186553959 | 53 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 56:48a8a5a65b82 | 54 | |
tnhnrl | 74:d281aaef9766 | 55 | xbee().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 56 | } |
tnhnrl | 65:2ac186553959 | 57 | |
tnhnrl | 65:2ac186553959 | 58 | //record to Mbed file system |
tnhnrl | 65:2ac186553959 | 59 | |
tnhnrl | 65:2ac186553959 | 60 | mbedLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 65:2ac186553959 | 61 | //sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 65:2ac186553959 | 62 | } |
tnhnrl | 65:2ac186553959 | 63 | |
tnhnrl | 65:2ac186553959 | 64 | //when the current FSM state is zero (SIT_IDLE), close the file |
tnhnrl | 65:2ac186553959 | 65 | else { |
tnhnrl | 65:2ac186553959 | 66 | //this can only happen once |
tnhnrl | 65:2ac186553959 | 67 | if (file_opened) { |
tnhnrl | 67:c86a4b464682 | 68 | //WRITE ONCE |
tnhnrl | 67:c86a4b464682 | 69 | mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 67:c86a4b464682 | 70 | |
tnhnrl | 65:2ac186553959 | 71 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 65:2ac186553959 | 72 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 65:2ac186553959 | 73 | |
tnhnrl | 65:2ac186553959 | 74 | file_opened = false; |
tnhnrl | 65:2ac186553959 | 75 | |
tnhnrl | 74:d281aaef9766 | 76 | xbee().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 77 | } |
tnhnrl | 65:2ac186553959 | 78 | } |
tnhnrl | 74:d281aaef9766 | 79 | } //END OF LOG LOOP8 |
tnhnrl | 65:2ac186553959 | 80 | |
tnhnrl | 65:2ac186553959 | 81 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 82 | } |
tnhnrl | 56:48a8a5a65b82 | 83 | |
tnhnrl | 72:250b2665755c | 84 | //single system timer to run hardware/electronics timing |
tnhnrl | 65:2ac186553959 | 85 | static void system_timer(void) { |
tnhnrl | 65:2ac186553959 | 86 | bTick = 1; |
tnhnrl | 65:2ac186553959 | 87 | |
tnhnrl | 56:48a8a5a65b82 | 88 | timer_counter++; |
tnhnrl | 56:48a8a5a65b82 | 89 | |
tnhnrl | 56:48a8a5a65b82 | 90 | //only start these updates when everything is properly setup (through setup function) |
tnhnrl | 56:48a8a5a65b82 | 91 | if (setup_complete) { |
tnhnrl | 74:d281aaef9766 | 92 | if ( (timer_counter % 5) == 0) { //this runs at 0.005 second intervals (200 Hz) |
tnhnrl | 65:2ac186553959 | 93 | adc().update(); //every iteration of this the A/D converter runs //now this runs at 0.01 second intervals 03/12/2018 |
tnhnrl | 65:2ac186553959 | 94 | } |
tnhnrl | 65:2ac186553959 | 95 | |
tnhnrl | 65:2ac186553959 | 96 | if ( (timer_counter % 10) == 0) { |
tnhnrl | 65:2ac186553959 | 97 | bce().update(); //update() inside LinearActuator class (running at 0.01 second intervals) |
tnhnrl | 65:2ac186553959 | 98 | batt().update(); |
tnhnrl | 65:2ac186553959 | 99 | } |
tnhnrl | 65:2ac186553959 | 100 | |
tnhnrl | 65:2ac186553959 | 101 | if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals |
tnhnrl | 74:d281aaef9766 | 102 | rudder().runServo(); |
tnhnrl | 65:2ac186553959 | 103 | } |
tnhnrl | 65:2ac186553959 | 104 | |
tnhnrl | 65:2ac186553959 | 105 | if ( (timer_counter % 50) == 0 ) { // 0.05 second intervals |
tnhnrl | 67:c86a4b464682 | 106 | imu().runIMU(); |
tnhnrl | 65:2ac186553959 | 107 | } |
tnhnrl | 73:f6f378311c8d | 108 | |
