Flying Sea Glider
update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: StateMachine/StateMachine.cpp
- Revision:
- 99:9d0849f5fcd7
- Parent:
- 97:2b4f78a54227
- Child:
- 100:a21bb2e4493d
diff -r 81db9332212d -r 9d0849f5fcd7 StateMachine/StateMachine.cpp
--- a/StateMachine/StateMachine.cpp Mon May 20 18:57:23 2019 +0000
+++ b/StateMachine/StateMachine.cpp Fri Jun 28 13:59:11 2019 +0000
@@ -1,15 +1,16 @@
#include "StateMachine.hpp"
#include "StaticDefs.hpp"
-
-StateMachine::StateMachine() {
+
+StateMachine::StateMachine()
+{
_timeout = 20; // generic timeout for every state, seconds
_yo_time = 40; // previously= 400 ; timeout for a dive or rise yo, not set for other ops
_state_transition_time = 20; // previously =60; time to allow motors to come to rest in float_broadcast
_pitchTolerance = 5.0; // pitch angle tolerance for FLOAT_LEVEL state
-
+
_bceFloatPosition = bce().getTravelLimit(); // bce position for "float" states (max travel limit for BCE is 320 mm)
_battFloatPosition = batt().getTravelLimit(); // batt position tail high for "broadcast" state (max travel limit for battery is 75 mm)
-
+
_disconnect_batt_pos_mm = _battFloatPosition; // all the way forward
_batt_flying_pos_mm = 22.0;
_timeout_splashdown = 120; // two minutes??
@@ -24,70 +25,74 @@
_BCE_dive_offset = 0.0; //starting at the limits
_BMM_dive_offset = 0.0;
//new commands
-
+
_neutral_timer = 0; //timer used in FIND_NEUTRAL sub-FSM
_neutral_success = 0 ; // set to -1 if find neutral fails and 1 if find_neutral succeeds 0 means find_neutral has not been run.
-//////////////////////////////
+//////////////////////////////
_state = SIT_IDLE; // select starting state here
_isTimeoutRunning = false; // default timer to not running
_isSubStateTimerRunning = false; // default timer to not running
-/////////////////////////////
+/////////////////////////////
_multi_dive_counter = 0;
_multi_leg_counter = 0;
_depth_KP = depthLoop().getControllerP(); // load current depth value
_depth_KI = depthLoop().getControllerI(); // load current depth value
_depth_KD = depthLoop().getControllerD(); // load current depth value
-
+
_pitch_KP = pitchLoop().getControllerP(); // load current pitch value
_pitch_KI = pitchLoop().getControllerI(); // load current pitch value
_pitch_KD = pitchLoop().getControllerD(); // load current pitch value
-
+
_neutral_bce_pos_mm = depthLoop().getOutputOffset(); //load current neutral buoyancy position offset
_neutral_batt_pos_mm = pitchLoop().getOutputOffset(); //load current neutral buoyancy position offset
-
+
_state_array_counter = 1; //used to iterate through and record states
_substate_array_counter = 0; //used to iterate through and record substates
_state_array[0] = SIT_IDLE; //system starts in the SIT_IDLE state, record this
-
+
_substate = NEUTRAL_SINKING; //start sub-FSM in NEUTRAL_SINKING
_previous_substate = -1; //to start sub-FSM
_previous_state = -1; //for tracking FSM states
-
+
_max_recorded_depth_neutral = -99; //float to record max depth
_max_recorded_depth_dive = -99; //float to record max depth
-
+
_max_recorded_auto_neutral_depth = -99;
-
+
_debug_menu_on = false; //toggle between debug and simple menu screens
-
+
//new file stuff
_pitch_filter_freq = pitchLoop().getFilterFrequency();
_pitch_deadband = pitchLoop().getDeadband();
-
+
_depth_filter_freq = depthLoop().getFilterFrequency();
_depth_deadband = depthLoop().getDeadband();
}
-
+
//Finite State Machine (FSM)
-int StateMachine::runStateMachine() { // ends about line 1022
+int StateMachine::runStateMachine() // ends about line 1022
+{
// finite state machine ... each state has at least one exit criteria
static int lpd_oneshots=0;
static int lpr_oneshots=0;
static int finish_leg=0; // allow a rise to complete ( if it takes less than a yo_time, then exit to FB)
static float leg_max_depth = 0;
static float leg_min_depth =0;
- static float leg_heading = 90; //go east!
+ static float _leg_heading = 90; //go east!
char buf[256];
switch (_state) {
- case ENDLEG_WAIT:
- if(!_isTimeoutRunning) {
- _yotimer.reset(); _yotimer.start(); _fsm_timer.reset(); _fsm_timer.start();
- _isTimeoutRunning = 1;
- }
- keyboard(); //keyboard function now needs to know about this state and its timeout
- break;
+ case ENDLEG_WAIT:
+ if(!_isTimeoutRunning) {
+ _yotimer.reset();
+ _yotimer.start();
+ _fsm_timer.reset();
+ _fsm_timer.start();
+ _isTimeoutRunning = 1;
+ }
+ keyboard(); //keyboard function now needs to know about this state and its timeout
+ break;
case FLYING_IDLE: // wait for some signal and the move the battery by a known amount
// then wait until you drop to START_SWIM on a timeout
if (!_isTimeoutRunning) { // start in the correct state, tell it once where to move
@@ -131,167 +136,168 @@
_isTimeoutRunning = false;
}
}
- break;
- case SIT_IDLE: // sit_idle and fb_exit fall through to keyboard actions, since they do not have break statements
- case FB_EXIT:
- case KEYBOARD :
- // there actually is no timeout test for SIT_IDLE, but this enables some one-shot actions
- if (!_isTimeoutRunning) { // presumably the first time back in this block, whatever ended stopped the timeout_running.
- //tare pressure sensor
- depth().tare(); // tares to ambient (do on surface)
-
- if (_debug_menu_on)
- printDebugMenu();
- else
- printSimpleMenu();
- xbee().printf("\r\n\nstate: SIT_IDLE\r\n");
- _isTimeoutRunning = true;
-
- // what is active?
- bce().pause();
- batt().pause();
-
- //reset sub FSM
- _isSubStateTimerRunning = false;
- }
-
- // how exit?
- keyboard(); // keyboard function will change the state if needed
- break;
-
- case CHECK_TUNING : // state used to check the tuning of the pressure vessel
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: CHECK_TUNING\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause(); //this is now active
- batt().unpause(); //this is now active
-
- // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
- bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
- batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
-
- // getSetPosition_mm is the commanded position in the LinearActuator class
-
- xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
- xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
- }
-
- // how exit?
- if (_fsm_timer > _timeout) {
- xbee().printf("CHECK_TUNING: timed out!\r\n");
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- //WHAT IS ACTIVE?
- // the inner loop position controls are maintaining the positions of the linear actuators
-
- //print status to screen continuously
- xbee().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f m,pitch: %0.1f deg,heading: %0.1f) [%0.1f sec]\r",
- bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),
- pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
-
- break;
-
- case EMERGENCY_CLIMB :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _yotimer.reset();
- _yotimer.start();
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- bce().setPosition_mm(bce().getTravelLimit());
- batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
- }
-
- // how exit?
- if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) {
- xbee().printf("EC: timed out\r\n");
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset(); _yotimer.reset();
- _isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() < 1.0) { //if the depth is less 1m, go to float broadcast
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset(); _yotimer.reset();
- _isTimeoutRunning = false;
- sprintf(buf, "EMERGENCY_CLIMB - at surface ... now go to FLOAT_BROADCAST\n\n\r");
- mbedLogger().appendDiagFile(buf,3);
- }
-
- //WHAT IS ACTIVE?
- //print status to screen continuously
- xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
-
- break;
-
- case FIND_NEUTRAL :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- //start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much
- float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0;
- //float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0;
-
- bce().setPosition_mm(bce_find_neutral_mm);
- batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position
-
- //first iteration goes into Neutral Finding Sub-FSM
- //set the first state of the FSM, and start the sub-FSM
- _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
- _previous_substate = -1;
-
- //save this state to the array
- _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
- _substate_array_counter++;
-
- runNeutralStateMachine();
- }
-
- // how exit? (exit with the timer, if timer still running continue processing sub FSM)
- if (_fsm_timer > _timeout) {
- xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
- sprintf(buf, "FIND_NEUTRAL - timed out roll=%f depth = %f now exit to EMERG_CLIMB\n\n", imu().getRoll(), depthLoop().getPosition());
- mbedLogger().appendDiagFile(buf,3);
- _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
- _fsm_timer.reset();
- sprintf(buf, "FN: timed out [time:%0.1f sec], _neutral_success = -1 for info to float_broadcast\n", _fsm_timer.read());
- mbedLogger().appendDiagFile(buf,3);
- _fsm_timer.reset();
- _neutral_success = -1;
- _isTimeoutRunning = false;
-
- //record this to the NEUTRAL sub-FSM tracker
- _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
- _substate_array_counter++;
- }
-
-
- //what is active? (neutral finding sub-function runs until completion)
- //check if substate returned exit state, if so stop running the sub-FSM
-
+ break;
+ case SIT_IDLE: // sit_idle and fb_exit fall through to keyboard actions, since they do not have break statements
+ case FB_EXIT:
+ case KEYBOARD :
+ // there actually is no timeout test for SIT_IDLE, but this enables some one-shot actions
+ if (!_isTimeoutRunning) { // presumably the first time back in this block, whatever ended stopped the timeout_running.
+ //tare pressure sensor
+ depth().tare(); // tares to ambient (do on surface)
+
+ if (_debug_menu_on)
+ printDebugMenu();
+ else
+ printSimpleMenu();
+ xbee().printf("\r\n\nstate: SIT_IDLE\r\n");
+ _isTimeoutRunning = true;
+
+ // what is active?
+ bce().pause();
+ batt().pause();
+
+ //reset sub FSM
+ _isSubStateTimerRunning = false;
+ }
+
+ // how exit?
+ keyboard(); // keyboard function will change the state if needed
+ break;
+
+ case CHECK_TUNING : // state used to check the tuning of the pressure vessel
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: CHECK_TUNING\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause(); //this is now active
+ batt().unpause(); //this is now active
+
+ // what are the commands? (DRIVE THE MOTORS "DIRECTLY")
+ bce().setPosition_mm(_neutral_bce_pos_mm); //this variable is loaded from the file at initialization
+ batt().setPosition_mm(_neutral_batt_pos_mm); //this variable is loaded from the file at initialization
+
+ // getSetPosition_mm is the commanded position in the LinearActuator class
+
+ xbee().printf("CHECK_TUNING: BCE cmd: %3.1f (BCE current position: %3.1f)\r\n", bce().getSetPosition_mm(), bce().getPosition_mm());
+ xbee().printf("CHECK_TUNING: BATT cmd: %3.1f (BATT current position: %3.1f)\r\n", batt().getSetPosition_mm(), bce().getPosition_mm());
+ }
+
+ // how exit?
+ if (_fsm_timer > _timeout) {
+ xbee().printf("CHECK_TUNING: timed out!\r\n");
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ //WHAT IS ACTIVE?
+ // the inner loop position controls are maintaining the positions of the linear actuators
+
+ //print status to screen continuously
+ xbee().printf("CHECK_TUNING: BCE_position: %0.1f, BATT_position: %0.1f (BCE_cmd: %0.1f, BATT_cmd: %0.1f)(depth: %0.1f m,pitch: %0.1f deg,heading: %0.1f) [%0.1f sec]\r",
+ bce().getPosition_mm(),batt().getPosition_mm(),bce().getSetPosition_mm(),batt().getSetPosition_mm(),depthLoop().getPosition(),
+ pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
+
+ break;
+
+ case EMERGENCY_CLIMB :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _yotimer.reset();
+ _yotimer.start();
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ // what are the commands?
+ bce().setPosition_mm(bce().getTravelLimit());
+ batt().setPosition_mm(10.0); //pull nose up (0.0 was sketchy)
+ }
+
+ // how exit?
+ if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) {
+ xbee().printf("EC: timed out\r\n");
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
+ _yotimer.reset();
+ _isTimeoutRunning = false;
+ } else if (depthLoop().getPosition() < 1.0) { //if the depth is less 1m, go to float broadcast
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
+ _yotimer.reset();
+ _isTimeoutRunning = false;
+ sprintf(buf, "EMERGENCY_CLIMB - at surface ... now go to FLOAT_BROADCAST\n\n\r");
+ mbedLogger().appendDiagFile(buf,3);
+ }
+
+ //WHAT IS ACTIVE?
+ //print status to screen continuously
+ xbee().printf("EC: depth: %3.1f, pitch: %0.1f deg [BCE:%0.1f (cmd: %0.1f) BMM:%0.1f (cmd: %0.1f)] [%0.1f sec]\r",depthLoop().getPosition(),pitchLoop().getPosition(),bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),_fsm_timer.read());
+
+ break;
+
+ case FIND_NEUTRAL :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: FIND_NEUTRAL\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ //start with a small offset from MANUAL neutral positions on the BCE only, BMM was pitching too much
+ float bce_find_neutral_mm = _neutral_bce_pos_mm + 10.0;
+ //float batt_find_neutral_mm = _neutral_batt_pos_mm + 10.0;
+
+ bce().setPosition_mm(bce_find_neutral_mm);
+ batt().setPosition_mm(_neutral_batt_pos_mm); //set battery to the same neutral position
+
+ //first iteration goes into Neutral Finding Sub-FSM
+ //set the first state of the FSM, and start the sub-FSM
+ _substate = NEUTRAL_SINKING; //first state in neutral sub-FSM is the pressure vessel sinking
+ _previous_substate = -1;
+
+ //save this state to the array
+ _substate_array[_substate_array_counter] = NEUTRAL_SINKING; //save to state array
+ _substate_array_counter++;
+
+ runNeutralStateMachine();
+ }
+
+ // how exit? (exit with the timer, if timer still running continue processing sub FSM)
+ if (_fsm_timer > _timeout) {
+ xbee().printf("FN: timed out [time: %0.1f sec]\r\n", _fsm_timer.read());
+ sprintf(buf, "FIND_NEUTRAL - timed out roll=%f depth = %f now exit to EMERG_CLIMB\n\n", imu().getRoll(), depthLoop().getPosition());
+ mbedLogger().appendDiagFile(buf,3);
+ _state = EMERGENCY_CLIMB; //new behavior (if this times out it emergency surfaces)
+ _fsm_timer.reset();
+ sprintf(buf, "FN: timed out [time:%0.1f sec], _neutral_success = -1 for info to float_broadcast\n", _fsm_timer.read());
+ mbedLogger().appendDiagFile(buf,3);
+ _fsm_timer.reset();
+ _neutral_success = -1;
+ _isTimeoutRunning = false;
+
+ //record this to the NEUTRAL sub-FSM tracker
+ _substate_array[_substate_array_counter] = EMERGENCY_CLIMB; //save to state array
+ _substate_array_counter++;
+ }
+
+
+ //what is active? (neutral finding sub-function runs until completion)
+ //check if substate returned exit state, if so stop running the sub-FSM
+
else if (runNeutralStateMachine() == NEUTRAL_EXIT) { // but this line will repeatedly runneutralstatemachine as long as the overall state is FIND_NEUTRAL
//if successful, FIND_NEUTRAL then goes to RISE
xbee().printf("*************************************** FIND_NEUTRAL sequence complete. Rising.\r\n\n");
@@ -301,7 +307,7 @@
if(_neutral_success == -1 ) { // failed in finding neutral - bad exit states
configFileIO().report_no_neutral_found( bce().getPosition_mm(), batt().getPosition_mm()); // this is a message file "no_float.txt"
_state = EMERGENCY_CLIMB;
-
+
sprintf(buf, "FN neutral_EXIT: FIND_NEUTRAL failed, on JUST GO to emergency climb\n\n");
mbedLogger().appendDiagFile(buf,3); //to the raspberry Pi control computer
// this code will break the old keyboard exit code, I think.
