update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp
- Committer:
- danstrider
- Date:
- 2017-10-27
- Revision:
- 11:3b241ecb75ed
- Parent:
- 10:085ab7328054
- Child:
- 12:a0519d11d2b6
File content as of revision 11:3b241ecb75ed:
/* 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. */ #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 = -5.0; // user keyboard depth void setup() { pc().printf("\n\n\r\rFSG 2017-10-26 revA\n\r"); pc().baud(57600); // 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().initialize(); // construct a local file system local(); // load config data from files load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" // set up the linear actuators. adc has to be running first. bce().init(); bce().start(); bce().setPosition_mm(bce().getPosition_mm()); // start by not moving batt().init(); batt().start(); batt().setPosition_mm(batt().getPosition_mm()); // start by not moving // set up the depth and pitch outer loop controllers depthLoop().init(); depthLoop().setCommand(-2.5); pitchLoop().init(); pitchLoop().setCommand(0.0); // 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()); 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()); 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()); 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()); 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("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().start(); bce().homePiston(); bce().stop(); // batt().start(); batt().homePiston(); batt().stop(); // return SIT_IDLE; // } 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",depth().getDepth()); 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\nstate: SIT_IDLE\r\n"); isTimeoutRunning = true; // what is active? bce().stop(); batt().stop(); depthLoop().stop(); pitchLoop().stop(); } // how exit? if (pc().readable()) { state = KEYBOARD; isTimeoutRunning = false; } break; case KEYBOARD : pc().printf("\r\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\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().start(); batt().start(); // 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 (depth().getDepth() < 0.2) { pc().printf("depth: %3.1f, cmd: 0.5\r\n",depth().getDepth()); 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\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().start(); batt().start(); depthLoop().start(); pitchLoop().start(); // 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(depth().getDepth() - 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 \r", bce().getPosition_mm(), batt().getPosition_mm()); 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\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().start(); batt().start(); depthLoop().start(); pitchLoop().start(); // 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 = FLOAT_LEVEL; timer.reset(); isTimeoutRunning = false; } else if (depth().getDepth() > depthLoop().getCommand()) { pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depth().getDepth(), depthLoop().getCommand()); state = RISE; timer.reset(); isTimeoutRunning = false; } // what is active? pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm()); 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\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().start(); batt().start(); depthLoop().start(); pitchLoop().start(); // 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 (depth().getDepth() < depthLoop().getCommand()) { pc().printf("depth: %3.1f, cmd: %3.1f\r\n", depth().getDepth(), depthLoop().getCommand()); state = FLOAT_LEVEL; timer.reset(); isTimeoutRunning = false; } pc().printf("bce pos: %3.1f mm, batt pos: %3.1f mm \r", bce().getPosition_mm(), batt().getPosition_mm()); // 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\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().start(); batt().start(); pitchLoop().start(); // 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\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().start(); batt().start(); // 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()) { 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 \r", bce().getPosition_mm(), batt().getPosition_mm()); 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(); wait(0.2); // must have SOME wait or the outer loops in DIVE and RISE will lock the mbed } }