tnhnrl | 65:2ac186553959 | 109 | if ( (timer_counter % 100) == 0) { // 100,000 microseconds = 0.1 second intervals |
tnhnrl | 65:2ac186553959 | 110 | depthLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 111 | pitchLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 112 | headingLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 113 | } |
tnhnrl | 73:f6f378311c8d | 114 | |
tnhnrl | 73:f6f378311c8d | 115 | if ( (timer_counter % 1000) == 0) { // update at 1.0 second intervals |
tnhnrl | 73:f6f378311c8d | 116 | //gui().updateGUI(); |
tnhnrl | 73:f6f378311c8d | 117 | } |
tnhnrl | 74:d281aaef9766 | 118 | |
tnhnrl | 74:d281aaef9766 | 119 | if ( (timer_counter % 30000) == 0) { // update at 30.0 second intervals |
tnhnrl | 74:d281aaef9766 | 120 | //pc().printf("XB!\n"); |
tnhnrl | 74:d281aaef9766 | 121 | } |
tnhnrl | 56:48a8a5a65b82 | 122 | } |
tnhnrl | 56:48a8a5a65b82 | 123 | } |
tnhnrl | 56:48a8a5a65b82 | 124 | |
danstrider | 10:085ab7328054 | 125 | void setup() { |
tnhnrl | 74:d281aaef9766 | 126 | xbee().baud(115200); |
tnhnrl | 74:d281aaef9766 | 127 | xbee().printf("\n\n\r FSG PCB Bench Test version 1.8L 115200 BAUD)\n\n\r"); |
tnhnrl | 74:d281aaef9766 | 128 | |
tnhnrl | 74:d281aaef9766 | 129 | //pc().baud(57600); |
tnhnrl | 65:2ac186553959 | 130 | |
danstrider | 10:085ab7328054 | 131 | // start up the system timer |
tnhnrl | 65:2ac186553959 | 132 | //systemTimer().start(); |
tnhnrl | 20:8987a9ae2bc7 | 133 | |
danstrider | 10:085ab7328054 | 134 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tnhnrl | 65:2ac186553959 | 135 | adc().initialize(); |
tnhnrl | 67:c86a4b464682 | 136 | //one central interrupt is updating the ADC (not using the start function) |
tnhnrl | 65:2ac186553959 | 137 | |
tnhnrl | 65:2ac186553959 | 138 | // setup and run the rudder(servo) pwm signal (start the ticker) |
tnhnrl | 65:2ac186553959 | 139 | //rudder().init(); |
tnhnrl | 74:d281aaef9766 | 140 | xbee().printf("Rudder servo initialized!\n\r"); |
danstrider | 10:085ab7328054 | 141 | |
danstrider | 10:085ab7328054 | 142 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 143 | imu().initialize(); |
tnhnrl | 65:2ac186553959 | 144 | //imu().start(); |
danstrider | 10:085ab7328054 | 145 | |
tnhnrl | 48:20e681885161 | 146 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 147 | local(); |
tnhnrl | 48:20e681885161 | 148 | |
tnhnrl | 48:20e681885161 | 149 | // construct the SD card file system |
tnhnrl | 65:2ac186553959 | 150 | //sd_card(); |
tnhnrl | 20:8987a9ae2bc7 | 151 | |
danstrider | 10:085ab7328054 | 152 | // load config data from files |
tnhnrl | 65:2ac186553959 | 153 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 65:2ac186553959 | 154 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 65:2ac186553959 | 155 | |
tnhnrl | 65:2ac186553959 | 156 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 157 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 158 | |
tnhnrl | 65:2ac186553959 | 159 | configFileIO().load_RUDDER_config(); // load the rudder servo inner loop parameters from the file "SERVO.txt" |
tnhnrl | 65:2ac186553959 | 160 | configFileIO().load_HEADING_config(); // load the rudder servo outer loop HEADING control parameters from the file "HEADING.txt" (contains neutral position) |