@@ -315,66 +321,65 @@
} //exit case when not entered by keyboard
_isTimeoutRunning = false;
}
- break;
-
- case DIVE :
- // start local state timer and init any other one-shot actions
-
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: DIVE\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- depthLoop().setCommand(_depth_command);
- pitchLoop().setCommand(_pitch_command);
-
- headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
-
- xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
- xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
- xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
-
- //reset max dive depth
- _max_recorded_depth_dive = -99; //float to record max depth
- }
-
- // how exit?
- if (_fsm_timer.read() > _timeout) {
- xbee().printf("DIVE: timed out\r\n\n");
- _state = RISE; //new behavior 11/17/2017
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
- xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- _state = RISE;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // WHAT IS ACTIVE?
- xbee().printf("DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r",
- bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
- depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
- bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
- batt().setPosition_mm(pitchLoop().getOutput());
-
- // ACTIVE RUDDER CONTROL
- rudder().setPosition_deg(headingLoop().getOutput());
-
- if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
- _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
- }
-
- break;
- case START_SWIM :
- // start local state timer and init any other one-shot actions
+ break;
+
+ case DIVE :
+ // start local state timer and init any other one-shot actions
+
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: DIVE\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ // what are the commands?
+ depthLoop().setCommand(_depth_command);
+ pitchLoop().setCommand(_pitch_command);
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("DIVE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
+ xbee().printf("DIVE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+ xbee().printf("DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+
+ //reset max dive depth
+ _max_recorded_depth_dive = -99; //float to record max depth
+ }
+
+ // how exit?
+ if (_fsm_timer.read() > _timeout) {
+ xbee().printf("DIVE: timed out\r\n\n");
+ _state = RISE; //new behavior 11/17/2017
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ } else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
+ xbee().printf("DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ _state = RISE;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ // WHAT IS ACTIVE?
+ xbee().printf("DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
+ depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
+ bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
+ batt().setPosition_mm(pitchLoop().getOutput());
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
+ if (depthLoop().getPosition() > _max_recorded_depth_dive) { //debug
+ _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded
+ }
+
+ break;
+ case START_SWIM :
+ // start local state timer and init any other one-shot actions
if (!_isTimeoutRunning) { // ends at 465
xbee().printf("\r\n\nstate: START_SWIM\r\n");
_fsm_timer.reset(); // timer goes back to zero
@@ -428,239 +433,242 @@
_heading_command = 90;
_timeout = _timeout_inversion; // 180 seconds
_pitch_command = -20; // what should this be? jcw 17may2019
-
+
//DEPTH COMMAND
depthLoop().setCommand(_depth_command);
headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
- //batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); // is this right ?? looks like climb commands
- //bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is
- bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
- batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
-
-
+ //batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); // is this right ?? looks like climb commands
+ //bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); // dare not use neutral postions before knowing what neutral is
+ bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
+ batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
+
+
xbee().printf("START_SWIM: inversion BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //g
xbee().printf("START_SWIM: inversion BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //g
xbee().printf("START_SWIM: inversion starting roll = : %3.1f\r\n",imu().getRoll() ); //g
- sprintf(buf, "START_SWIM still upside down but depth>9m, set up to limit descent: depth = %f roll=%f\n\n\r", depthLoop().getPosition(), imu().getRoll());
- mbedLogger().appendDiagFile(buf,3);
+ sprintf(buf, "START_SWIM still upside down but depth>9m, set up to limit descent: depth = %f roll=%f\n\n\r", depthLoop().getPosition(), imu().getRoll());
+ mbedLogger().appendDiagFile(buf,3);
+ }
+ if( fabs(imu().getRoll()) <70 && _start_swim_entry == FLYING_IDLE ) { // starts out right side up, still inside first call to start_swim
+ finish_leg = 1; //this works to get to FB_EXIT,
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
+ _yotimer.reset();
+ _isTimeoutRunning = false;
+ sprintf(buf, "START_SWIM now upright, called by flying_idle, so end now. roll= %f depth = %f\n\r", imu().getRoll(), depthLoop().getPosition());
+ mbedLogger().appendDiagFile(buf,3);
}
- if( fabs(imu().getRoll()) <70 && _start_swim_entry == FLYING_IDLE ) { // starts out right side up, still inside first call to start_swim
- finish_leg = 1; //this works to get to FB_EXIT,
+ if( fabs(imu().getRoll()) <70 && _start_swim_entry != FLYING_IDLE ) { // starts out right side up, on second on/off cycle
+ _state = FIND_NEUTRAL;
+ _neutral_entry_state = START_SWIM;
+ _fsm_timer.reset();
+ _yotimer.reset();
+ _isTimeoutRunning = false;
+ sprintf(buf, "START_SWIM not called by FLYING_IDLE, so go to find_neutral: depth= %f\n\r", depthLoop().getPosition());
+ mbedLogger().appendDiagFile(buf,3);
+ }
+ } //end of timeout running ==0
+
+ // how exit? keep diving and watching depth while also watching imu().getRoll()
+ if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) { // this is bad, still upside down. do I need yotimer timeout check?
+ xbee().printf("start_swim: timed out\r\n");
+ sprintf(buf, "start_swim timed out on yo_time or timeout - still upside down bad - go to FLOAT_BROADCAST roll=%f \n\n\r", imu().getRoll());
+ mbedLogger().appendDiagFile(buf,3);
+ configFileIO().report_still_inverted( fabs(imu().getRoll()), _yo_time); // tells how long you waited, puts in file "inverted.txt"
_state = FLOAT_BROADCAST;
- _fsm_timer.reset(); _yotimer.reset();
+ _fsm_timer.reset();
+ _yotimer.reset();
_isTimeoutRunning = false;
- sprintf(buf, "START_SWIM now upright, called by flying_idle, so end now. roll= %f depth = %f\n\r", imu().getRoll(), depthLoop().getPosition());
- mbedLogger().appendDiagFile(buf,3);
- }
- if( fabs(imu().getRoll()) <70 && _start_swim_entry != FLYING_IDLE ) { // starts out right side up, on second on/off cycle
+ } else if (fabs(imu().getRoll()) <30 ) { // pretty much righted itself go to FIND_NEUTRAL
_state = FIND_NEUTRAL;
_neutral_entry_state = START_SWIM;
- _fsm_timer.reset(); _yotimer.reset();
+ sprintf(buf, "START_SWIM - turned self upright roll=%f depth = %f , now go toFIND_NEUTRAL\n\n\r", imu().getRoll(), depthLoop().getPosition());
+ mbedLogger().appendDiagFile(buf,3);
+ // print message ?
+ _fsm_timer.reset();
+ _yotimer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ //WHAT IS ACTIVE?
+ //print status to screen continuously
+ xbee().printf("START_SWIM: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
+ depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
+
+ bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
+ batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
+
+ break;
+
+ case RISE :
+ // start local state timer and init any other one-shot actions
+
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: RISE\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ // what are the commands?
+ depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
+ pitchLoop().setCommand(-_pitch_command);
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
+ xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
+ xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+ }
+
+ // how exit?
+ if (_fsm_timer.read() > _timeout) {
+ xbee().printf("RISE: timed out\r\n");
+ _state = EMERGENCY_CLIMB;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
+ //did not work correctly in bench test (stuck in rise state)
+ else if (depthLoop().getPosition() < 0.5) {
+ xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ sprintf(buf, "in RISE: at surface ... depth =%g ... now go to FLOAT_BROADCAST\n\n\r", depthLoop().getPosition());
+ mbedLogger().appendDiagFile(buf,3);
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
_isTimeoutRunning = false;
- sprintf(buf, "START_SWIM not called by FLYING_IDLE, so go to find_neutral: depth= %f\n\r", depthLoop().getPosition());
- mbedLogger().appendDiagFile(buf,3);
- }
- } //end of timeout running ==0
-
- // how exit? keep diving and watching depth while also watching imu().getRoll()
- if ((_fsm_timer > _timeout ) || (_yotimer > _yo_time)) { // this is bad, still upside down. do I need yotimer timeout check?
- xbee().printf("start_swim: timed out\r\n");
- sprintf(buf, "start_swim timed out on yo_time or timeout - still upside down bad - go to FLOAT_BROADCAST roll=%f \n\n\r", imu().getRoll());
- mbedLogger().appendDiagFile(buf,3);
- configFileIO().report_still_inverted( fabs(imu().getRoll()), _yo_time); // tells how long you waited, puts in file "inverted.txt"
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset(); _yotimer.reset();
- _isTimeoutRunning = false;
- }
- else if (fabs(imu().getRoll()) <30 ) { // pretty much righted itself go to FIND_NEUTRAL
- _state = FIND_NEUTRAL;
- _neutral_entry_state = START_SWIM;
- sprintf(buf, "START_SWIM - turned self upright roll=%f depth = %f , now go toFIND_NEUTRAL\n\n\r", imu().getRoll(), depthLoop().getPosition());
- mbedLogger().appendDiagFile(buf,3);
- // print message ?
- _fsm_timer.reset(); _yotimer.reset();
- _isTimeoutRunning = false;
- }
-
- //WHAT IS ACTIVE?
- //print status to screen continuously
- xbee().printf("START_SWIM: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r",
- bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
- depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
-
- bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
- batt().setPosition_mm(pitchLoop().getOutput()); //these together should hold a depth, rather than turn around and rise
-
- break;
-
- case RISE :
- // start local state timer and init any other one-shot actions
-
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: RISE\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- depthLoop().setCommand(-1.0); //make sure to get towards the surface (saw issues at LASR pool)
- pitchLoop().setCommand(-_pitch_command);
-
- headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
-
- xbee().printf("RISE: depth cmd: %3.1f\r\n",depthLoop().getCommand());
- xbee().printf("RISE: pitch cmd: %3.1f\r\n",pitchLoop().getCommand());
- xbee().printf("RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
- }
-
- // how exit?
- if (_fsm_timer.read() > _timeout) {
- xbee().printf("RISE: timed out\r\n");
- _state = EMERGENCY_CLIMB;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- //modified from (depthLoop().getPosition() < depthLoop().getCommand() + 0.5)
- //did not work correctly in bench test (stuck in rise state)
- else if (depthLoop().getPosition() < 0.5) {
- xbee().printf("RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- sprintf(buf, "in RISE: at surface ... depth =%g ... now go to FLOAT_BROADCAST\n\n\r", depthLoop().getPosition());
- mbedLogger().appendDiagFile(buf,3);
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // WHAT IS ACTIVE?
- xbee().printf("RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r",
- bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
- depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
- bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
- batt().setPosition_mm(pitchLoop().getOutput());
-
- // ACTIVE RUDDER CONTROL
- rudder().setPosition_deg(headingLoop().getOutput());
-
- break;
-
-// NEW DIVE AND RISE SEQUENCES
- case POSITION_DIVE :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: POSITION DIVE\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
- rudder().unpause();
-
- // what are the commands? (using inner loops except for heading outer loop)
- // These actions happen ONCE in the POSITION_DIVE sequence
- batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
- bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
-
- //DEPTH COMMAND
- depthLoop().setCommand(_depth_command);
-
- headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
-
- xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
-
- //reset max dive depth
- _max_recorded_depth_dive = -99; //float to record max depth
- }
-
- // how exit?
- // timer runs out goes to POSITION_RISE
- if (_fsm_timer.read() > _timeout) {
- xbee().printf("POS DIVE timed out\r\n\n");
- _state = POSITION_RISE; //new behavior 11/17/2017
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // when you reach the dive threshold, surface
- else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
- xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- _state = POSITION_RISE;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // what is active?
- xbee().printf("POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
- bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
- depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
-
- if (depthLoop().getPosition() > _max_recorded_depth_dive) {
- _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
- }
-
- // ACTIVE RUDDER CONTROL
- rudder().setPosition_deg(headingLoop().getOutput());
-
- break;
-
- case LEG_POSITION_DIVE :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n");
- sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r");
- mbedLogger().appendDiagFile(buf,0);
- _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
- _yotimer.reset();
- _yotimer.start(); //sets the yo_timer running on the dive
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
- rudder().unpause();
-
- // what are the commands? (using inner loops except for heading outer loop)
- // These actions happen ONCE in the POSITION_DIVE sequence
- batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
- bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
-
-
- //retrieve commands from structs (loaded from legfile.txt file)
- stateMachine().getLegParams();
-
- leg_max_depth = currentLegStateStruct.max_depth;
- leg_heading = currentLegStateStruct.heading;
-
-
- //DEPTH COMMAND
- //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
- depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
-
- //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
- headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
-
- xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
-
- //reset max dive depth
- _max_recorded_depth_dive = -99; //float to record max depth
- lpd_oneshots = 1;
- }
-
- if (!lpd_oneshots) {
+ }
+
+ // WHAT IS ACTIVE?
+ xbee().printf("RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
+ depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
+ bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
+ batt().setPosition_mm(pitchLoop().getOutput());
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
+ break;
+
+// NEW DIVE AND RISE SEQUENCES
+ case POSITION_DIVE :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: POSITION DIVE\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+ rudder().unpause();
+
+ // what are the commands? (using inner loops except for heading outer loop)
+ // These actions happen ONCE in the POSITION_DIVE sequence
+ batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
+ bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
+
+ //DEPTH COMMAND
+ depthLoop().setCommand(_depth_command);
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+
+ //reset max dive depth
+ _max_recorded_depth_dive = -99; //float to record max depth
+ }
+
+ // how exit?
+ // timer runs out goes to POSITION_RISE
+ if (_fsm_timer.read() > _timeout) {
+ xbee().printf("POS DIVE timed out\r\n\n");
+ _state = POSITION_RISE; //new behavior 11/17/2017
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ // when you reach the dive threshold, surface
+ else if (depthLoop().getPosition() > depthLoop().getCommand() - 0.5) { // including offset for low momentum approaches
+ xbee().printf("POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ _state = POSITION_RISE;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ // what is active?
