Diff: main.cpp

Revision:

11:3b241ecb75ed

Parent:

10:085ab7328054

Child:

12:a0519d11d2b6

diff -r 085ab7328054 -r 3b241ecb75ed main.cpp
--- a/main.cpp	Mon Oct 23 12:50:53 2017 +0000
+++ b/main.cpp	Fri Oct 27 00:37:32 2017 +0000
@@ -22,16 +22,58 @@
         - 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 2017-10-22 revD\n\r");
+    pc().printf("\n\n\r\rFSG 2017-10-26 revA\n\r");
+    pc().baud(57600);
 
     // start up the system timer
     systemTime().start();
@@ -67,22 +109,314 @@
 
     // set up the depth and pitch outer loop controllers
     depthLoop().init();
-    depthLoop().setCommand(0.0);
+    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  \n\r", 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  \n\r", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope());
-    pc().printf("depth  P: %3.2f, I: %3.2f, D %3.2f, \n\r", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD());
-    pc().printf("pitch  P: %3.2f, I: %3.2f, D %3.2f, \n\r", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD());
+    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() {
-    static float setpoint = 50.0;
-    static bool isOuterLoopActive = false; // allow user to select if the outer loop is active
+
+
+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
@@ -91,65 +425,362 @@
         userInput = pc().getc();
 
         // check command against desired control buttons
-        if (userInput == '+' or userInput == '=') {
-            setpoint += 1.0; //increment the command
-        }
-        else if (userInput == '-' or userInput == '_') {
-            setpoint -= 1.0; //decrement the command
+        // change state
+        if (userInput == 'D' or userInput == 'd') {
+            return DIVE;
         }
-        else if (userInput == 't' or userInput == 'T') {
-            isOuterLoopActive = !isOuterLoopActive; // toggle the outer loop
-            
-            if (isOuterLoopActive)
-                pc().printf("Outer loops are now active                                \n\r");
-            else
-                pc().printf("Outer loops are now inactive                                \n\r");
+        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 == '\r') {
-            if (isOuterLoopActive) {
-                pc().printf("setting outer loop: %3.0f                                \n\r", setpoint);
-                
-                depthLoop().setCommand(setpoint);
-                bce().setPosition_mm(depthLoop().getOutput());  // connect outer to inner loop
-                
-                pitchLoop().setCommand(setpoint);
-                batt().setPosition_mm(pitchLoop().getOutput()); // connect outer to inner loop
-            }
-            else {
-                pc().printf("setting inner loop: %3.0f                                \n\r", setpoint);
-                
-                batt().setPosition_mm(setpoint);
-                bce().setPosition_mm(setpoint);
-            }
+        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);
+        }
     }
-    
-    if (isOuterLoopActive)
-        pc().printf("setpoint %3.1f, depth: %3.1f ft, bce: %3.1f mm       \r", setpoint, depth().getDepth(), bce().getPosition_mm());
-        //pc().printf("setpoint %3.1f, pitch: %3.1f deg, batt: %3.1f mm       \r", setpoint, imu().getPitch(), batt().getPosition_mm());
-    else
-        pc().printf("setpoint %3.1f, bce:   %3.1f mm       \r", setpoint, bce().getPosition_mm());
-        //pc().printf("setpoint %3.1f, batt:  %3.1f mm       \r", setpoint, batt().getPosition_mm());
+    return (-1);
 }
 
-void loop() {
-    led1() = !led1(); // blink
+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;
     
-    keyboard();
+    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;
     
-    // sequence controllers...
-    // check whether depth has been triggered
-    //    if so, move on to the next line of the script
-    //    if done, surface or repeat
+    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) {
-        loop();
+        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
     }
 }
\ No newline at end of file