update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp
- Committer:
- tnhnrl
- Date:
- 2017-11-29
- Revision:
- 27:0a5b90cd65d6
- Parent:
- 24:c7d9b5bf3829
- Child:
- 28:16c83a2fdefa
File content as of revision 27:0a5b90cd65d6:
/* 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 Modified 2017-11-29 revB by Troy - minor print fixes */ #include "mbed.h" #include "StaticDefs.hpp" // loop rate timer for slowing down how fast while(1) runs in main() Ticker loop_rate_ticker; volatile bool loop = false; void loop_trigger() { loop = true; }; // loop trigger void setup() { pc().baud(57600); pc().printf("\n\n\rFSG POOL TEST 2017-11-29 revB\n\n\r"); // start up the system timer systemTime().start(); // set up and start the adc. This runs on a fixed interval and is interrupt driven adc().initialize(); adc().start(); // set up and start the imu. This polls in the background imu().initialize(); imu().start(); // set up the depth sensor. This is an internal ADC read, but eventually will be on the ltc1298 depth().init(); depth().tare(); // construct a local file system local(); // load config data from files configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) // set up the linear actuators. adc has to be running first. bce().init(); bce().start(); bce().pause(); // start by not moving batt().init(); batt().start(); batt().pause(); // start by not moving // set up the depth and pitch outer loop controllers depthLoop().init(); depthLoop().start(); depthLoop().setCommand(stateMachine().getDepthCommand()); pitchLoop().init(); pitchLoop().start(); pitchLoop().setCommand(stateMachine().getPitchCommand()); // show that the PID gains are loading from the file pc().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); pc().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %3.0f mm, slope %3.3f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); pc().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()); pc().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()); pc().printf("\n\r"); //load sequence from file sequenceController().loadSequence(); // establish the main loop rate loop_rate_ticker.attach(&loop_trigger, 0.1); // fires the ticker at 10 Hz rate } int main() { setup(); while(1) { // does this stuff at the loop rate if(loop) { led1() = !led1(); // blink stateMachine().runStateMachine(); loop = false; // wait until the loop rate timer fires again } } }