+ xbee().printf("POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
+ depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
+
+ if (depthLoop().getPosition() > _max_recorded_depth_dive) {
+ _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
+ }
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
+ break;
+
+ case LEG_POSITION_DIVE :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n");
+ sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r");
+ mbedLogger().appendDiagFile(buf,0);
+ _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+ _yotimer.reset();
+ _yotimer.start(); //sets the yo_timer running on the dive
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+ rudder().unpause();
+
+ //retrieve commands from structs (loaded from legfile.txt file) // only needs to be called once
+ stateMachine().getLegParams();
+
+ //leg_max_depth = currentLegStateStruct.max_depth;
+ //_leg_heading = currentLegStateStruct.heading;
+
+
+
+ // what are the commands? (using inner loops except for heading outer loop)
+ // These actions happen ONCE in the POSITION_DIVE sequence
+ batt().setPosition_mm(_neutral_batt_pos_mm + _leg_BMM_dive_offset); //changed to _leg_BMM_dive_offset
+ bce().setPosition_mm(_neutral_bce_pos_mm - _leg_BCE_dive_offset); //changed to _leg_BCE_dive_offset
+
+ //DEPTH COMMAND
+ //depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
+ depthLoop().setCommand(_leg_max_depth); // I want this to be the max_depth in the legStruct
+
+ //headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+ headingLoop().setCommand(_leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("LEG POS DIVE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+
+ //reset max dive depth
+ _max_recorded_depth_dive = -99; //float to record max depth
+ lpd_oneshots = 1;
+ }
+
+ if (!lpd_oneshots) {
xbee().printf("\r\n\nstate: LEG POSITION DIVE oneshots\r\n");
// _fsm_timer.reset(); // timer goes back to zero I am not sure about this reset jcw
// sm_timer.start(); // background timer starts running
@@ -675,20 +683,20 @@
// what are the commands? (using inner loops except for heading outer loop)
// These actions happen ONCE in the POSITION_DIVE sequence
- batt().setPosition_mm(_neutral_batt_pos_mm + _BMM_dive_offset);
- bce().setPosition_mm(_neutral_bce_pos_mm - _BCE_dive_offset);
+ batt().setPosition_mm(_neutral_batt_pos_mm + _leg_BMM_dive_offset);
+ bce().setPosition_mm(_neutral_bce_pos_mm - _leg_BCE_dive_offset);
//retrieve commands from structs (loaded from missionleg.cfg file)
- leg_max_depth = currentLegStateStruct.max_depth;
- leg_heading = currentLegStateStruct.heading;
+ //leg_max_depth = currentLegStateStruct.max_depth;
+ //_leg_heading = currentLegStateStruct.heading;
sprintf(buf, "LEG POSITION DIVE entered via Leg_pos_rise - lpd_oneshots, only restart _yotimer\n\n\r");
- mbedLogger().appendDiagFile(buf,0);
+ mbedLogger().appendDiagFile(buf,0);
//DEPTH COMMAND
//depthLoop().setCommand(_depth_command); // I want this to be the max_depth in the legStruct
depthLoop().setCommand(leg_max_depth); // I want this to be the max_depth in the legStruct
//headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
- headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
+ headingLoop().setCommand(_leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
xbee().printf("LEG POS DIVE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
xbee().printf("LEG POS DIVE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
@@ -697,7 +705,7 @@
lpd_oneshots = 1;
//reset max dive depth
//_max_recorded_depth_dive = -99; //float to record max depth
- } // lpd_oneshots if timer is already running
+ } // lpd_oneshots if timer is already running
// how exit?
// timer runs out goes to LEG_POSITION_RISE but finish_leg flag is turned on.
@@ -707,7 +715,7 @@
finish_leg =1;
lpr_oneshots=0;
sprintf(buf, "go to LEG POSITION DIVE on overall leg timeout, set finish_leg=1\n\n\r");
- mbedLogger().appendDiagFile(buf,0);
+ mbedLogger().appendDiagFile(buf,0);
// _fsm_timer.reset();
// _isTimeoutRunning = false;
}
@@ -717,13 +725,13 @@
xbee().printf("LEG POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
_state = LEG_POSITION_RISE;
lpr_oneshots = 0;
-
+
// _fsm_timer.reset(); // reset time if still inside legg long timeout?
// _isTimeoutRunning = false;
} else if(_yotimer.read() > _yo_time ) {
- xbee().printf("LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ xbee().printf("LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
sprintf(buf, "LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE\n\n\r");
- mbedLogger().appendDiagFile(buf,3);
+ mbedLogger().appendDiagFile(buf,3);
_state = LEG_POSITION_RISE;
finish_leg =1;
//_yotimer.reset();
@@ -735,511 +743,513 @@
xbee().printf("LEG POS DIVE:descent too slow (<0.7*maxdepth) - go to EMERGENCY_CLIMB actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb but not really for testing\n\n\r");
mbedLogger().appendDiagFile(buf,3);
- _state = LEG_POSITION_RISE;
- // _fsm_timer.reset();
- // _isTimeoutRunning = false;
+ _state = LEG_POSITION_RISE;
+ // _fsm_timer.reset();
+ // _isTimeoutRunning = false;
}
}
// what is active?
- xbee().printf("LEG POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
+ xbee().printf("LEG POS DIVE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
if (depthLoop().getPosition() > _max_recorded_depth_dive) {
- _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
+ _max_recorded_depth_dive = depthLoop().getPosition(); //new max depth recorded when it is larger than previous values
}
// ACTIVE RUDDER CONTROL
rudder().setPosition_deg(headingLoop().getOutput());
break; // end LEG POSITION DIVE
-
- case POSITION_RISE :
- // start local state timer and init any other one-shot actions
-
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: POSITION RISE\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands? (using inner loops except for heading outer loop)
- batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
- bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
-
- headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
-
- xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
- }
-
- // how exit?
- if (_fsm_timer.read() > _timeout) {
- xbee().printf("POS RISE: timed out\r\n");
- _state = EMERGENCY_CLIMB;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() < 0.5) {
- xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // what is active?
- xbee().printf("POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
- bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
- rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
-
- // ACTIVE RUDDER CONTROL
- rudder().setPosition_deg(headingLoop().getOutput());
-
- break; //end of POS RISE
-
- case LEG_POSITION_RISE :
- // start local state timer and init any other one-shot actions
- leg_min_depth = currentLegStateStruct.min_depth;
- leg_heading = currentLegStateStruct.heading;
-
- if (!_isTimeoutRunning) { // this should never occur. the only entry into this case is from LEG_POSITION_DIVE exit
- xbee().printf("\r\n\nstate: LEG POSITION RISE\r\n");
- sprintf(buf, "state: LEG POSITION RISE entered with timeout NOT running should not happen\n\n\r");
- mbedLogger().appendDiagFile(buf,3);
- // go and read the legparams just in case
-
- //retrieve commands from structs (loaded from legfile.txt file)
- stateMachine().getLegParams();
- leg_min_depth = currentLegStateStruct.min_depth;
- leg_heading = currentLegStateStruct.heading;
-
- //_fsm_timer.reset(); // timer goes back to zero --no
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
- _yotimer.reset(); //reset yo_timer;
- _yotimer.start(); //and start it
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
- stateMachine().getLegParams();
-
- // what are the commands? (using inner loops except for heading outer loop)
- batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
- bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
- //retrieve commands from structs (loaded from missionleg.cfg file)
-
- headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
-
- xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
- lpr_oneshots = 1;
- }
- if (!lpr_oneshots) {
- xbee().printf("\r\n\nstate: LEG POSITION RISE entered via LEG_POSiTION_DIVE finish\r\n");
- sprintf(buf, "state: LEG POSITION RISE entered via LEG_POSITION_DIVE\n\n\r");
- mbedLogger().appendDiagFile(buf,3);
- //_fsm_timer.reset(); // timer goes back to zero --no
- _yotimer.reset(); //reset yo_timer;
- _yotimer.start(); //and start it
- //_fsm_timer.start(); timer is already running // background timer starts running
- // _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands? (using inner loops except for heading outer loop)
- batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
- bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
- //retrieve commands from structs (loaded from missionleg.cfg file)
-
- headingLoop().setCommand(leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
-
- xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
- xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
- lpr_oneshots = 1;
- } // end if(!lpr_oneshots)
-
- // how exit?
- if (_fsm_timer.read() > _timeout) {
- xbee().printf("LEG POS RISE: timed out on overall timeout\r\n");
- // _state = EMERGENCY_CLIMB;
- finish_leg = 1; // not going immediately to Emergency_climb and not resetting timers means it will take 1 yo-time of rising first
- // _fsm_timer.reset();
- sprintf(buf, "LEG POSITION DIVE Ended via overall timeout\n\n\r");
- mbedLogger().appendDiagFile(buf,0);
- // _isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() < leg_min_depth - 0.5 ) { // add in check for finish_leg. Don't flip flop between states in that case
- xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- _state = LEG_POSITION_DIVE;
- sprintf(buf, "LEG POSITION RISE flip-flops to LEG_POSITION_DIVE on near surface pressure \n\n\r");
- mbedLogger().appendDiagFile(buf,0);
- //_fsm_timer.reset();
- //_isTimeoutRunning = false;
- lpd_oneshots=0;
- if(finish_leg ==1) {
- _state = EMERGENCY_CLIMB;
- _fsm_timer.reset(); _yotimer.reset();
- _isTimeoutRunning = false;
- sprintf(buf, "LEG POSITION RISE ... ENDS, and since finish_leg=1, go to Emergency climb\n\n\r");
- mbedLogger().appendDiagFile(buf,0);
- }
- }
- else if(_yotimer.read() > _yo_time ) {
- xbee().printf("LEG POS RISE: yo_time timed out - go to Emergency_CLIMB. Actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- _state = EMERGENCY_CLIMB; // add diagnostics message
- finish_leg = 1;
- _fsm_timer.reset(); _yotimer.reset();
- _isTimeoutRunning = false;
- sprintf(buf, "LEG POSITION DIVE ... ENDS on yo_time too long, exit to emergnecy climb + finish_leg=1\n\n\r");
- mbedLogger().appendDiagFile(buf,0);
+
+ case POSITION_RISE :
+ // start local state timer and init any other one-shot actions
+
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: POSITION RISE\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ // what are the commands? (using inner loops except for heading outer loop)
+ batt().setPosition_mm(_neutral_batt_pos_mm - _BMM_dive_offset); //reversing the BCE and BATT positions
+ bce().setPosition_mm(_neutral_bce_pos_mm + _BCE_dive_offset); //reversing the BCE and BATT positions
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+ }
+
+ // how exit?
+ if (_fsm_timer.read() > _timeout) {
+ xbee().printf("POS RISE: timed out\r\n");
+ _state = EMERGENCY_CLIMB;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ } else if (depthLoop().getPosition() < 0.5) {
+ xbee().printf("POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ // what is active?
+ xbee().printf("POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
+ rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
+ break; //end of POS RISE
+
+ case LEG_POSITION_RISE :
+ // start local state timer and init any other one-shot actions
+ //leg_min_depth = currentLegStateStruct.min_depth; // edit by CAM || don't need this every leg
+ //_leg_heading = currentLegStateStruct.heading; // edit by CAM
+
+ if (!_isTimeoutRunning) { // this should never occur. the only entry into this case is from LEG_POSITION_DIVE exit
+ xbee().printf("\r\n\nstate: LEG POSITION RISE\r\n");
+ sprintf(buf, "state: LEG POSITION RISE entered with timeout NOT running should not happen\n\n\r");
+ mbedLogger().appendDiagFile(buf,3);
+ // go and read the legparams just in case
+
+ //retrieve commands from structs (loaded from legfile.txt file)
+ //stateMachine().getLegParams();
+ //leg_min_depth = currentLegStateStruct.min_depth;
+ //_leg_heading = currentLegStateStruct.heading;
+
+
+ //_fsm_timer.reset(); // timer goes back to zero --no
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+ _yotimer.reset(); //reset yo_timer;
+ _yotimer.start(); //and start it
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+ stateMachine().getLegParams();
+
+ // what are the commands? (using inner loops except for heading outer loop)
+ batt().setPosition_mm(_neutral_batt_pos_mm - _leg_BMM_rise_offset); //reversing the BCE and BATT positions
+ bce().setPosition_mm(_neutral_bce_pos_mm + _leg_BCE_rise_offset); //reversing the BCE and BATT positions
+ //retrieve commands from structs (loaded from missionleg.cfg file)
+
+ headingLoop().setCommand(_leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+ lpr_oneshots = 1;
+ }
+ if (!lpr_oneshots) {
+ xbee().printf("\r\n\nstate: LEG POSITION RISE entered via LEG_POSiTION_DIVE finish\r\n");
+ sprintf(buf, "state: LEG POSITION RISE entered via LEG_POSITION_DIVE\n\n\r");
+ mbedLogger().appendDiagFile(buf,3);
+ //_fsm_timer.reset(); // timer goes back to zero --no
+ _yotimer.reset(); //reset yo_timer;
+ _yotimer.start(); //and start it
+ //_fsm_timer.start(); timer is already running // background timer starts running
+ // _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ // what are the commands? (using inner loops except for heading outer loop)
+ batt().setPosition_mm(_neutral_batt_pos_mm - _leg_BMM_rise_offset); //reversing the BCE and BATT positions
+ bce().setPosition_mm(_neutral_bce_pos_mm + _leg_BCE_rise_offset); //reversing the BCE and BATT positions
+ //retrieve commands from structs (loaded from missionleg.cfg file)
+
+ headingLoop().setCommand(_leg_heading); //ACTIVE HEADING (mimic of dive and rise code)
+
+ xbee().printf("LEG POS RISE: BATT cmd: %3.1f\r\n",batt().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm()); //get the actual commanded position
+ xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
+ lpr_oneshots = 1;
+ } // end if(!lpr_oneshots)
+
+ // how exit?
+ if (_fsm_timer.read() > _timeout) {
+ xbee().printf("LEG POS RISE: timed out on overall timeout\r\n");
+ // _state = EMERGENCY_CLIMB;
+ finish_leg = 1; // not going immediately to Emergency_climb and not resetting timers means it will take 1 yo-time of rising first
+ // _fsm_timer.reset();
+ sprintf(buf, "LEG POSITION DIVE Ended via overall timeout\n\n\r");
+ mbedLogger().appendDiagFile(buf,0);
+ // _isTimeoutRunning = false;
+ } else if (depthLoop().getPosition() < leg_min_depth - 0.5 ) { // add in check for finish_leg. Don't flip flop between states in that case
+ xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ _state = LEG_POSITION_DIVE;
+ sprintf(buf, "LEG POSITION RISE flip-flops to LEG_POSITION_DIVE on near surface pressure \n\n\r");
+ mbedLogger().appendDiagFile(buf,0);
+ //_fsm_timer.reset();
+ //_isTimeoutRunning = false;
+ lpd_oneshots=0;
+ if(finish_leg ==1) {
+ _state = EMERGENCY_CLIMB;
+ _fsm_timer.reset();
+ _yotimer.reset();
+ _isTimeoutRunning = false;
+ sprintf(buf, "LEG POSITION RISE ... ENDS, and since finish_leg=1, go to Emergency climb\n\n\r");
+ mbedLogger().appendDiagFile(buf,0);
+ }
+ } else if(_yotimer.read() > _yo_time ) {
+ xbee().printf("LEG POS RISE: yo_time timed out - go to Emergency_CLIMB. Actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ _state = EMERGENCY_CLIMB; // add diagnostics message
+ finish_leg = 1;
+ _fsm_timer.reset();
+ _yotimer.reset();
+ _isTimeoutRunning = false;
+ sprintf(buf, "LEG POSITION DIVE ... ENDS on yo_time too long, exit to emergnecy climb + finish_leg=1\n\n\r");
+ mbedLogger().appendDiagFile(buf,0);
}
-
- // what is active?
