update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: main.cpp
- Revision:
- 16:3363b9f14913
- Parent:
- 15:2a8cfd3f1cf5
- Child:
- 17:7c16b5671d0e
--- a/main.cpp Tue Oct 31 22:19:20 2017 +0000 +++ b/main.cpp Mon Nov 06 22:57:56 2017 +0000 @@ -51,43 +51,21 @@ - Neutral won't do what we want ... without large depth P, it won't get to depth. - Dive with just P doesn't overshoot depth at 0.0 deg, but does with -20 deg. Timeout should probably be RISE. - Files depth/pitch updated with tuned defaults. + Modified 2017-11-06 by Troy + - Added acronyms to print statements (when running this with XBee you don't know what mode the + hardware is in because of signal dropping out) + - Fixed print error with setpoints by printing out the setpoint variable, not the outerloop getCommand + (command is sent every time hardware dives, finds neutral, etc.) + - Set the pitchCommand input to 0 on the "find neutral" command, it was sending a non-zero pitch command + - Created a class for the StateMachine */ #include "mbed.h" #include "StaticDefs.hpp" #include "config_functions.h" - -extern "C" void mbed_reset(); // utilized to reset the mbed - -// state enumerations -enum { - SIT_IDLE, // stops both motors, exits after a keyboard input - KEYBOARD, // handles an individual keypress, exits to state by a keyboard menu - FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable - DIVE, // dives to depth at negative pitch, exits when crossing a defined depth - RISE, // rises to surface at positive pitch, exits when near surface - FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch - FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done - EMERGENCY_CLIMB // bce position to full rise, batt position to full aft, exits when at surface -}; - -// timer for the state machine -Timer timer; - -// these are all the parameters needed for the state machine -int timeout = 60; // generic timeout for every state, seconds -float depthTolerance = 0.25; // depth tolerance for neutral finding exit critera -float pitchTolerance = 1.0; // pitch angle tolerance for neutral finding exit criteria -float bceFloatPosition = 300; // bce position for "float" states -float battFloatPosition = 50; // batt position for "broadcast" state - -float depthCommand = 3.5; // user keyboard depth -float pitchCommand = -20.0; // user keyboard depth - - void setup() { - pc().printf("\n\n\r\rFSG 2017-10-31\n\r"); + pc().printf("\n\n\r\rFSG 2017-11-06\n\r"); pc().baud(57600); // start up the system timer @@ -126,11 +104,11 @@ // set up the depth and pitch outer loop controllers depthLoop().init(); depthLoop().start(); - depthLoop().setCommand(depthCommand); + depthLoop().setCommand(stateMachine().getDepthCommand()); pitchLoop().init(); pitchLoop().start(); - pitchLoop().setCommand(pitchCommand); + pitchLoop().setCommand(stateMachine().getPitchCommand()); // do not leave this in. Check that PID gains are loading pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); @@ -140,684 +118,12 @@ pc().printf("\n\r"); } - - -void keyboard_menu_BCE_PID_settings() { - char PID_key; - float gain_step_size = 0.01; // modify this to change gain step size - float KP = bce().getControllerP(); // load current value - float KI = bce().getControllerI(); // load current global value - float KD = bce().getControllerD(); // load current global value - - // show the menu - pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); - pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); - pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r"); - pc().printf("bce P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); - - // handle the key presses - while(1) { - // get the user's keystroke from either of the two inputs - if (pc().readable()) { - PID_key = pc().getc(); - } - else { - continue; // didn't get a user input, so keep waiting for it - } - - // handle the user's key input - if (PID_key == '-') { - KP -= gain_step_size; - pc().printf("P gain: %0.5f \r\n", KP); - } - else if (PID_key == '=') { - KP += gain_step_size; - pc().printf("P gain: %0.5f \r\n", KP); - } - else if (PID_key == '[') { - KI -= gain_step_size; - pc().printf("I gain: %0.5f \r\n", KI); - } - else if (PID_key == ']') { - KI += gain_step_size; - pc().printf("I gain: %0.5f \r\n", KI); - } - else if (PID_key == ';') { - KD -= gain_step_size; - pc().printf("D gain: %0.5f \r\n", KD); - } - else if (PID_key == '\'') { - KD += gain_step_size; - pc().printf("D gain: %0.5f \r\n", KD); - } - else if (PID_key == 'S') { // user wants to save these modified values - // set values - bce().setControllerP(KP); - bce().setControllerI(KI); - bce().setControllerD(KD); - - // save into "PID.cfg" - //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D); - break; //exit the while loop - } - else if (PID_key == 'X') { - break; //exit the while loop - } - else { - pc().printf("\n\rThis key does nothing here. "); - } - } -} - -void keyboard_menu_DEPTH_PID_settings() { - char PID_key; - float gain_step_size = 0.01; // modify this to change gain step size - float KP = depthLoop().getControllerP(); // load current global value - float KI = depthLoop().getControllerI(); // load current global value - float KD = depthLoop().getControllerD(); // load current global value - - // show the menu - pc().printf("\n\r1: Buoyancy Engine PID gain settings (MENU)"); - pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); - pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\n\n\r"); - pc().printf("depth P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); - - // handle the key presses - while(1) { - // get the user's keystroke from either of the two inputs - if (pc().readable()) { - PID_key = pc().getc(); - } - else { - continue; // didn't get a user input, so keep waiting for it - } - - // handle the user's key input - if (PID_key == '-') { - KP -= gain_step_size; - pc().printf("P gain: %0.5f \r\n", KP); - } - else if (PID_key == '=') { - KP += gain_step_size; - pc().printf("P gain: %0.5f \r\n", KP); - } - else if (PID_key == '[') { - KI -= gain_step_size; - pc().printf("I gain: %0.5f \r\n", KI); - } - else if (PID_key == ']') { - KI += gain_step_size; - pc().printf("I gain: %0.5f \r\n", KI); - } - else if (PID_key == ';') { - KD -= gain_step_size; - pc().printf("D gain: %0.5f \r\n", KD); - } - else if (PID_key == '\'') { - KD += gain_step_size; - pc().printf("D gain: %0.5f \r\n", KD); - } - else if (PID_key == 'S') { // user wants to save these settings - // set global values - depthLoop().setControllerP(KP); - depthLoop().setControllerI(KI); - depthLoop().setControllerD(KD); - - // save into "PID.cfg" - //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D); - break; //exit the while loop - } - else if (PID_key == 'X') { - break; //exit the while loop - } - else { - pc().printf("\n\rThis key does nothing here. "); - } - } -} - -void keyboard_menu_BATT_PID_settings() { - char PID_key; - float gain_step_size = 0.01; // modify this to change gain step size - float KP = batt().getControllerP(); // load current global value - float KI = batt().getControllerI(); // load current global value - float KD = batt().getControllerD(); // load current global value - - // print the menu - pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); - pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); - pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); - pc().printf("batt P: %3.2f, I: %3.2f, D %3.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); - - // handle the key presses - while(1) { - // get the user's keystroke from either of the two inputs - if (pc().readable()) { - PID_key = pc().getc(); - } - else { - continue; // didn't get a user input, so keep waiting for it - } - - // handle the user's key input - if (PID_key == '-') { - KP -= gain_step_size; - pc().printf("\rP gain: %0.5f ", KP); - } - else if (PID_key == '=') { - KP += gain_step_size; - pc().printf("\rP gain: %0.5f ", KP); - } - else if (PID_key == '[') { - KI -= gain_step_size; - pc().printf("\rI gain: %0.5f ", KI); - } - else if (PID_key == ']') { - KI += gain_step_size; - pc().printf("\rI gain: %0.5f ", KI); - } - else if (PID_key == ';') { - KD -= gain_step_size; - pc().printf("\rD gain: %0.5f ", KD); - } - else if (PID_key == '\'') { - KD += gain_step_size; - pc().printf("\rD gain: %0.5f ", KD); - } - else if (PID_key == 'S') { // user wants to save the modified values - // set global values - batt().setControllerP(KP); - batt().setControllerI(KI); - batt().setControllerD(KD); - - // save to "PID.cfg" file - //Config_File_IO().write_manual_position_PID_values_to_config(batt_position_P,batt_position_I,batt_position_D,bce_position_P,bce_position_I,bce_position_D); - break; //exit the while loop - } - else if (PID_key == 'X') { - break; //exit the while loop - } - else { - pc().printf("This key does nothing here.\r"); - } - } -} - -void keyboard_menu_PITCH_PID_settings() { - char PID_key; - float gain_step_size = 0.01; // modify this to change gain step size - float KP = pitchLoop().getControllerP(); // load current global value - float KI = pitchLoop().getControllerI(); // load current global value - float KD = pitchLoop().getControllerD(); // load current global value - - // print the menu - pc().printf("\n\r2: Battery Motor PID gain settings (MENU)"); - pc().printf("\n\r(Adjust PID settings with the following keys: -= and [] and ;'"); - pc().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r"); - pc().printf("pitch P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); - - // handle the key presses - while(1) { - // get the user's keystroke from either of the two inputs - if (pc().readable()) { - PID_key = pc().getc(); - } - else { - continue; // didn't get a user input, so keep waiting for it - } - - // handle the user's key input - if (PID_key == '-') { - KP -= gain_step_size; - pc().printf("\rP gain: %0.5f ", KP); - } - else if (PID_key == '=') { - KP += gain_step_size; - pc().printf("\rP gain: %0.5f ", KP); - } - else if (PID_key == '[') { - KI -= gain_step_size; - pc().printf("\rI gain: %0.5f ", KI); - } - else if (PID_key == ']') { - KI += gain_step_size; - pc().printf("\rI gain: %0.5f ", KI); - } - else if (PID_key == ';') { - KD -= gain_step_size; - pc().printf("\rD gain: %0.5f ", KD); - } - else if (PID_key == '\'') { - KD += gain_step_size; - pc().printf("\rD gain: %0.5f ", KD); - } - else if (PID_key == 'S') { // user wants to save the modified values - // set global values - pitchLoop().setControllerP(KP); - pitchLoop().setControllerI(KI); - pitchLoop().setControllerD(KD); - - //Config_File_IO().write_auto_PID_values_to_config(pitch_controller_P,pitch_controller_I,pitch_controller_D,depth_controller_P,depth_controller_I,depth_controller_D); - break; //exit the while loop - } - else if (PID_key == 'X') { - break; //exit the while loop - } - else { - pc().printf("This key does nothing here.\r"); - } - } -} - - -// output the keyboard menu for user's reference -void showMenu() { - pc().printf("\r\r\n\nKEYBOARD MENU:\r\r\n"); - pc().printf(" N to find neutral\r\n"); - pc().printf(" D to initiate dive cycle\r\n"); - pc().printf(" R to initiate rise\r\n"); - pc().printf(" L to float level\r\n"); - pc().printf(" B to float at broadcast pitch\r\n"); - pc().printf(" E to initiate emergency climb\r\n"); - pc().printf(" H to run homing sequence on both BCE and Batt\r\n"); - pc().printf(" T to tare the depth sensor\r\n"); - pc().printf("[/] to change bce neutral position\r\n"); - pc().printf("</> to change batt neutral position\r\n"); - pc().printf("Q/W to decrease/increase pitch setpoint: %3.1f\r\n",pitchLoop().getCommand()); - pc().printf("A/S to decrease/increase depth setpoint: %3.1f\r\n",depthLoop().getCommand()); - pc().printf("+/- to decrease/increase timeout: %d s\r\n",timeout); - pc().printf(" 1 BCE PID sub-menu\r\n"); - pc().printf(" 2 BATT PID sub-menu\r\n"); - pc().printf(" 3 Depth PID sub-menu\r\n"); - pc().printf(" 4 Pitch PID sub-menu\r\n"); - pc().printf(" C See sensor readings\r\n"); - pc().printf(" ? to reset mbed\r\n"); -} - -// keyboard currently handles a key at a time -// returns -1 if not a state command -// returns a positive number to