tnhnrl | 43:891baf306e0a | 161 | |
danstrider | 10:085ab7328054 | 162 | // set up the linear actuators. adc has to be running first. |
tnhnrl | 65:2ac186553959 | 163 | bce().setPIDHighLimit(bce().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 164 | bce().init(); |
tnhnrl | 65:2ac186553959 | 165 | //bce().start(); //removed start, it's handled by the interrupt |
tnhnrl | 67:c86a4b464682 | 166 | bce().runLinearActuator(); |
mkelly10 | 12:a0519d11d2b6 | 167 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 168 | |
tnhnrl | 65:2ac186553959 | 169 | batt().setPIDHighLimit(batt().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 170 | batt().init(); |
tnhnrl | 65:2ac186553959 | 171 | batt().runLinearActuator(); // _init = true; |
tnhnrl | 65:2ac186553959 | 172 | //batt().start();//removed start, it's handled by the interrupt |
mkelly10 | 12:a0519d11d2b6 | 173 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 174 | |
tnhnrl | 65:2ac186553959 | 175 | // set up the depth, pitch, and rudder outer loop controllers |
danstrider | 10:085ab7328054 | 176 | depthLoop().init(); |
tnhnrl | 65:2ac186553959 | 177 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 178 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 179 | |
danstrider | 10:085ab7328054 | 180 | pitchLoop().init(); |
tnhnrl | 65:2ac186553959 | 181 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 182 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 55:f4ec445c42fe | 183 | |
tnhnrl | 55:f4ec445c42fe | 184 | headingLoop().init(); |
tnhnrl | 65:2ac186553959 | 185 | //removed start, it's handled by the interrupt |
tnhnrl | 65:2ac186553959 | 186 | //headingLoop().setCommand(stateMachine().getHeadingCommand()); // FIX LATER |
tnhnrl | 65:2ac186553959 | 187 | //heading flag that adjust the PID error is set in the constructor |
tnhnrl | 65:2ac186553959 | 188 | |
tnhnrl | 65:2ac186553959 | 189 | //systemTicker.attach_us(&system_timer, 10000); // Interrupt timer running at 0.01 seconds (slower than original ADC time interval) |
tnhnrl | 65:2ac186553959 | 190 | |
tnhnrl | 65:2ac186553959 | 191 | |
tnhnrl | 20:8987a9ae2bc7 | 192 | |
tnhnrl | 20:8987a9ae2bc7 | 193 | // show that the PID gains are loading from the file |
tnhnrl | 74:d281aaef9766 | 194 | xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
tnhnrl | 74:d281aaef9766 | 195 | xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
tnhnrl | 74:d281aaef9766 | 196 | xbee().printf("rudder min pwm: %6.2f, max pwm: %6.2f, center pwm: %6.2f, min deg: %6.2f, max deg: %6.2f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); |
tnhnrl | 65:2ac186553959 | 197 | |
tnhnrl | 74:d281aaef9766 | 198 | xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
tnhnrl | 74:d281aaef9766 | 199 | xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
tnhnrl | 74:d281aaef9766 | 200 | xbee().printf("heading P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f deg (deadband: %0.1f)\r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband()); |
tnhnrl | 65:2ac186553959 | 201 | |
tnhnrl | 74:d281aaef9766 | 202 | xbee().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 203 | |