- xbee().printf("LEG POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
- bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
- rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
-
- // ACTIVE RUDDER CONTROL
- rudder().setPosition_deg(headingLoop().getOutput());
-
- break; // end LEG POS RISE
-// NEW DIVE AND RISE SEQUENCES
-
- case FLOAT_LEVEL :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- bce().setPosition_mm(_bceFloatPosition);
- pitchLoop().setCommand(0.0);
- }
-
- // how exit?
- if (_fsm_timer > _timeout) {
- xbee().printf("FL: timed out\r\n");
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
- else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
- xbee().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
- _state = FLOAT_BROADCAST;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // what is active?
- xbee().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), _fsm_timer.read());
- batt().setPosition_mm(pitchLoop().getOutput());
-
- break;
-
- case FLOAT_BROADCAST :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _yotimer.reset();
- _yotimer.start();
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- // what are the commands?
- bce().setPosition_mm(_bceFloatPosition); // 320.0
- batt().setPosition_mm(_battFloatPosition); // 73.0
-
- //set rudder to center
- rudder().setPosition_deg(0.0); //set rudder to center, zero degrees
- }
-
- // how exit?
-
- if (_fsm_timer > _timeout || ( _yotimer > _state_transition_time)) {
- xbee().printf("FB: timed out\r\n");
- sprintf(buf, "in FLOAT_BRADCAST timed out ... go to SIT_IDLE\n\n");
- mbedLogger().appendDiagFile(buf,3);
- _state = SIT_IDLE;
- _fsm_timer.reset();
-
- //stop recording data
- //mbedLogger().closeFile();
-
- _isTimeoutRunning = false;
- if(finish_leg == 1 || _neutral_success == -1 ) {
- _state = ENDLEG_WAIT;
- sprintf(buf, "in FLOAT_BROADCAST still timed out .... but also finish_leg==1 so go to ENDLEG_WAIT\n\n");
- mbedLogger().appendDiagFile(buf,3);
- } // allows wait at surface for xbee messaging to not close program
- }
-
- //fix on float_broadcast to account for BCE stopping early in current hardware
- else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) and
- (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
- xbee().printf("FB: 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;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
-
- //stop recording data
- //mbedLogger().closeFile();
- if(finish_leg == 1) { _state = ENDLEG_WAIT; } // allows exit via wait at surface first
- }
-
- // what is active?
- xbee().printf("FB: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \r",
- bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
- depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
-
- // if (finish_leg == 1) { _state = FB_EXIT;}
- break;
-
- case MULTI_DIVE :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: MULTI-DIVE\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- //retrieve commands from structs (loaded from sequence.cfg file)
- float sequence_depth_command = currentStateStruct.depth;
- float sequence_pitch_command = currentStateStruct.pitch;
-
- // what are the commands?
- depthLoop().setCommand(sequence_depth_command);
- pitchLoop().setCommand(sequence_pitch_command);
-
-
- headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
- xbee().printf("MULTI-DIVE: depth cmd: %3.1f m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
-
- //no max depth recording right now
- }
-
- // how exit?
- if (_fsm_timer > _timeout) {
- xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
- _state = MULTI_RISE; //new behavior 11/17/2017
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
- else if (depthLoop().getPosition() > depthLoop().getCommand()) {
- xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
- _state = MULTI_RISE;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // WHAT IS ACTIVE?
- xbee().printf("MD: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
- bce().setPosition_mm(depthLoop().getOutput());
- batt().setPosition_mm(pitchLoop().getOutput());
-
- // ACTIVE RUDDER CONTROL
- rudder().setPosition_deg(headingLoop().getOutput());
-
- break;
-
- case MULTI_RISE :
- // start local state timer and init any other one-shot actions
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: MULTI-RISE\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- // what needs to be started?
- bce().unpause();
- batt().unpause();
-
- //NEW: retrieve depth and pitch commands from config file struct
- // concept is to load this each time the multi-dive restarts
- stateMachine().getDiveSequence();
-
- //retrieve just pitch command from struct
- float sequence_pitch_command = currentStateStruct.pitch;
-
- // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
- depthLoop().setCommand(0.5);
- pitchLoop().setCommand(-sequence_pitch_command);
-
- headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
- xbee().printf("MULTI-RISE: depth cmd: 0.0 m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
- }
-
- // how exit?
- if (_fsm_timer > _timeout) {
- xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
- _state = EMERGENCY_CLIMB;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
-
- //reset multi-dive sequence to start
- _multi_dive_counter = 0;
-
+
+ // what is active?
+ xbee().printf("LEG POS RISE: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),
+ rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
+ break; // end LEG POS RISE
+// NEW DIVE AND RISE SEQUENCES
+
+ case FLOAT_LEVEL :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: FLOAT_LEVEL\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ // what are the commands?
+ bce().setPosition_mm(_bceFloatPosition);
+ pitchLoop().setCommand(0.0);
+ }
+
+ // how exit?
+ if (_fsm_timer > _timeout) {
+ xbee().printf("FL: timed out\r\n");
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ } else if (fabs(imu().getPitch() - pitchLoop().getCommand()) < fabs(_pitchTolerance)) { //current tolerance is 5 degrees
+ xbee().printf("FL: pitch: %3.1f mm, set pos: %3.1f mm, deadband: %3.1f mm\r\n",imu().getPitch(), pitchLoop().getCommand(), _pitchTolerance);
+ _state = FLOAT_BROADCAST;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ // what is active?
+ xbee().printf("FL: pitchLoop output: %3.1f, batt pos: %3.1f, piston pos: %3.1f [%0.1f sec]\r", pitchLoop().getOutput(), batt().getPosition_mm(), bce().getPosition_mm(), _fsm_timer.read());
+ batt().setPosition_mm(pitchLoop().getOutput());
+
+ break;
+
+ case FLOAT_BROADCAST :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _yotimer.reset();
+ _yotimer.start();
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ // what are the commands?
+ bce().setPosition_mm(_bceFloatPosition); // 320.0
+ batt().setPosition_mm(_battFloatPosition); // 73.0
+
+ //set rudder to center
+ rudder().setPosition_deg(0.0); //set rudder to center, zero degrees
+ }
+
+ // how exit?
+
+ if (_fsm_timer > _timeout || ( _yotimer > _state_transition_time)) {
+ xbee().printf("FB: timed out\r\n");
+ sprintf(buf, "in FLOAT_BRADCAST timed out ... go to SIT_IDLE\n\n");
+ mbedLogger().appendDiagFile(buf,3);
+ _state = SIT_IDLE;
+ _fsm_timer.reset();
+
+ //stop recording data
+ //mbedLogger().closeFile();
+
+ _isTimeoutRunning = false;
+ if(finish_leg == 1 || _neutral_success == -1 ) {
+ _state = ENDLEG_WAIT;
+ sprintf(buf, "in FLOAT_BROADCAST still timed out .... but also finish_leg==1 so go to ENDLEG_WAIT\n\n");
+ mbedLogger().appendDiagFile(buf,3);
+ } // allows wait at surface for xbee messaging to not close program
+ }
+
+ //fix on float_broadcast to account for BCE stopping early in current hardware
+ else if ( (fabs(bce().getPosition_mm() - bce().getSetPosition_mm()) < 4.0 ) and
+ (fabs(batt().getPosition_mm() - batt().getSetPosition_mm()) < batt().getDeadband()) ) {
+ xbee().printf("FB: 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;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+
+ //stop recording data
+ //mbedLogger().closeFile();
+ if(finish_leg == 1) {
+ _state = ENDLEG_WAIT; // allows exit via wait at surface first
+ }
+ }
+
+ // what is active?
+ xbee().printf("FB: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg, heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),
+ depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),imu().getHeading(),_fsm_timer.read());
+
+ // if (finish_leg == 1) { _state = FB_EXIT;}
+ break;
+
+ case MULTI_DIVE :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: MULTI-DIVE\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ //retrieve commands from structs (loaded from sequence.cfg file)
+ float sequence_depth_command = currentStateStruct.depth;
+ float sequence_pitch_command = currentStateStruct.pitch;
+
+ // what are the commands?
+ depthLoop().setCommand(sequence_depth_command);
+ pitchLoop().setCommand(sequence_pitch_command);
+
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+ xbee().printf("MULTI-DIVE: depth cmd: %3.1f m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
+
+ //no max depth recording right now
+ }
+
+ // how exit?
+ if (_fsm_timer > _timeout) {
+ xbee().printf("\r\n\nMULTI-DIVE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
+ _state = MULTI_RISE; //new behavior 11/17/2017
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ } else if (depthLoop().getPosition() > depthLoop().getCommand()) {
+ xbee().printf("MULTI-DIVE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+ _state = MULTI_RISE;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ // WHAT IS ACTIVE?
+ xbee().printf("MD: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
+ bce().setPosition_mm(depthLoop().getOutput());
+ batt().setPosition_mm(pitchLoop().getOutput());
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
+ break;
+
+ case MULTI_RISE :
+ // start local state timer and init any other one-shot actions
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: MULTI-RISE\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ // what needs to be started?
+ bce().unpause();
+ batt().unpause();
+
+ //NEW: retrieve depth and pitch commands from config file struct
+ // concept is to load this each time the multi-dive restarts
+ stateMachine().getDiveSequence();
+
+ //retrieve just pitch command from struct
+ float sequence_pitch_command = currentStateStruct.pitch;
+
+ // what are the commands? (send back to 0.5 feet, not surface) // 11/21/2017
+ depthLoop().setCommand(0.5);
+ pitchLoop().setCommand(-sequence_pitch_command);
+
+ headingLoop().setCommand(_heading_command); //ACTIVE HEADING (mimic of dive and rise code)
+ xbee().printf("MULTI-RISE: depth cmd: 0.0 m, pitch cmd: %3.1f deg\r\n",depthLoop().getCommand(), pitchLoop().getCommand());
+ }
+
+ // how exit?
+ if (_fsm_timer > _timeout) {
+ xbee().printf("MULTI-RISE: timed out [time: %0.1f]\r\n\n", _fsm_timer.read());
+ _state = EMERGENCY_CLIMB;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+
+ //reset multi-dive sequence to start
+ _multi_dive_counter = 0;
+
// //Reload the dive sequence on exit
// sequenceController().loadSequence();
- }
- else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
- xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
-
- //going to next state
- _isTimeoutRunning = false;
-
- //successful dive-rise sequence CONTINUES the multi-dive sequence
- _multi_dive_counter++;
-
- //UPDATE THE SEQUENCE DATA HERE
- stateMachine().getDiveSequence();
-
- //check if this is the end of the dive sequence
- //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
- if (currentStateStruct.state == FLOAT_BROADCAST) {
+ } else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
+ xbee().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
+
+ //going to next state
+ _isTimeoutRunning = false;
+
+ //successful dive-rise sequence CONTINUES the multi-dive sequence
+ _multi_dive_counter++;
+
+ //UPDATE THE SEQUENCE DATA HERE
+ stateMachine().getDiveSequence();
+
+ //check if this is the end of the dive sequence
+ //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
+ if (currentStateStruct.state == FLOAT_BROADCAST) {
// //Reload the dive sequence on exit
// sequenceController().loadSequence();
-
- _state = FLOAT_BROADCAST;
+
+ _state = FLOAT_BROADCAST;
+ }
+
+ else
+ _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
+
+ //have to stop this with the _multi_dive_counter variable!
+ }
+
+ // WHAT IS ACTIVE?
+ xbee().printf("MR: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \n\r",
+ bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
+ bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
+ batt().setPosition_mm(pitchLoop().getOutput());
+
+ // ACTIVE RUDDER CONTROL
+ rudder().setPosition_deg(headingLoop().getOutput());
+
+ break;
+
+ case TX_MBED_LOG:
+ if (!_isTimeoutRunning) {
+ xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+
+ //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
+
+ xbee().printf("TX_MBED_LOG set to zero\n\r");
+
+ //function to read the file and get number of lines (packets to transmit)
+ _timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
+
+ mbedLogger().setTransmitPacketNumber(0); //reset to zero
}
-
- else
- _state = MULTI_DIVE; //Note: need to test if this else statement is necessary
-
- //have to stop this with the _multi_dive_counter variable!
- }
-
- // WHAT IS ACTIVE?
- xbee().printf("MR: BcePos (cmd):%6.1f mm(%0.1f), BattPos:%6.1f mm(%0.1f), RUD_deg_cmd: %5.1f <<current depth:%6.1f m [cmd:%6.1f]), pitch:%6.1f deg [cmd:%6.1f], heading_imu:%6.1f deg>>[%0.2f sec] \r", bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),depthLoop().getCommand(),pitchLoop().getPosition(),pitchLoop().getCommand(),imu().getHeading(),_fsm_timer.read());
- bce().setPosition_mm(depthLoop().getOutput()); //constantly checking the Outer Loop output to move the motors
- batt().setPosition_mm(pitchLoop().getOutput());
-
- // ACTIVE RUDDER CONTROL
- rudder().setPosition_deg(headingLoop().getOutput());
-
- break;
-
- case TX_MBED_LOG:
- if (!_isTimeoutRunning) {
- xbee().printf("\r\n\nstate: TX_MBED_LOG\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
-
- //mbedLogger().openFileForTransmit(); //starts _fp file pointer at the beginning of the file
-
- xbee().printf("TX_MBED_LOG set to zero\n\r");
-
- //function to read the file and get number of lines (packets to transmit)
- _timeout = mbedLogger().getNumberOfPacketsInCurrentLog();
-
- mbedLogger().setTransmitPacketNumber(0); //reset to zero
- }
-
- //TIMED OUT
- if (_fsm_timer.read() > _timeout) {
- xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n");
-
- //STATE
+
+ //TIMED OUT
+ if (_fsm_timer.read() > _timeout) {
+ xbee().printf("\r\nTX_MBED_LOG: timed out!\r\n");
+
+ //STATE
+ _state = SIT_IDLE;
+
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+
+ //mbedLogger().closeLogFile();
+ xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
+ }
+
+ //received end transmission packet (if this is true)
+ if (mbedLogger().endTransmitPacket()) {
+ //STATE
+ led3() = !led3();
+
+ _state = SIT_IDLE;
+
+ //reset timer
+ _fsm_timer.reset();
+
+ //mbedLogger().closeLogFile();
+
+ xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
+ }
+
+ //What is active?
