update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: main.cpp
- Revision:
- 24:c7d9b5bf3829
- Parent:
- 23:434f04ef1fad
- Child:
- 27:0a5b90cd65d6
--- a/main.cpp Tue Nov 28 18:00:09 2017 +0000 +++ b/main.cpp Wed Nov 29 15:19:14 2017 +0000 @@ -1,105 +1,8 @@ /* - Starting from Trent's Linear Actuator code from 2017-10-19, these modifications - by Dan add an outer loop controller for depth and pitch to command the inner - linear actuator loops. - Modified 2017-10-20 revA by Dan - - added outer loop controller, but it is hanging the mbed. (turns out it was the imu update) - Modified 2017-10-22 revA by Dan - - outer loop now works with a call to outerloop.update() in main loop(), not with an attached ticker - Modified 2017-10-22 revB by Dan - - enabled both depth and pitch outer loop controllers - - added ability to keyboard reset - Modified 2017-10-22 revC by Dan - - major update to the IMU library processing to make a state machine that doesn't hang - - added lat/lon/alt and GNSS fix information to the IMU library - - brought out the pin names into the constructors of IMU, omega, SpiADC - Modified 2017-10-22 revD by Dan - - everything seems to be working, shy of re-checking on the hardware - - Depth sensor call done inside the OuterLoop, but should somehow be set as a callback instead - - IMU sensor call done inside the OuterLoop, but should somehow be set as a callback instead - Modified 2017-10-23 revA by Dan/Matt - - linear actuator hardware works great, limit switches, sensing, etc. - - outer loops run, but move the BCE in the wrong direction. - - new IMU code doesn't read from the sensor correctly, but doesn't hang up either. - - depth sensor worked fine, just needs zero bias adjustment. - Modified 2017-10-24 by Troy - - added offset to outerloop - Modified 2017-10-26 by Dan - - brought over a state machine and new keyboard controls ... currently just dumped into main. - Modified 2017-10-26 by Matt - - new IMU code imported and working well with the hardware. - Modified 2017-10-26 revB by Dan - - This version has been in the pool. - - Get occasional ADC bad string pot batt & piston. On initial sensor reads, see negative positions. - But after running FLOAT_BROADCAST, string pot positions are normal. Not sure why. - - Repeatedly got stuck in RISE with a +60s timeout. Battery hit end bell and stalled out. - - keyboard and state machine are in main, probably shouldn't be, but easier to debug. - - Really happy with the logic and flow of the state machine. Timeouts work. - - Need to add a means to drive the linear actuators manually ... toggle out stop() in SIT_IDLE. - - Need to add keyboard commands to modify the zeroOffset positions. - Modified 2017-10-30 by Dan, Trent, Matt, Troy - - changed .stop() to .pause() and many .start() to .unpause() ... fixed the negative ADC and lets - the PVF's keep running even though the motor isn't moving. - - changed exit conditions to use filtered depth from the outer loop. less noisy. - Modified 2017-10-31 by Dan, Matt - - added oversampling and a tare function to the depth sensor. - - updated main and keyboard to include tare in setup() and a keyboard tare option. - - looks like the piston isn't zeroing correctly, unclear why, should be unrelated to depth sensor. - Modified 2017-10-31 (again) by Dan, Matt, and Troy - - POOL TESTED! - - Tuned the PID gains with magic. Works to hold mostly level during BCE runs. Dive is awesome. - - 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 - Modified 2017-11-14 by Troy - - Changed tare to void function (functions does not return anything when called) - - Added a "subclass" in the cases for the Neutral Finding Sequence (Sinking, Slowly Rise, Check Pitch (and save positions)) - Modified 2017-11-20 by Troy - - Modified StateMachine class to separate keyboard inputs from FSM - - Added Neutral Finding sub-statemachine - - Verified both state machines are working with hardware on desktop - - Added class to save neutral battery and buoyancy engine positions to neutral.cfg file - Modified 2017-11-21 by Troy - - Need to check remove ConfigFileIO and place saving functions into config_functions.cpp (rename ConfigFunctions.cpp) - - Added multi-dive (and multi-rise) states to FSM (may incorporate single dive states into states) - - Need to double-check behavior of sub-FSM but bench-top testing showed correct behavior for transition from sinking, to slowly rise, to check pitch - - Need to add a check for the multi-dive sequence file (sequence.cfg) being loaded on the MBED - Modified 2017-11-21 by Dan - - removed blocker and set up a loop rate timer that runs the state machine and keyboard at 10 Hz. - - work inside StateMachine and particularly in the findNeutralSubState. - Modified 2017-11-22 by Troy - - Placed config_functions into ConfigFileIO and added the ability to write the neutral positions to the depth & pitch files - - Streamlined sub-FSM and Find_Neutral state - - PID depth and pitch gains have been made into class variables so that they can be resaved to the depth/pitch files - - Added the ability to save depth & pitch gains and neutral offsets (configfile writes entire file at once) - - Minor formatting fixes - - Fixed issue with keyboard function, the keyboard function was continuously active instead of checking pc readable in sit idle - - Bench tested neutral finding sequence and multi-dive sequence, so far so good - - Question: Why do we want the keyboard and FSM to run together, specifically allowing the FSM call the keyboard? - Modified 2017-11-22 by Dan - - added ability for substate NEUTRAL_CHECK_PITCH to move the battery toward level, then saves offsets. - - added new entry state NEUTRAL_FIRST_PITCH that also moves the battery toward level, but doesn't save. - Modified 2017-11-27 by Troy - - Fixed exit condition (restart at NEUTRAL_FIRST_PITCH) - - Pool tested, needed to run timer for longer than 5 minutes (neutral finding sequence timed out) - - IMU fell off tape - Modified 2017-11-28 Rev A by Dan/Troy - - Modified NEUTRAL_FIRST_PITCH to save the battery offset into the Pitch Outer Loop before beginning neutral finding sequence before sinking - - Pitch Outer Loop now runs NEUTRAL_SINKING and NEUTRAL_SLOWLY_RISE states (instead of batt fixed position control) - - NEUTRAL_SINKING has been changed to a 5-second timer (vice 10 seconds) - - NEUTRAL_SLOWLY_RISE has been changed to move the piston 2 mm each interval (vice 1 mm) - Modified 2017-11-28 Rev B by Dan/Troy - - Changed pitch rate margin from absolute value < 0.5 deg/sec to 5.0 deg/s - - Changed sink timer to move piston 5 mm at a time instead of 10 mm - - Find level motion will now run every 10 seconds instead of 5 seconds - - Created an integer array to do a quick check of what states Find Neutral sub-FSM ran through (press "c" to see states) + Modified 2017-11-29 revA by Troy + - changelog.txt carries previous changes + - Incorporated email changes and did quick bench test + - Redid the sub-state recording method to only update on state changes */ #include "mbed.h" @@ -112,7 +15,7 @@ void setup() { pc().baud(57600); - pc().printf("\n\n\rFSG 2017-11-27\n\n\r"); + pc().printf("\n\n\rFSG POOL TEST 2017-11-29\n\n\r"); // start up the system timer systemTime().start();