update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp
- Committer:
- tnhnrl
- Date:
- 2017-11-22
- Revision:
- 20:8987a9ae2bc7
- Parent:
- 17:7c16b5671d0e
- Child:
- 21:38c8544db6f4
File content as of revision 20:8987a9ae2bc7:
/* 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. */ #include "mbed.h" #include "StaticDefs.hpp" #include "config_functions.h" // 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().printf("\n\n\r\rFSG 2017-11-21\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().init(); depth().tare(); // 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().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: %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"); //set the neutral positions in the FSM // load neutral motor positions from the neutral.cfg file configFileIO().loadNeutralPositions(); // in discussion said this was actually in pitch.txt and depth.txt // fixing on Wednesday (Troy) pc().printf("\n\rLoading neutral positions from file.\n\r"); stateMachine().setNeutralPositions(configFileIO().getBattPos(), configFileIO().getBCEPos()); //batt, bce //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 } } }