+ //mbedLogger().fsmTransmitData();
+ mbedLogger().checkForPythonTransmitRequest();
+ led1() = !led1();
+
+ break;
+
+ case RX_SEQUENCE :
+ xbee().printf("state: RX_SEQUENCE\r\n");
+
+ if (!_isTimeoutRunning) {
+ xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n");
+ _fsm_timer.reset(); // timer goes back to zero
+ _fsm_timer.start(); // background timer starts running
+ _isTimeoutRunning = true;
+ }
+
+ if (_fsm_timer.read() > _timeout) {
+ xbee().printf("RX_SEQUENCE: timed out!\r\n");
+ _state = SIT_IDLE;
+ _fsm_timer.reset();
+ _isTimeoutRunning = false;
+ }
+
+ // what is active?
+ xbee().printf("Receive sequence active?\r\n");
+
+ break;
+
+ default :
+ xbee().printf("DEBUG: SIT_IDLE\r\n");
_state = SIT_IDLE;
-
- _fsm_timer.reset();
- _isTimeoutRunning = false;
-
- //mbedLogger().closeLogFile();
- xbee().printf("\r\n\nstate: TX_MBED_LOG (log filed closed)\r\n");
- }
-
- //received end transmission packet (if this is true)
- if (mbedLogger().endTransmitPacket()) {
- //STATE
- led3() = !led3();
-
- _state = SIT_IDLE;
-
- //reset timer
- _fsm_timer.reset();
-
- //mbedLogger().closeLogFile();
-
- xbee().printf("\r\n\nTX_MBED_LOG: Received end transmission packet.)\r\n");
- }
-
- //What is active?
- //mbedLogger().fsmTransmitData();
- mbedLogger().checkForPythonTransmitRequest();
- led1() = !led1();
-
- break;
-
- case RX_SEQUENCE :
- xbee().printf("state: RX_SEQUENCE\r\n");
-
- if (!_isTimeoutRunning) {
- xbee().printf("RX_SEQUENCE _isTimeoutRunning\r\n");
- _fsm_timer.reset(); // timer goes back to zero
- _fsm_timer.start(); // background timer starts running
- _isTimeoutRunning = true;
- }
-
- if (_fsm_timer.read() > _timeout) {
- xbee().printf("RX_SEQUENCE: timed out!\r\n");
- _state = SIT_IDLE;
- _fsm_timer.reset();
- _isTimeoutRunning = false;
- }
-
- // what is active?
- xbee().printf("Receive sequence active?\r\n");
-
- break;
-
- default :
- xbee().printf("DEBUG: SIT_IDLE\r\n");
- _state = SIT_IDLE;
}
-
+
//save the state to print to user
if (_previous_state != _state) {
_state_array[_state_array_counter] = _state; //save to state array
_state_array_counter++;
-
+
_previous_state = _state;
}
-
+
return _state;
} /* end of runStateMachine */
-
+
// output the keyboard menu for user's reference
-void StateMachine::printSimpleMenu() {
+void StateMachine::printSimpleMenu()
+{
xbee().printf("\r\r\n\nSIMPLE KEYBOARD MENU (08/13/2018):\r\r\n"); //make sure depth sensor tares itself on startup
xbee().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f (LIMIT: BCE: %0.1f BATT: %0.1f)\r\n\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm, bce().getTravelLimit(),batt().getTravelLimit());
-
+
xbee().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
xbee().printf(" J to float level\r\n");
xbee().printf(" B to float at broadcast pitch\r\n");
@@ -1248,20 +1258,21 @@
xbee().printf(" G to transmit MBED log file\r\n");
xbee().printf(" I to receive multi-dive sequence file\r\n");
xbee().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
-
- xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset);
+
+ xbee().printf("Q to TYPE in the BMM offset: %0.1f (BMM Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = pitch down)\r\n",_BMM_dive_offset, _neutral_batt_pos_mm + _BMM_dive_offset, _neutral_batt_pos_mm - _BMM_dive_offset);
xbee().printf("A to TYPE in the BCE offset: %0.1f (BCE Dive POS: %0.1f, Rise POS: %0.1f) (positive input offset = dive)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
xbee().printf("S to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition());
- xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
-
+ xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
+
xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
- xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
+ xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
xbee().printf(" ? to reset mbed\r\n");
xbee().printf(" * (asterisk) to go to DEBUG keyboard menu\r\n");
}
-void StateMachine::printDebugMenu() {
+void StateMachine::printDebugMenu()
+{
xbee().printf("\r\r\n\nDEBUG KEYBOARD MENU (08/08/2018):\r\r\n");
xbee().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
xbee().printf(" N to find neutral\r\n");
@@ -1284,7 +1295,8 @@
xbee().printf("Q to TYPE in pitch setpoint: %0.1f (Current IMU pitch: %0.1f deg)\r\n",_pitch_command,imu().getPitch());
xbee().printf("A to TYPE in depth setpoint: %0.1f (Current depth: %0.1f m)\r\n",_depth_command, depthLoop().getPosition());
xbee().printf("W to TYPE in the heading command: %0.1f deg (imu heading: %0.1f)\r\n",_heading_command,imu().getHeading());
- xbee().printf("T to enter in the timeout (default is 60 seconds): %d s\r\n",_timeout);
+ xbee().printf("T to TYPE in the timeout (default is 60 seconds): %d s\r\n",_timeout);
+ xbee().printf("F to TYPE the number of samples for altimeter data filter (default is 10): %d\r\n",adc().CH2OVERSAMPLE);
xbee().printf(" 1 BCE PID sub-menu (type in inputs)\r\n");
xbee().printf(" 2 BATT PID sub-menu (type in inputs)\r\n");
@@ -1294,33 +1306,34 @@
xbee().printf(" 6 HEADING PID sub-menu (type in inputs)\r\n");
xbee().printf(" 7 MANUAL_TUNING sub-menu (does not have a timer!) *** MOTORS ARE ACTIVE *** (bce 200, bmm 40, rudder 1640)\r\n");
xbee().printf(" 8 STREAM SENSOR STATUS (and channel readings)\r\n");
-
+
xbee().printf(" C See sensor readings (and max recorded depth of dive & neutral sequences)\r\n");
xbee().printf(" ? to reset mbed\r\n");
xbee().printf(" * (asterisk) to go to SIMPLE keyboard menu\r\n");
}
-
+
//FIND_NEUTRAL sub-Finite State Machine (sub-FSM)
// Note: the sub-FSM only moves the pistons once at the start of each timer loop
// (timer completes, moves piston, timer completes, moves piston, etc)
-int StateMachine::runNeutralStateMachine() {
- char buf[256];
+int StateMachine::runNeutralStateMachine()
+{
+ char buf[256];
switch (_substate) {
case NEUTRAL_SINKING :
//start the 10 second timer
- if (!_isSubStateTimerRunning) {
+ if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read() + 5; //record the time when this block is first entered and add 5 seconds
-
+
xbee().printf("\r\n\nNEUTRAL_SINKING: Next retraction at %0.1f sec [current time: %0.1f] (pitch: %0.1f) (BCE getSetPosition: %0.1f)\r\n", _neutral_timer, _fsm_timer.read(), pitchLoop().getPosition(), bce().getSetPosition_mm());
-
+
// what are the commands? (BCE linear actuator active, no BMM or pitch movement)
bce().setPosition_mm(bce().getSetPosition_mm() - 2.5);
-
+
xbee().printf("NEUTRAL_SINKING: Retracting piston 2.5 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
-
+
_isSubStateTimerRunning = true; //disable this block after one iteration
}
-
+
// how exit?
//once reached the travel limit, no need to keep trying, so exit
if (bce().getPosition_mm() <= 0) {
@@ -1328,17 +1341,16 @@
sprintf(buf, "in RUNneutral: state failed at bce.getPosition()\n\n");
mbedLogger().appendDiagFile(buf,3);
_substate = NEUTRAL_EXIT;
- _neutral_success = -1;
+ _neutral_success = -1;
_isSubStateTimerRunning = false; // reset the sub state timer
}
-
+
//Troy: Pressure vessel went beyond set depth limit, goes to next state
//once deeper than the commanded setpoint...
else if (depthLoop().getPosition() > _depth_command) {
_substate = NEUTRAL_SLOWLY_RISE; // next state
_isSubStateTimerRunning = false; //reset the sub state timer
- }
- else if ( (depthLoop().getVelocity() > 0.05) && (depthLoop().getPosition() > 0.6 * _depth_command) ) { // need to code in FILTERED vertical velocity
+ } else if ( (depthLoop().getVelocity() > 0.05) && (depthLoop().getPosition() > 0.6 * _depth_command) ) { // need to code in FILTERED vertical velocity
_substate = NEUTRAL_SLOWLY_RISE; // next state
_isSubStateTimerRunning = false; //reset the sub state timer
}
@@ -1346,44 +1358,44 @@
//once the 10 second timer is complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
xbee().printf("\r\n\n NEUTRAL_SINKING TIMER COMPLETE! [current time: %0.1f]\r\n", _fsm_timer.read());
-
+
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
-
+
// what is active? (only the buoyancy engine moved every 5 seconds at start)
xbee().printf("BCE current pos: %0.1f mm (BCE setpoint: %0.1f mm) (current depth: %0.1f m)\r", bce().getPosition_mm(),bce().getSetPosition_mm(),depthLoop().getPosition()); //debug
-
+
//the BCE moves every 5 seconds. No BMM or rudder movement.
-
+
break;
-
+
case NEUTRAL_SLOWLY_RISE:
- if (!_isSubStateTimerRunning) {
+ if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read()+ 5; //record the time when this block is first entered and add 5 seconds
-
+
xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Next extension at %0.1f sec) [current time: %0.1f]\r\n",_neutral_timer,_fsm_timer.read());
-
+
// what are the commands?
//move piston at start of sequence (default: extend 2.0 mm)
//Pressure vessel should slowly rise
bce().setPosition_mm(bce().getSetPosition_mm() + 2.0); //no depth command, only motor position
-
+
//Troy: I commented out this command, we're finding pitch in the next state.
// it's okay to run the pitch outer loop now since we've already found pitch level in the previous state
//pitchLoop().setCommand(0.0);
-
+
xbee().printf("NEUTRAL_SLOWLY_RISE: Extending BCE piston 2.0 mm [BCE CMD : %0.1f] (pitch: %0.1f)\r\n", bce().getSetPosition_mm(), pitchLoop().getPosition());
_isSubStateTimerRunning = true; //disable this block after one iteration
}
-
+
// how exit?
//once at full travel limit (setPosition) and haven't yet risen, time to give up and exit
if (bce().getSetPosition_mm() >= bce().getTravelLimit()) {
- _substate = NEUTRAL_EXIT;
+ _substate = NEUTRAL_EXIT;
sprintf(buf, "in RUNneutral: SLOWLY RISE state failed at bce.getsetPosition() > bce.getTravelLimit()\n\n");
mbedLogger().appendDiagFile(buf,3);
- _neutral_success = -1; //another failed state
+ _neutral_success = -1; //another failed state
_isSubStateTimerRunning = false; // reset the sub state timer
}
//Troy: Depth rate will go negative as the pressure vessel starts rising
@@ -1392,77 +1404,76 @@
xbee().printf("\r\n\nNEUTRAL_SLOWLY_RISE: Sink Rate < 0 m/s [time: %0.1f]\r\n", _fsm_timer.read());
_substate = NEUTRAL_CHECK_PITCH;
_isSubStateTimerRunning = false; // reset the sub state timer
- }
+ }
// what is active?
//once 5 second timer complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
xbee().printf("\r\n\n NEUTRAL_SLOWLY_RISE TIMER COMPLETE! [timer: %0.1f]\r\n", _fsm_timer.read());
-
+
_isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
}
-
+
// what is active? (only the buoyancy engine moved every 5 seconds)
xbee().printf("depthLoop getOutput: %0.1f\r", depthLoop().getOutput()); //debug
-
- break;
-
+
+ break;
+
case NEUTRAL_CHECK_PITCH : // fall thru to next state is desired
// start local state timer and init any other one-shot actions
-
- if (!_isSubStateTimerRunning) {
+
+ if (!_isSubStateTimerRunning) {
_neutral_timer = _fsm_timer.read() + 10; // record time when this block is entered and add several seconds
xbee().printf("\r\nNEUTRAL_CHECK_PITCH: Next move in %0.1f sec \r\n",_neutral_timer - _fsm_timer.read());
-
+
// what are the commands? (default: retract or extend 0.5 mm)
if (pitchLoop().getPosition() > 2) { // nose is high (extend batteries)
batt().setPosition_mm(batt().getSetPosition_mm() + 0.5); // move battery forward (using setpoint from linear actuator)
xbee().printf("\r\nNeutral Check Pitch: moving battery FWD in 0.5 mm increments\r\n\n");
- }
- else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries)
+ } else if (pitchLoop().getPosition() < -2) { // nose is low (retract batteries)
batt().setPosition_mm(batt().getSetPosition_mm() - 0.5); // move battery aft (using setpoint from linear actuator)
xbee().printf("\r\nNeutral Check Pitch: moving battery AFT in 0.5 mm increments\r\n\n");
}
_isSubStateTimerRunning = true; //disable this block after one iteration
}
-
- // how exit?
+
+ // how exit?
//pitch angle and pitch rate within small tolerance
//benchtop tests confirm angle needs to be around 2 degrees
- if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
+ if ((fabs(pitchLoop().getPosition()) < 2.0) and (fabs(pitchLoop().getVelocity()) < 5.0)) {
xbee().printf("Debug: Found Level (NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH)\r\n"); //debug
// found level, but don't need to save anything this time
-
+
if (depthLoop().getPosition() > _max_recorded_depth_neutral) { //debug
_max_recorded_depth_neutral = depthLoop().getPosition(); //new max depth recorded
}
-
- // found level and at depth too, so save it all now
+
+ // found level and at depth too, so save it all now
if (_substate == NEUTRAL_CHECK_PITCH) {
//save positions locally
_neutral_batt_pos_mm = batt().getPosition_mm(); // how about a comment here
_neutral_bce_pos_mm = bce().getPosition_mm();
-
+
//set the neutral positions in each outer loop
depthLoop().setOutputOffset(_neutral_bce_pos_mm);
pitchLoop().setOutputOffset(_neutral_batt_pos_mm);
-
+
// save into the depth.txt and pitch.txt files
-
+
configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband); //P,I,D, bce zeroOffset
xbee().printf("\r\n\n>>> Saving Positions: BCE: %0.1f mm, BATT: %0.1f <<<\r\n\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
-
- _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
+
+ _isSubStateTimerRunning = false; // reset the sub state timer to do one-shot actions again
_substate = NEUTRAL_EXIT;
sprintf(buf, "in RUNneutral: state succeeded! at NEUTRAL_CHECK PITCH line 1452\n\n");
- mbedLogger().appendDiagFile(buf,3);
+ mbedLogger().appendDiagFile(buf,3);
_neutral_success = 1;
configFileIO().saveNeutralStatus(_neutral_success, _neutral_bce_pos_mm, _neutral_batt_pos_mm); // saves to tell re-started program neutral has been found
-
+
}
-
+
else {
xbee().printf("\r\nDid not find NEUTRAL_CHECK_PITCH or NEUTRAL_FIRST_PITCH, how did I get here?!\r\n");
_substate = NEUTRAL_EXIT;
@@ -1470,7 +1481,7 @@
mbedLogger().appendDiagFile(buf,3);
}
}
-
+
// what is active?