command a new state -int keyboard() { - char userInput; - - // check keyboard and make settings changes as requested - if (pc().readable()) { - // get the key - userInput = pc().getc(); - - // check command against desired control buttons - // change state - if (userInput == 'D' or userInput == 'd') { - return DIVE; - } - else if (userInput == 'N' or userInput == 'n') { - return FIND_NEUTRAL; - } - else if (userInput == 'R' or userInput == 'r') { - return RISE; - } - else if (userInput == 'L' or userInput == 'l') { - return FLOAT_LEVEL; - } - else if (userInput == 'B' or userInput == 'b') { - return FLOAT_BROADCAST; - } - else if (userInput == 'E' or userInput == 'e') { - return EMERGENCY_CLIMB; - } - else if (userInput == 'H' or userInput == 'h') { - pc().printf("running homing procedure\r\n"); - bce().unpause(); bce().homePiston(); bce().pause(); - batt().unpause(); batt().homePiston(); batt().pause(); - return SIT_IDLE; - } - else if (userInput == 'T' or userInput == 't') { - pc().printf("taring depth sensor\r\n"); - pc().printf("Pre-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); - wait(0.1); - depth().tare(); // tares to ambient (do on surface) - pc().printf("Post-tare: press: %3.3f psi, depth: %3.3f ft\r\n", depth().getPsi(), depth().getDepthFt()); - } - - else if (userInput == '[' or userInput == '{') { - depthLoop().setOutputOffset(depthLoop().getOutputOffset() - 1); // decrease the bce neutral setpoint - pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); - } - else if (userInput == ']' or userInput == '}') { - depthLoop().setOutputOffset(depthLoop().getOutputOffset() + 1); // increase the bce neutral setpoint - pc().printf("Adjusting bce neutral position. new: %3.1f\r\n",depthLoop().getOutputOffset()); - } - else if (userInput == '<' or userInput == ',') { - pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() - 1); // decrease the batt neutral setpoint - pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); - } - else if (userInput == '>' or userInput == '.') { - pitchLoop().setOutputOffset(pitchLoop().getOutputOffset() + 1); // increase the batt neutral setpoint - pc().printf("Adjusting batt neutral position. new: %3.1f\r\n",pitchLoop().getOutputOffset()); - } - - else if (userInput == '?') { - pc().printf("\n\n\n>>> Resetting MBED <<<\n\n\n"); - wait(0.5); - mbed_reset(); - } - - // change settings - else if (userInput == 'Q' or userInput == 'q') { - pitchCommand -= 0.5; //decrement the pitch setpoint - pitchLoop().setCommand(pitchCommand); - pc().printf(">>> new pitch angle setpoint: %0.3f deg (decreased)\r\n", pitchLoop().getCommand()); - } - else if (userInput == 'W' or userInput == 'w') { - pitchCommand += 0.5; //increment the pitch setpoint - pitchLoop().setCommand(pitchCommand); - pc().printf(">>> new pitch angle setpoint: %0.3f deg (increased)\r\n", pitchLoop().getCommand()); - } - else if (userInput == 'A' or userInput == 'a') { - depthCommand -= 0.5; //decrement the depth setpoint - depthLoop().setCommand(depthCommand); - pc().printf(">>> new depth (ft) setpoint: %0.3f ft (sink)\r\n", depthLoop().getCommand()); - } - else if (userInput == 'S' or userInput == 's') { - depthCommand += 0.5; //increment the depth setpoint - depthLoop().setCommand(depthCommand); - pc().printf(">>> new depth setpoint: %0.3f ft (rise)\r\n", depthLoop().getCommand()); - } - else if (userInput == '-') { - timeout -= 10.0; //decrement the timeout - pc().printf(">>> timeout decreased: %d\r\n", timeout); - } - else if (userInput == '=' or userInput == '+') { - timeout += 10.0; //increment the timeout - pc().printf(">>> timeout increased: %d\r\n", timeout); - } - - // add keyboard commands to move the neutral zero offsets, both bce and batt - - // go to sub-menus for the PID gains (this is blocking) - else if (userInput == '1') { - keyboard_menu_BCE_PID_settings(); - } - else if (userInput == '2') { - keyboard_menu_BATT_PID_settings(); - } - else if (userInput == '3') { - keyboard_menu_DEPTH_PID_settings(); - } - else if (userInput == '4') { - keyboard_menu_PITCH_PID_settings(); - } - - else if (userInput == 'C' or userInput == 'c') { - pc().printf("depth: %3.1f\r\n",depthLoop().getPosition()); - pc().printf("pitch: %3.1f\r\n",imu().getPitch()); - pc().