tnhnrl | 17:7c16b5671d0e | 204 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 205 | sequenceController().loadSequence(); |
tnhnrl | 32:f2f8ae34aadc | 206 | |
tnhnrl | 47:fb3c7929d3f3 | 207 | //set time of logger (to current or close-to-current time) |
tnhnrl | 65:2ac186553959 | 208 | mbedLogger().setLogTime(); |
tnhnrl | 65:2ac186553959 | 209 | //sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 210 | |
tnhnrl | 47:fb3c7929d3f3 | 211 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 212 | mbedLogger().initializeLogFile(); |
tnhnrl | 65:2ac186553959 | 213 | //sdLogger().initializeLogFile(); |
tnhnrl | 65:2ac186553959 | 214 | |
tnhnrl | 68:8f549749b8ce | 215 | setup_complete = true; |
tnhnrl | 65:2ac186553959 | 216 | } |
tnhnrl | 58:94b7fd55185e | 217 | |
tnhnrl | 68:8f549749b8ce | 218 | /*************************** v1.8 **************************/ |
tnhnrl | 68:8f549749b8ce | 219 | |
tnhnrl | 73:f6f378311c8d | 220 | int main() { |
tnhnrl | 73:f6f378311c8d | 221 | setup(); //setup electronics/hardware |
tnhnrl | 56:48a8a5a65b82 | 222 | |
tnhnrl | 72:250b2665755c | 223 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
tnhnrl | 68:8f549749b8ce | 224 | |
tnhnrl | 65:2ac186553959 | 225 | unsigned int tNow = 0; |
tnhnrl | 74:d281aaef9766 | 226 | |
tnhnrl | 74:d281aaef9766 | 227 | xbee().printf("\n\n\r FSG PCB v1.8D (XBee) 08/07/2018 \n\n\r"); |
tnhnrl | 56:48a8a5a65b82 | 228 | |
tnhnrl | 56:48a8a5a65b82 | 229 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
tnhnrl | 65:2ac186553959 | 230 | |
tnhnrl | 65:2ac186553959 | 231 | while (1) { |
tnhnrl | 66:0f20870117b7 | 232 | if( read_ticker() ) // read_ticker runs at the speed of 10 kHz (adc timing) |
tnhnrl | 65:2ac186553959 | 233 | { |
tnhnrl | 65:2ac186553959 | 234 | ++tNow; |
mkelly10 | 51:c5c40272ecc3 | 235 | |
tnhnrl | 66:0f20870117b7 | 236 | //run finite state machine fast when transmitting data |
tnhnrl | 74:d281aaef9766 | 237 | if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) { |
tnhnrl | 73:f6f378311c8d | 238 | if ( (tNow % 100) == 0 ) { // 0.01 second intervals (100 Hz) |
tnhnrl | 66:0f20870117b7 | 239 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 240 | FSM(); |
tnhnrl | 66:0f20870117b7 | 241 | } |
tnhnrl | 45:16b8162188ca | 242 | } |
tnhnrl | 34:9b66c5188051 | 243 | |
tnhnrl | 67:c86a4b464682 | 244 | //NOT TRANSMITTING DATA, NORMAL OPERATIONS |
tnhnrl | 68:8f549749b8ce | 245 | else { |
tnhnrl | 68:8f549749b8ce | 246 | //FSM |
tnhnrl | 68:8f549749b8ce | 247 | if ( (tNow % 100) == 0 ) { // 0.1 second intervals |
tnhnrl | 66:0f20870117b7 | 248 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 249 | FSM(); |
tnhnrl | 73:f6f378311c8d | 250 | |
tnhnrl | 73:f6f378311c8d | 251 | //get commands and update GUI |
tnhnrl | 73:f6f378311c8d | 252 | gui().getCommandFSM(); |
tnhnrl | 68:8f549749b8ce | 253 | } |
tnhnrl | 68:8f549749b8ce | 254 | //LOGGING |
tnhnrl | 68:8f549749b8ce | 255 | if ( (tNow % 1000) == 0 ) { // 1.0 second intervals |
tnhnrl | 66:0f20870117b7 | 256 | log_loop = true; |
tnhnrl | 66:0f20870117b7 | 257 | log_function(); |
tnhnrl | 66:0f20870117b7 | 258 | } |
tnhnrl | 66:0f20870117b7 | 259 | } |
tnhnrl | 65:2ac186553959 | 260 | } |
danstrider | 10:085ab7328054 | 261 | } |
tnhnrl | 74:d281aaef9766 | 262 | } |