//once timer complete, reset the timeout so the state one-shot entry will move the setpoint
if (_fsm_timer.read() >= _neutral_timer) {
@@ -1480,19 +1491,19 @@
}
break;
-
+
//this state could be removed, it is only used as a transition but is needed to stop entering this function
case NEUTRAL_EXIT :
- xbee().printf("substate: NEUTRAL_EXIT\r\n");
+ xbee().printf("substate: NEUTRAL_EXIT\r\n");
break;
-
+
default :
xbee().printf("how did we get to substate: default?\r\n"); //debug
//a default within the sub-state machine
- _substate = NEUTRAL_EXIT;
+ _substate = NEUTRAL_EXIT;
break;
}
-
+
// reset the sub-FSM if needed (useful if you need to redo the neutral-finding sequence)
if (_substate == NEUTRAL_EXIT) {
xbee().printf("******************************** EXITING sub-FSM! *******************************\r\n\n");
@@ -1500,148 +1511,148 @@
//reset internal sub-state back to first entry conditions (first state is immediately sinking)
_substate = NEUTRAL_SINKING;
_isSubStateTimerRunning = false; // reset the sub state timer
-
+
//record sub-states to view after sequence
_substate_array[_substate_array_counter] = NEUTRAL_EXIT; //save exit to state array
_substate_array_counter++;
-
+
//reset _previous_substate on exit (has to be done in FIND_NEUTRAL if emergency exit)
_previous_substate = -1;
//NEUTRAL_EXIT state is used to tell the greater FSM that this sub-FSM has completed
return NEUTRAL_EXIT; // message to calling function we just exited
- }
- else {
+ } else {
//record sub-states to view after sequence (when changed)
if (_previous_substate != _substate) {
_substate_array[_substate_array_counter] = _substate; //save current state to state array
_substate_array_counter++;
-
- //record the current substate for comparison
+
+ //record the current substate for comparison
_previous_substate = _substate;
- }
-
+ }
+
return _substate; // message to calling function of what sub-state it's in
}
}
-
+
/* keyboard runs independently of the state machine, handling one key at a time
keyboard updates the desired _keyboard_state that is used in the state machine
and only allows input when the state is "idle" */
-
-void StateMachine::keyboard() {
+
+void StateMachine::keyboard()
+{
char user_input;
char buf[256];
-
+
// check keyboard and make settings changes as requested
// states can be changed only at the start of a sequence (when the system is in SIT_IDLE)
-
+
//TEST
int _keyboard_state = 0; //made this a local variable because it was retaining the last keyboard state
static int yocount = -3;
static float htime = 0.0;
if(_state == ENDLEG_WAIT) {
- yocount = int(_yotimer.read());
- if ( ( (yocount % 5) == 0 ) && ( _yotimer.read() > 2.5+htime) ) { // send out a heartbeat message, need to cast as an int from float
- xbee().printf("FSG on surface at end of leg, hit c to wake up\r\n");
- sprintf(buf, "ENDLEG WAIT heartbeat message sent yotimer=%f \n\n\r", _yotimer.read());
+ yocount = int(_yotimer.read());
+ if ( ( (yocount % 5) == 0 ) && ( _yotimer.read() > 2.5+htime) ) { // send out a heartbeat message, need to cast as an int from float
+ xbee().printf("\nFSG on surface at end of leg, hit c to wake up\r\n");
+ sprintf(buf, "ENDLEG WAIT heartbeat message sent yotimer=%f \n\n\r", _yotimer.read());
mbedLogger().appendDiagFile(buf,0);
htime = _yotimer.read();
}
- if( _yotimer > _state_transition_time) {
+ if( _yotimer > _state_transition_time) {
_keyboard_state = FB_EXIT;
_state = FB_EXIT;
- }
- }
- if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD || _state == ENDLEG_WAIT)) { //ends at very end of function 1740
+ }
+ }
+ if (xbee().readable() && (_state == SIT_IDLE || _state == KEYBOARD || _state == ENDLEG_WAIT)) { //ends at very end of function 1740
// then get the key
- user_input = xbee().getc();
+ user_input = xbee().getc();
// and exit from ENDLEG_WAIT - you got a keyboard input
- if(_state == ENDLEG_WAIT) {
- _keyboard_state = SIT_IDLE; // this is installed in _state at end of function
- }
-
+ if(_state == ENDLEG_WAIT) { //edited by CAM
+ _keyboard_state = SIT_IDLE; // this is installed in _state at end of function
+ }
+
//record that the keyboard was used
_state_array[_state_array_counter] = KEYBOARD;
_state_array_counter++;
-
+
// keyboard has to reset timer each time it's used
_isTimeoutRunning = false;
-
+
// check command against desired control buttons
-
- /***************************** COMMON COMMANDS *****************************/
+
+ /***************************** COMMON COMMANDS *****************************/
if (user_input == 'W') {
xbee().printf(">> Please enter the heading (deg).\r\n");
_heading_command = getFloatUserInput();
}
-
-//////////////////// TEST
+
+//////////////////// TEST
// else if (user_input == 'l') {
// xbee().printf("CUT OFF RUDDER SERVO????\n\r");
// rudder().pwm_pulse_off();
// }
//////////////////// TEST
-
+
else if (user_input == 'K') {
xbee().printf("(K) BLAST DATA AND EXIT! \n\r");
mbedLogger().blastData();
}
-
+
else if (user_input == 'U') {
xbee().printf("(U) TRANSMIT MULTIPLE PACKETS \n\r");
-
+
mbedLogger().transmitMultiplePackets();
}
-
+
else if (user_input == 'H') {
xbee().printf("(H) BLAST DATA AND MULTIPLE PACKETS! \n\r");
wait(1);
mbedLogger().blastData();
-
- mbedLogger().transmitMultiplePackets();
+
+ mbedLogger().transmitMultiplePackets();
}
-
+
else if (user_input == 'G') {
xbee().printf("(G) BLAST DATA TEST and use FSM! \n\r");
wait(1);
mbedLogger().blastData();
-
+
_keyboard_state = TX_MBED_LOG;
}
-
+
else if (user_input == 'I') {
xbee().printf("(I) Receive Multi-Dive Sequence! \n\r");
mbedLogger().receiveSequenceFile(); //receive sequence.txt files
}
-
+
else if (user_input == '8') {
keyboard_menu_STREAM_STATUS();
}
-
+
else if (user_input == '?') {
xbee().printf("\n\n\n>>> Resetting MBED <<<\n\n\n");
wait(0.5);
mbed_reset();
}
-
+
else if (user_input == 'T') {
xbee().printf("Please enter the timeout (timer) value below: \n\r");
_timeout = fabs(getFloatUserInput());
}
-
+
else if (user_input == '~') {
xbee().printf("MBED LOG FILE MENU!\r\n");
stateMachine().logFileMenu();
-
+
//xbee().printf("ERASING MBED LOG FILE\r\n"); //legacy method
//mbedLogger().eraseFile();
}
-
+
else if (user_input == 'C' or user_input == 'c') {
-
+
xbee().printf("\r\n\nCURRENT STATUS AND PARAMETERS:\r\n");
-
+
xbee().printf("raw BCE pos: %d \r\n",adc().readCh0());
xbee().printf("raw BMM pos: %d \r\n",adc().readCh1());
xbee().printf("raw BCE current sense: %d \r\n",adc().readCh2());
@@ -1655,7 +1666,7 @@
xbee().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
xbee().printf("calc vessel pressure: %f (counts: %d) \r\n",sensors().getInternalPressurePSI(),adc().readCh5());
// End of ADC Test
-
+
xbee().printf("depth: %3.1f m\r\n",depthLoop().getPosition());
xbee().printf("pitch: %3.1f deg\r\n",imu().getPitch());
xbee().printf("bce().getPosition_mm(): %3.1f\r\n",bce().getPosition_mm());
@@ -1664,12 +1675,12 @@
xbee().printf("batt().getSetPosition_mm(): %3.1f\r\n",batt().getSetPosition_mm());
xbee().printf("depthLoop().getCommand(): %3.1f\r\n",depthLoop().getCommand());
xbee().printf("pitchLoop().getCommand(): %3.1f\r\n",pitchLoop().getCommand());
-
+
xbee().printf("\r\nNeutral Buoyancy Positions: bce: %0.1f, batt: %0.1f\r\n",_neutral_bce_pos_mm,_neutral_batt_pos_mm);
xbee().printf("depthLoop().getOutputOffset(): %0.1f\r\n",depthLoop().getOutputOffset());
xbee().printf("pitchLoop().getOutputOffset(): %0.1f\r\n",pitchLoop().getOutputOffset());
xbee().printf("Max recorded depth: neutral: %0.1f, dive: %0.1f, auto_neutral_depth: %0.1f\r\n\n",_max_recorded_depth_neutral, _max_recorded_depth_dive, _max_recorded_auto_neutral_depth);
-
+
xbee().printf("\r\n");
xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
@@ -1678,76 +1689,70 @@
xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
xbee().printf("heading P:%6.2f, I:%6.2f, D:%6.2f, output offset: %6.1f mm, filter_freq: %0.1f, deadband: %0.1f \r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
}
-
- /***************************** COMMON COMMANDS *****************************/
-
-/***************************** DEBUG MENU *****************************/
- if (_debug_menu_on) { // ends around +175 lines
+
+ /***************************** COMMON COMMANDS *****************************/
+
+ /***************************** DEBUG MENU *****************************/
+ if (_debug_menu_on) { // ends around +175 lines
if (user_input == 'D') {
_keyboard_state = DIVE;
}
-
+
else if (user_input == '}') {
xbee().printf("HOMING the BCE (5 second delay)\r\n");
wait(5);
bce().homePiston();
}
-
+
else if (user_input == '|') {
xbee().printf("HOMING the BMM (5 second delay)\r\n");
wait(5);
batt().homePiston();
}
-
+
else if (user_input == 'N') {
_keyboard_state = FIND_NEUTRAL;
- }
- else if (user_input == 'M') {
+ } else if (user_input == 'M') {
//currently does not run if there is no file.