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm()); - pc().printf("bce().getSetPosition_mm(): %3.1f\r\n",bce().getSetPosition_mm()); - pc().printf("batt().getPosition_mm(): %3.1f\r\n",batt().getPosition_mm()); - pc().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm()); - pc().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand()); - pc().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand()); - } - else { - return (-1); - } - } - return (-1); -} - -void stateMachine() { - static int state = SIT_IDLE; // select starting state here - static bool isTimeoutRunning = false; // default timer to not running - - // finite state machine ... each state has at least one exit criteria - switch (state) { - case SIT_IDLE : - // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions - if (!isTimeoutRunning) { - showMenu(); - pc().printf("\r\n\nstate: SIT_IDLE\r\n"); - isTimeoutRunning = true; - - // what is active? - bce().pause(); - batt().pause(); - } - // how exit? - if (pc().readable()) { - state = KEYBOARD; - isTimeoutRunning = false; - } - break; - - case KEYBOARD : - pc().printf("\r\n\nstate: KEYBOARD\r\n"); - if (pc().readable()) { - state = keyboard(); // get new state command - if (state == -1) { // error, that wasn't a new state command - state = SIT_IDLE; - } - //pc().printf("new state is: %d \r\n",state); - } - break; - - case EMERGENCY_CLIMB : - // start local state timer and init any other one-shot actions - if (!isTimeoutRunning) { - pc().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n"); - timer.reset(); // timer goes back to zero - timer.start(); // background timer starts running - isTimeoutRunning = true; - - // what needs to be started? - bce().unpause(); - batt().unpause(); - - // what is active? - bce().setPosition_mm(bce().getTravelLimit()); - batt().setPosition_mm(0.0); - } - // how exit? - if (timer > timeout) { - pc().printf("timed out\r\n"); - state = FLOAT_LEVEL; - timer.reset(); - isTimeoutRunning = false; - } - else if (depthLoop().getPosition() < 0.2) { - pc().printf("depth: %3.1f, cmd: 0.5\r\n",depthLoop().getPosition()); - state = FLOAT_LEVEL; - timer.reset(); - isTimeoutRunning = false; - } - break; - - case FIND_NEUTRAL : - // start local state timer and init any other one-shot actions - if (!isTimeoutRunning) { - pc().printf("\r\n\nstate: FIND_NEUTRAL\r\n"); - timer.reset(); // timer goes back to zero - timer.start(); // background timer starts running - isTimeoutRunning = true; - - // what needs to be started? - bce().unpause(); - batt().unpause(); - - // what is active? - depthLoop().setCommand(depthCommand); - pitchLoop().setCommand(pitchCommand); - } - // how exit? - if (timer > timeout) { - pc().printf("timed out\r\n"); - state = FLOAT_LEVEL; - timer.reset(); - isTimeoutRunning = false; - } - else if ((abs(depthLoop().getPosition() - depthLoop().getCommand()) < depthTolerance) and - (abs(imu().getPitch() - pitchLoop().getCommand()) < pitchTolerance)) { - state = RISE; - timer.reset(); - isTimeoutRunning = false; - } - // what is active? - pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); - bce().setPosition_mm(depthLoop().getOutput()); - batt().setPosition_mm(pitchLoop().getOutput()); - break; - - case DIVE : - // start local state timer and init any other one-shot actions - if (!isTimeoutRunning) { - pc().printf("\r\n\nstate: DIVE\r\n"); - timer.reset(); // timer goes back to zero - timer.start(); // background timer starts running - isTimeoutRunning = true; - - // what needs to be started? - bce().unpause(); - batt().unpause(); - - // what are the commands? - depthLoop().setCommand(depthCommand); - pitchLoop().setCommand(pitchCommand); - pc().printf("depth cmd: %3.1f\r\n",depthLoop().getCommand()); - pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); - } - // how exit? - if (timer > timeout) { - pc().printf("timed