-
- //need to add method to Sequence Controller that returns -1
+
+ //need to add method to Sequence Controller that returns -1
// or some check that insures you cannot run the dive sequence without a file
-
+
//load sequence from file
_multi_dive_counter = 0;
sequenceController().loadSequence();
wait(1); //test if this resets the sequence
-
+
stateMachine().getDiveSequence(); //get first sequence on keyboard press
_keyboard_state = currentStateStruct.state;
-
+
xbee().printf("Starting Dive Sequence Controller! (state: %d)\r\n", _keyboard_state); //neutral sequence and dive cycles
- }
- else if (user_input == 'R') {
+
+ } else if (user_input == 'R') {
_keyboard_state = RISE;
- }
- else if (user_input == 'J') {
+ } else if (user_input == 'J') {
_keyboard_state = FLOAT_LEVEL;
- }
- else if (user_input == 'B') {
+ } else if (user_input == 'B') {
_keyboard_state = FLOAT_BROADCAST;
- }
- else if (user_input == 'E') {
+ } else if (user_input == 'E') {
_keyboard_state = EMERGENCY_CLIMB;
}
-
+
else if (user_input == 'Y') {
_keyboard_state = CHECK_TUNING;
}
-
+
// some debug tools below
else if (user_input == 'P') {
//Print current SD card log file
//printCurrentSdLog();
mbedLogger().printCurrentLogFile(); //print the current log file to the screen
- }
- else if (user_input == 'X') {
+ } else if (user_input == 'X') {
mbedLogger().printMbedDirectory(); //print all log files to the screen
- }
- else if (user_input == 'Z') {
+ } else if (user_input == 'Z') {
xbee().printf("FSG FSM States: \r\n");
string string_state;
-
+
for (int i = 0; i < _state_array_counter; i++) {
if (_state_array[i] == SIT_IDLE)
string_state = "SIT_IDLE <END>";
@@ -1760,7 +1765,7 @@
else if (_state_array[i] == FLOAT_LEVEL)
string_state = "FLOAT_LEVEL";
else if (_state_array[i] == FLOAT_BROADCAST)
- string_state = "FLOAT_BROADCAST";
+ string_state = "FLOAT_BROADCAST";
else if (_state_array[i] == EMERGENCY_CLIMB)
string_state = "EMERGENCY_CLIMB";
else if (_state_array[i] == MULTI_DIVE)
@@ -1774,15 +1779,15 @@
else if (_state_array[i] == LEG_POSITION_RISE)
string_state = "LEG_POS_RISE";
else if (_state_array[i] == FB_EXIT)
- string_state = "FB_EXIT";
+ string_state = "FB_EXIT";
else if (_state_array[i] == ENDLEG_WAIT)
- string_state = "ENDLEG_WAIT";
+ string_state = "ENDLEG_WAIT";
xbee().printf("State #%d: %d (%s)\r\n", i, _state_array[i], string_state.c_str());
}
-
+
xbee().printf("\r\nNeutral sub-FSM States: \r\n");
string string_substate;
-
+
for (int i = 0; i < _substate_array_counter; i++) {
if (_substate_array[i] == NEUTRAL_SINKING)
string_substate = "NEUTRAL_SINKING";
@@ -1793,11 +1798,11 @@
else if (_substate_array[i] == NEUTRAL_EXIT)
string_substate = "NEUTRAL_EXIT <-- ";
else if (_substate_array[i] == EMERGENCY_CLIMB)
- string_substate = " -- > EMERGENCY_CLIMB <-- ";
+ string_substate = " -- > EMERGENCY_CLIMB <-- ";
xbee().printf("Neutral Substate #%d: %d (%s)\r\n", i, _state_array[i], string_substate.c_str());
}
xbee().printf("\r\n"); //make space between printouts
- }
+ }
//BATTERY/PITCH
else if (user_input == '[' or user_input == '{') {
xbee().printf("Please TYPE in the new BATT neutral position.\n\r");
@@ -1807,7 +1812,7 @@
// save neutral pitch value to config file
configFileIO().savePitchData(_pitch_KP, _pitch_KI, _pitch_KD, _neutral_batt_pos_mm, _pitch_filter_freq, _pitch_deadband); //P,I,D,batt zeroOffset
}
-
+
//BCE/DEPTH
else if (user_input == ';' or user_input == ':') {
xbee().printf("Please TYPE in the new BCE neutral position.\n\r");
@@ -1817,178 +1822,175 @@
// save neutral depth value to config file
configFileIO().saveDepthData(_depth_KP, _depth_KI, _depth_KD, _neutral_bce_pos_mm, _depth_filter_freq, _depth_deadband);
}
-
- // change settings
- //heading is in the common controls
+
+ // change settings
+ //heading is in the common controls
else if (user_input == 'Q') {
xbee().printf(">> Please enter the desired PITCH (deg).\r\n");
_pitch_command = getFloatUserInput();
- }
- else if (user_input == 'A') {
+ } else if (user_input == 'A') {
xbee().printf(">> Please enter the desired DEPTH (m).\r\n");
_depth_command = getFloatUserInput();
}
-
+
+ else if (user_input == 'F') { // Added by CAM
+ xbee().printf("Please enter the # of samples for altimeter filter below: \n\r");
+ adc().CH2OVERSAMPLE = int(getFloatUserInput());
+ }
+
else if (user_input == '5') {
keyboard_menu_RUDDER_SERVO_settings();
}
-
+
else if (user_input == '6') {
keyboard_menu_HEADING_PID_settings();
- }
-
+ }
+
// go to tuning sub-menu
else if (user_input == '7') {
keyboard_menu_MANUAL_TUNING();
}
-
+
// else if (user_input == 'U') {
// keyboard_menu_POSITION_READINGS();
// }
-
+
// go to sub-menus for the PID gains (this is blocking)
else if (user_input == '1') {
keyboard_menu_BCE_PID_settings();
- }
- else if (user_input == '2') {
+ } else if (user_input == '2') {
keyboard_menu_BATT_PID_settings();
- }
- else if (user_input == '3') {
+ } else if (user_input == '3') {
keyboard_menu_DEPTH_PID_settings();
- }
- else if (user_input == '4') {
+ } else if (user_input == '4') {
keyboard_menu_PITCH_PID_settings();
}
-
+
else if (user_input == '*') {
- xbee().printf("SWITCHING TO SIMPLE MENU!\r\n");
+ xbee().printf("SWITCHING TO SIMPLE MENU!\r\n");
wait(1);
_debug_menu_on = false;
}
} //end of debug menu matches line 1445 approx -180
-/***************************** DEBUG MENU *****************************/
-
-/***************************** SIMPLE MENU *****************************/
- else {
+ /***************************** DEBUG MENU *****************************/
+
+ /***************************** SIMPLE MENU *****************************/
+ else{
if (user_input == 'V') {
_keyboard_state = POSITION_DIVE;
- }
- else if (user_input == 'N') {
+ } else if (user_input == 'N') {
_keyboard_state = FIND_NEUTRAL;
- }
- else if (user_input == 'J') {
+ } else if (user_input == 'J') {
_keyboard_state = FLOAT_LEVEL;
- }
- else if (user_input == 'B') {
+ } else if (user_input == 'B') {
_keyboard_state = FLOAT_BROADCAST;
- }
- else if (user_input == 'E') {
+ } else if (user_input == 'E') {
_keyboard_state = EMERGENCY_CLIMB;
}
-
+
// some debug tools below
else if (user_input == 'P') {
//Print current SD card log file
//printCurrentSdLog();
mbedLogger().printCurrentLogFile(); //print the current log file to the screen
}
-
+
//POSITION DIVE COMMANDS
else if (user_input == 'Q') {
xbee().printf(">> Please enter the desired BMM offset (mm).\r\n");
_BMM_dive_offset = getFloatUserInput();
- }
- else if (user_input == 'A') {
+ } else if (user_input == 'A') {
xbee().printf(">> Please enter the desired BCE offset (mm).\r\n");
_BCE_dive_offset = getFloatUserInput();
}
-
+
else if (user_input == 'S') {
xbee().printf(">> Please enter the desired DEPTH (m).\r\n");
_depth_command = getFloatUserInput();
}
//POSITION DIVE COMMANDS
-
+
else if (user_input == '*') {
- xbee().printf("SWITCHING TO DEBUG MENU!\r\n");
+ xbee().printf("SWITCHING TO DEBUG MENU!\r\n");
_debug_menu_on = true;
wait(1);
}
}
-/***************************** END SIMPLE MENU *****************************/
-
+ /***************************** END SIMPLE MENU *****************************/
+
//when you read the keyboard successfully, change the state
_state = _keyboard_state; //set state at the end of this function
//xbee().printf("\r\n\n ********* KEYBOARD STATE: %d *********\r\n\n", _state);
} //matches very top of function - first if()
}
-void StateMachine::keyboard_menu_STREAM_STATUS() {
+void StateMachine::keyboard_menu_STREAM_STATUS()
+{
char STATUS_key;
-
+
// show the menu
xbee().printf("\r\n8: STATUS DEBUG MENU (EXIT WITH 'X' !)\r\n");
-
+
while (1) {
if (xbee().readable()) {
STATUS_key = xbee().getc(); //get each keystroke
}
-
+
else {
-
- wait(1);
-
-
-// xbee().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_m: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
+
+ wait(1);
+
+
+// xbee().printf("BCE POS (CMD): %0.1f (%0.1f) BATT POS: %0.1f (%0.1f) PRESS_psi: %0.2f [depth_m: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rudder_servo_pwm: %0.1f \n[FILT/RAW 0(%d,%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)] Switch: BCE(%d) BMM(%d)\r",bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7(), bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
xbee().printf("BCE POS: %0.1f (cmd %0.1f) BATT POS: %0.1f (cmd %0.1f) PRESS_psi: %0.2f [depth_m: %0.2f], PITCH: %0.2f, HEADING: %0.2f, rdr_pwm: %0.1f [FILT/RAW 0(%d,%d),1(%d,%d),2(%d,%d),3(%d,%d),4(%d,%d),5(%d,%d),6(%d,%d),7(%d,%d)] Switch: BCE(%d) BMM(%d)\r",
- bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),
- depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(),
- adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),
- adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),
- bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
-
+ bce().getPosition_mm(), bce().getSetPosition_mm(),batt().getPosition_mm(), batt().getSetPosition_mm(),depth().getPsi(),
+ depthLoop().getPosition(),imu().getPitch(),imu().getHeading(),rudder().getSetPosition_pwm(),adc().readCh0(),adc().readRawCh0(),
+ adc().readCh1(),adc().readRawCh1(),adc().readCh2(),adc().readRawCh2(),adc().readCh3(),adc().readRawCh3(),adc().readCh4(),
+ adc().readRawCh4(),adc().readCh5(),adc().readRawCh5(),adc().readCh6(),adc().readRawCh6(),adc().readCh7(),adc().readRawCh7(),
+ bce().getHardwareSwitchStatus(),batt().getHardwareSwitchStatus());
+
continue; // didn't get a user input, so keep waiting for it
}
-
- // process the keys
- if (STATUS_key == 'X') {
- xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
+
+ // process the keys
+ if (STATUS_key == 'X') {
+ xbee().printf("\r\nX: EXITING STATUS DEBUG MENU\r\n");
break; //exit the while loop
}
-
+
else {
xbee().printf("\r\nThis key (%c) does nothing here. ", STATUS_key);
}
}
}
-void StateMachine::keyboard_menu_RUDDER_SERVO_settings() {
+void StateMachine::keyboard_menu_RUDDER_SERVO_settings()
+{
//load current parameters from the rudder
float rudder_min_pwm = rudder().getMinPWM();
float rudder_max_pwm = rudder().getMaxPWM();
float rudder_ctr_pwm = rudder().getCenterPWM();
float rudder_min_deg = rudder().getMinDeg();
float rudder_max_deg = rudder().getMaxDeg();
-
+
char RUDDER_PID_key;
-
+
// print the menu
xbee().printf("\r\nRUDDER (servo driver) settings (MENU)");
xbee().printf("\r\nAdjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L");
xbee().printf("\r\nHit shift + X to exit w/o saving. Hit shift + S to save.\r\n");
xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
-
+
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
RUDDER_PID_key = xbee().getc();
- }
- else {
+ } else {
continue; // didn't get a user input, so keep waiting for it
}
-
- // handle the user's key input
+
+ // handle the user's key input
if (RUDDER_PID_key == 'S') { // user wants to save the modified values
// set global values
rudder().setMinPWM(rudder_min_pwm);
@@ -1996,99 +1998,99 @@
rudder().setCenterPWM(rudder_ctr_pwm);
rudder().setMinDeg(rudder_min_deg);
rudder().setMaxDeg(rudder_max_deg);
-
+
// save rudder servo driver values for inner loop
configFileIO().saveRudderData(rudder_min_deg, rudder_max_deg, rudder_ctr_pwm, rudder_min_pwm, rudder_max_pwm);
xbee().printf("RUDDER min pwm: %f, max pwm: %f, center pwm: %f, min deg: %f, max deg: %f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg());
xbee().printf("Adjust min_pwm/max_pwm/center_pwm/min_deg/max_deg settings with the following keys: N, M, C, K, L\r\n");
- }
- else if (RUDDER_PID_key == 'X') {
+ } else if (RUDDER_PID_key == 'X') {
break; //exit the while loop
}
- // MIN PWM
+ // MIN PWM
else if (RUDDER_PID_key == 'N') {
xbee().printf(">> Type in rudder_min_pwm with keyboard.\r\n");
rudder_min_pwm = getFloatUserInput();
}
- // MAX PWM
+ // MAX PWM
else if (RUDDER_PID_key == 'M') {
xbee().printf(">> Type in rudder_max_pwm with keyboard.\r\n");
rudder_max_pwm = getFloatUserInput();
}
- // CENTER PWM
+ // CENTER PWM
else if (RUDDER_PID_key == 'C') {
xbee().printf(">> Type in rudder_ctr_pwm with keyboard.\r\n");
rudder_ctr_pwm = getFloatUserInput();
}
- // MIN DEG
+ // MIN DEG
else if (RUDDER_PID_key == 'K') {
xbee().printf(">> Type in rudder_min_deg with keyboard.\r\n");
rudder_min_deg = getFloatUserInput();
}
- // MAX DEG
+ // MAX DEG
else if (RUDDER_PID_key == 'L') {
xbee().printf(">> Type in rudder_max_deg with keyboard.\r\n");
rudder_max_deg = getFloatUserInput();
- }
- else {
+ } else {
xbee().printf("RUDDER SETUP: [%c] This key does nothing here. \r", RUDDER_PID_key);
}
}
}
-void StateMachine::keyboard_menu_COUNTS_STATUS() {
- // DELETE REMOVE
+void StateMachine::keyboard_menu_COUNTS_STATUS()
+{
+ // DELETE REMOVE
}
-void StateMachine::keyboard_menu_MANUAL_TUNING() {
+void StateMachine::keyboard_menu_MANUAL_TUNING()
+{
char TUNING_key;
-
+
//made these into internal parameters
float _tuning_bce_pos_mm = 200.0; //safe starting position
float _tuning_batt_pos_mm = 40.0; //safe starting position
float _tuning_rudder_pos_deg = 0.0; //safe starting position
float _tuning_rudder_pwm = 1640.0;
-
+
//immediately start at those positions
bce().setPosition_mm(_tuning_bce_pos_mm);
batt().setPosition_mm(_tuning_batt_pos_mm);
rudder().setPosition_deg(_tuning_rudder_pos_deg);
-
+
// show the menu
xbee().printf("\r\n7: MANUAL TUNING MENU (EXIT WITH 'X' !) (Pause and Unpause rudder ticker with P and U\n");
xbee().printf("\r\n(Adjust BCE and BATT positions in real-time. Timeout NOT running! (decrease/increase BCE with A/S, BATT with Q/W, RUDDER with E/R)\r\n");
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
-
+
// what needs to be started?
bce().unpause(); //this is now active
batt().unpause(); //this is now active
rudder().unpause();
-
+
while (1) {
- wait(0.1);
-
+ wait(0.1);
+
if (xbee().readable()) {
TUNING_key = xbee().getc(); //get each keystroke
}
-
- else {
- //xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading());
+
+ else {
+ //xbee().printf("MT: POS (CMD) BCE %3.1f mm (%3.1f mm), BATT %3.1f mm (%3.1f mm) SERVO: %0.1f deg, (%0.1f pwm) PITCH: %0.1f,HEADING: %0.1f \r", bce().getPosition_mm(), bce().getSetPosition_mm(), batt().getPosition_mm(), batt().getSetPosition_mm(), rudder().getSetPosition_deg(), rudder().getSetPosition_pwm(),imu().getPitch(),imu().getHeading());
continue; // didn't get a user input, so keep waiting for it
}
-
- // process the keys
- if (TUNING_key == 'X') {
+
+ // process the keys
+ if (TUNING_key == 'X') {
// STOP THE MOTORS BEFORE LEAVING! (Just in case.)
bce().pause();
batt().pause();
rudder().pause();
-
+
//right now the rudder is always active................................................hmm
//deactivate the pin? new/delete?