out\r\n"); - state = EMERGENCY_CLIMB; - timer.reset(); - isTimeoutRunning = false; - } - else if (depthLoop().getPosition() > depthLoop().getCommand()) { - pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); - state = RISE; - timer.reset(); - isTimeoutRunning = false; - } - // what is active? - pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); - bce().setPosition_mm(depthLoop().getOutput()); - batt().setPosition_mm(pitchLoop().getOutput()); - break; - - case RISE : - // start local state timer and init any other one-shot actions - if (!isTimeoutRunning) { - pc().printf("\r\n\nstate: RISE\r\n"); - timer.reset(); // timer goes back to zero - timer.start(); // background timer starts running - isTimeoutRunning = true; - - // what needs to be started? - bce().unpause(); - batt().unpause(); - - // what are the commands? - depthLoop().setCommand(0.0); - pitchLoop().setCommand(-pitchCommand); - pc().printf("depth cmd: 0.0\r\n"); - pc().printf("pitch cmd: %3.1f\r\n",pitchLoop().getCommand()); - } - // how exit? - if (timer > timeout) { - pc().printf("timed out\r\n"); - state = FLOAT_LEVEL; - timer.reset(); - isTimeoutRunning = false; - } - else if (depthLoop().getPosition() < depthLoop().getCommand()) { - pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand()); - state = FLOAT_LEVEL; - timer.reset(); - isTimeoutRunning = false; - } - pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); - // what is active? - bce().setPosition_mm(depthLoop().getOutput()); - batt().setPosition_mm(pitchLoop().getOutput()); - break; - - case FLOAT_LEVEL : - // start local state timer and init any other one-shot actions - if (!isTimeoutRunning) { - pc().printf("\r\n\nstate: FLOAT_LEVEL\r\n"); - timer.reset(); // timer goes back to zero - timer.start(); // background timer starts running - isTimeoutRunning = true; - - // what needs to be started? - bce().unpause(); - batt().unpause(); - - // what are the commands - bce().setPosition_mm(bceFloatPosition); - pitchLoop().setCommand(0.0); - } - // how exit? - if (timer > timeout) { - pc().printf("timed out\r\n"); - state = FLOAT_BROADCAST; - timer.reset(); - isTimeoutRunning = false; - } - else if (abs(imu().getPitch() - pitchLoop().getCommand()) < abs(pitchTolerance)) { - pc().printf("pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), pitchTolerance); - state = FLOAT_BROADCAST; - timer.reset(); - isTimeoutRunning = false; - } - // what is active? - pc().printf("pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm()); - batt().setPosition_mm(pitchLoop().getOutput()); - break; - - case FLOAT_BROADCAST : - // start local state timer and init any other one-shot actions - if (!isTimeoutRunning) { - pc().printf("\r\n\nstate: FLOAT_BROADCAST\r\n"); - timer.reset(); // timer goes back to zero - timer.start(); // background timer starts running - isTimeoutRunning = true; - - // what needs to be started? - bce().unpause(); - batt().unpause(); - - // what are the commands? - bce().setPosition_mm(bceFloatPosition); - batt().setPosition_mm(battFloatPosition); - } - // how exit? - if (timer > timeout) { - pc().printf("timed out\r\n"); - state = SIT_IDLE; - timer.reset(); - isTimeoutRunning = false; - } - if ( (abs(bce().getPosition_mm() - bce().getSetPosition_mm()) < bce().getDeadband()) and - (abs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) { - pc().printf("position: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",bce().getPosition_mm(), bce().getSetPosition_mm(), bce().getDeadband()); - state = SIT_IDLE; - timer.reset(); - isTimeoutRunning = false; - } - pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm (depthLoop POS: %3.1f ft) \r", bce().getPosition_mm(), batt().getPosition_mm(), depthLoop().getPosition()); - break; - - default : - state = SIT_IDLE; - } -} - - int main() { setup(); + while(1) { led1() = !led1(); // blink - //pc().printf("roll: %3.1f, pitch %3.1f, yaw: %3.1f\r", imu().getRoll(), imu().getPitch(), imu().getHeading()); - stateMachine(); + + stateMachine().runStateMachine(); } } \ No newline at end of file