-
+
break; //exit the while loop
}
-
+
//Buoyancy Engine
else if (TUNING_key == 'A' or TUNING_key == 'a') {
_tuning_bce_pos_mm = _tuning_bce_pos_mm - 1.0;
@@ -2096,14 +2098,14 @@
xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
else if (TUNING_key == 'S' or TUNING_key == 's') {
_tuning_bce_pos_mm = _tuning_bce_pos_mm + 1.0;
bce().setPosition_mm(_tuning_bce_pos_mm); //this variable is loaded from the file at initialization
xbee().printf("\r\nMANUAL_TUNING: (BCE CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",bce().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
//BATTERY
else if (TUNING_key == 'Q' or TUNING_key == 'q') {
_tuning_batt_pos_mm = _tuning_batt_pos_mm - 1.0;
@@ -2111,18 +2113,18 @@
xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
else if (TUNING_key == 'W' or TUNING_key == 'w') {
_tuning_batt_pos_mm = _tuning_batt_pos_mm + 1.0;
batt().setPosition_mm(_tuning_batt_pos_mm); //this variable is loaded from the file at initialization
xbee().printf("\r\nMANUAL_TUNING: (BATT CHANGE: %0.1f)\r\n BCE_position: %0.1f, BATT_position: %0.1f (depth: %0.1f m, pitch: %0.1f deg)\r",batt().getSetPosition_mm(),bce().getPosition_mm(),batt().getPosition_mm(),depthLoop().getPosition(),pitchLoop().getPosition());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
else if (TUNING_key == 'c' or TUNING_key == 'C') {
xbee().printf("\r\nMT: (CURRENT POSITIONS) BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
//RUDER
else if (TUNING_key == 'R' or TUNING_key == 'r') {
_tuning_rudder_pos_deg = _tuning_rudder_pos_deg - 0.5;
@@ -2130,153 +2132,147 @@
xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
else if (TUNING_key == 'E' or TUNING_key == 'e') {
_tuning_rudder_pos_deg = _tuning_rudder_pos_deg + 0.5;
rudder().setPosition_deg(_tuning_rudder_pos_deg);
xbee().printf("MT: RUDDER CHANGE %0.1f deg [servo pwm: %f, %0.1f deg] (headingLoop heading: % 0.1f deg, IMU heading: %0.1f deg)\r\n", _tuning_rudder_pos_deg, rudder().getSetPosition_pwm(), rudder().getSetPosition_deg(), headingLoop().getPosition(), imu().getHeading());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
else if (TUNING_key == '-' or TUNING_key == '_') {
_tuning_rudder_pwm -= 10.0;
rudder().setPWM(_tuning_rudder_pwm);
xbee().printf("MT: (-) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
else if (TUNING_key == '=' or TUNING_key == '+') {
_tuning_rudder_pwm += 10.0;
rudder().setPWM(_tuning_rudder_pwm);
xbee().printf("MT: (+) RUDDER CHANGE %0.1f pwm\n\r", rudder().getSetPosition_pwm());
xbee().printf("\r\nMT: BCE pos:%5.1f (cmd:%5.1f), BMM:%5.1f (cmd:%5.1f), RUDDER:%6.1f (%6.1f deg) (depth: %0.1f m, pitch: %0.1f deg, headingLoop heading: %0.1f deg, IMU heading: %0.1f deg) \n\n\r",bce().getPosition_mm(),bce().getSetPosition_mm(),batt().getPosition_mm(),batt().getSetPosition_mm(),rudder().getSetPosition_pwm(),rudder().getSetPosition_deg(),depthLoop().getPosition(),pitchLoop().getPosition(), headingLoop().getPosition(),imu().getHeading());
}
-
+
else {
xbee().printf("\r\nMANUAL_TUNING: [%c] This key does nothing here. \r", TUNING_key);
- }
+ }
}
}
-void StateMachine::keyboard_menu_CHANNEL_READINGS() {
+void StateMachine::keyboard_menu_CHANNEL_READINGS()
+{
char TUNING_key;
-
+
// show the menu
xbee().printf("\r\n8: CHANNEL READINGS (EXIT WITH 'X' !)");
-
+
while (1) {
if (xbee().readable()) {
TUNING_key = xbee().getc(); //get each keystroke
}
-
- // process the keys
- if (TUNING_key == 'X') {
+
+ // process the keys
+ if (TUNING_key == 'X') {
// STOP THE MOTORS BEFORE LEAVING! (Just in case.)
bce().pause();
batt().pause();
-
+
break; //exit the while loop
}
-
+
else {
- wait(0.5);
- xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
+ wait(0.5);
+ xbee().printf("0(%d),1(%d),2(%d),6(%d),4(%d),5(%d),6(%d),7(%d)\r\n",adc().readCh0(),adc().readCh1(),adc().readCh2(),adc().readCh3(),adc().readCh4(),adc().readCh5(),adc().readCh6(),adc().readCh7());
continue; // didn't get a user input, so keep waiting for it
- }
+ }
}
}
-
-void StateMachine::keyboard_menu_BCE_PID_settings() {
+
+void StateMachine::keyboard_menu_BCE_PID_settings()
+{
char BCE_PID_key;
-
+
// load current values from files
float bce_KP = bce().getControllerP();
float bce_KI = bce().getControllerI();
float bce_KD = bce().getControllerD();
-
+
float bce_deadband = bce().getDeadband();
float bce_frequency = bce().getFilterFrequency();
- int bce_zero_offset = bce().getZeroCounts();
+ int bce_zero_offset = bce().getZeroCounts();
//BCE frequency and deadband are hardcoded!
-
+
// show the menu
xbee().printf("\n\rBuoyancy Engine PID gain settings (MENU). ADJUST WITH CARE!");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B, zero offset = Z\n\r");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
- xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
-
+ xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
+
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
BCE_PID_key = xbee().getc();
- }
- else {
+ } else {
continue; // didn't get a user input, so keep waiting for it
}
-
+
// handle the user's key input
if (BCE_PID_key == 'S') { // user wants to save these modified values
// set values
bce().setControllerP(bce_KP);
bce().setControllerI(bce_KI);
- bce().setControllerD(bce_KD);
-
+ bce().setControllerD(bce_KD);
+
bce().setDeadband(bce_deadband);
bce().setFilterFrequency(bce_frequency);
bce().setZeroCounts(bce_zero_offset); //integer value
-
+
// save to "BCE.TXT" file
//saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband)
configFileIO().saveBCEData(bce_KP, bce_KI, bce_KD, bce_zero_offset, bce_frequency, bce_deadband);
xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope(), bce().getFilterFrequency(), bce().getDeadband());
- }
- else if (BCE_PID_key == 'X') {
+ } else if (BCE_PID_key == 'X') {
break; //exit the while loop
- }
- else if (BCE_PID_key == 'P') {
+ } else if (BCE_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
bce_KP = getFloatUserInput();
- }
- else if (BCE_PID_key == 'I') {
+ } else if (BCE_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
bce_KI = getFloatUserInput();
- }
- else if (BCE_PID_key == 'D') {
+ } else if (BCE_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
bce_KD = getFloatUserInput();
- }
- else if (BCE_PID_key == 'F') {
+ } else if (BCE_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
bce_frequency = getFloatUserInput();
- }
- else if (BCE_PID_key == 'B') {
+ } else if (BCE_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
bce_deadband = getFloatUserInput();
- }
- else if (BCE_PID_key == 'Z') {
+ } else if (BCE_PID_key == 'Z') {
xbee().printf(">> Type in zero count offset with keyboard.\n\r");
bce_zero_offset = (int)getFloatUserInput();
- }
- else {
+ } else {
xbee().printf("\n\rBCE: [%c] This key does nothing here. \r", BCE_PID_key);
}
}
}
-void StateMachine::keyboard_menu_BATT_PID_settings() {
+void StateMachine::keyboard_menu_BATT_PID_settings()
+{
char BMM_PID_key;
// load current values from files
float batt_KP = batt().getControllerP();
float batt_KI = batt().getControllerI();
float batt_KD = batt().getControllerD();
-
+
float batt_deadband = batt().getDeadband();
float batt_frequency = batt().getFilterFrequency();
- int batt_zero_offset = batt().getZeroCounts();
+ int batt_zero_offset = batt().getZeroCounts();
//BATT frequency and deadband are hardcoded!
-
+
// print the menu
xbee().printf("\n\rBattery Motor PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
@@ -2288,238 +2284,215 @@
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
BMM_PID_key = xbee().getc();
- }
- else {
+ } else {
continue; // didn't get a user input, so keep waiting for it
}
-
+
// handle the user's key input
if (BMM_PID_key == 'S') { // user wants to save these modified values
// set values
batt().setControllerP(batt_KP);
batt().setControllerI(batt_KI);
batt().setControllerD(batt_KD);
-
+
batt().setDeadband(batt_deadband);
batt().setFilterFrequency(batt_frequency);
batt().setZeroCounts(batt_zero_offset); //integer value
-
+
// save to "BATT.TXT" file
//saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband)
configFileIO().saveBattData(batt_KP, batt_KI, batt_KD, batt_zero_offset, batt_frequency, batt_deadband);
xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero offset: %3i, limit %6.1f mm, slope %0.5f, filter_freq: %0.1f, deadband: %0.1f\r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope(), batt().getFilterFrequency(), batt().getDeadband());
- }
- else if (BMM_PID_key == 'X') {
+ } else if (BMM_PID_key == 'X') {
break; //exit the while loop
- }
- else if (BMM_PID_key == 'P') {
+ } else if (BMM_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
batt_KP = getFloatUserInput();
- }
- else if (BMM_PID_key == 'I') {
+ } else if (BMM_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
batt_KI = getFloatUserInput();
- }
- else if (BMM_PID_key == 'D') {
+ } else if (BMM_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
batt_KD = getFloatUserInput();
- }
- else if (BMM_PID_key == 'F') {
+ } else if (BMM_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
batt_frequency = getFloatUserInput();
- }
- else if (BMM_PID_key == 'B') {
+ } else if (BMM_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
batt_deadband = getFloatUserInput();
- }
- else if (BMM_PID_key == 'Z') {
+ } else if (BMM_PID_key == 'Z') {
xbee().printf(">> Type in zero count offset with keyboard.\n\r");
batt_zero_offset = (int)getFloatUserInput();
- }
- else {
+ } else {
xbee().printf("\n\rBATT: [%c] This key does nothing here. \r", BMM_PID_key);
}
}
}
-
-void StateMachine::keyboard_menu_DEPTH_PID_settings() {
+
+void StateMachine::keyboard_menu_DEPTH_PID_settings()
+{
char DEPTH_PID_key;
-
+
float depth_KP = depthLoop().getControllerP(); // load current depth value
float depth_KI = depthLoop().getControllerI(); // load current depth value
float depth_KD = depthLoop().getControllerD(); // load current depth value
-
+
float depth_freq = depthLoop().getFilterFrequency();
float depth_deadband = depthLoop().getDeadband();
-
+
// print the menu
xbee().printf("\n\rDEPTH (Buoyancy Engine O.L.) PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
-
+
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
DEPTH_PID_key = xbee().getc();
- }
- else {
+ } else {
continue; // didn't get a user input, so keep waiting for it
}
-
+
// handle the user's key input
if (DEPTH_PID_key == 'S') { // user wants to save these modified values
// set values
depthLoop().setControllerP(depth_KP);
depthLoop().setControllerI(depth_KI);
depthLoop().setControllerD(depth_KD);
-
+
depthLoop().setFilterFrequency(depth_freq);
depthLoop().setDeadband(depth_deadband);
-
+
// save to "DEPTH.TXT" file
configFileIO().saveDepthData(depth_KP, depth_KI, depth_KD, _neutral_bce_pos_mm, depth_freq, depth_deadband); //P,I,D, bce zeroOffset
-
+
xbee().printf("DEPTH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(),depthLoop().getOutputOffset(),depthLoop().getFilterFrequency(),depthLoop().getDeadband());
-
+
//set class variables that will be used in find neutral sequence
_depth_KP = depthLoop().getControllerP(); // load current depth value
_depth_KI = depthLoop().getControllerI(); // load current depth value
_depth_KD = depthLoop().getControllerD(); // load current depth value
- }
- else if (DEPTH_PID_key == 'X') {
+ } else if (DEPTH_PID_key == 'X') {
break; //exit the while loop
- }
- else if (DEPTH_PID_key == 'P') {
+ } else if (DEPTH_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
depth_KP = getFloatUserInput();
- }
- else if (DEPTH_PID_key == 'I') {
+ } else if (DEPTH_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
depth_KI = getFloatUserInput();
- }
- else if (DEPTH_PID_key == 'D') {
+ } else if (DEPTH_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
depth_KD = getFloatUserInput();
- }
- else if (DEPTH_PID_key == 'F') {
+ } else if (DEPTH_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
depth_freq = getFloatUserInput();
- }
- else if (DEPTH_PID_key == 'B') {
+ } else if (DEPTH_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
depth_deadband = getFloatUserInput();
- }
- else {
+ } else {
xbee().printf("\n\rDEPTH: [%c] This key does nothing here. \r", DEPTH_PID_key);
}
}
}
-
-void StateMachine::keyboard_menu_PITCH_PID_settings() {
+
+void StateMachine::keyboard_menu_PITCH_PID_settings()
+{
char PITCH_PID_key;
-
+
float pitch_KP = pitchLoop().getControllerP(); // load current pitch value
float pitch_KI = pitchLoop().getControllerI(); // load current pitch value
float pitch_KD = pitchLoop().getControllerD(); // load current pitch value
float pitch_freq = pitchLoop().getFilterFrequency();
float pitch_deadband = pitchLoop().getDeadband();
-
+
// print the menu
xbee().printf("\n\rPITCH (Battery Motor O.L.) PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.)\n\n\n\r");
xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
-
+
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
PITCH_PID_key = xbee().getc();
- }
- else {
+ } else {
continue; // didn't get a user input, so keep waiting for it
}
-
+
// handle the user's key input
if (PITCH_PID_key == 'S') { // user wants to save these modified values
// set values
pitchLoop().setControllerP(pitch_KP);
pitchLoop().setControllerI(pitch_KI);
pitchLoop().setControllerD(pitch_KD);
-
+
pitchLoop().setFilterFrequency(pitch_freq);
pitchLoop().setDeadband(pitch_deadband);
-
+
// save to "PITCH.TXT" file (doesn't modify neutral position)
configFileIO().savePitchData(pitch_KP, pitch_KI, pitch_KD, _neutral_batt_pos_mm, pitch_freq, pitch_deadband);
-
+
xbee().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband());
_pitch_KP = pitchLoop().getControllerP(); // load current pitch value
_pitch_KI = pitchLoop().getControllerI(); // load current pitch value
_pitch_KD = pitchLoop().getControllerD(); // load current pitch value
- }
- else if (PITCH_PID_key == 'X') {
+ } else if (PITCH_PID_key == 'X') {
break; //exit the while loop
- }
- else if (PITCH_PID_key == 'P') {
+ } else if (PITCH_PID_key == 'P') {
xbee().printf(">> Type in proportional gain with keyboard.\n\r");
pitch_KP = getFloatUserInput();
- }
- else if (PITCH_PID_key == 'I') {
+ } else if (PITCH_PID_key == 'I') {
xbee().printf(">> Type in integral gain with keyboard.\n\r");
pitch_KI = getFloatUserInput();
- }
- else if (PITCH_PID_key == 'D') {
+ } else if (PITCH_PID_key == 'D') {
xbee().printf(">> Type in derivative gain with keyboard.\n\r");
pitch_KD = getFloatUserInput();
- }
- else if (PITCH_PID_key == 'F') {
+ } else if (PITCH_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
pitch_freq = getFloatUserInput();
- }
- else if (PITCH_PID_key == 'B') {
+ } else if (PITCH_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
pitch_deadband = getFloatUserInput();
- }
- else {
+ } else {
xbee().printf("\n\rPITCH: [%c] This key does nothing here. \r", PITCH_PID_key);
}
}
}
-void StateMachine::keyboard_menu_HEADING_PID_settings() {
+void StateMachine::keyboard_menu_HEADING_PID_settings()
+{
char HEADING_PID_key;
-
+
float heading_KP = headingLoop().getControllerP();
float heading_KI = headingLoop().getControllerI();
- float heading_KD = headingLoop().getControllerD();
-
+ float heading_KD = headingLoop().getControllerD();
+
float heading_offset_deg = headingLoop().getOutputOffset();
float heading_freq = headingLoop().getFilterFrequency();
float heading_deadband = headingLoop().getDeadband();
-
+
// print the menu
xbee().printf("\n\rHEADING (rudder outer loop) PID gain settings (MENU)");
xbee().printf("\n\rAdjust PID settings with the following keys: P I D. Filter = F, deadband = B.\n\r");
xbee().printf("\n\r Adjust zero offset with O (oh).");
xbee().printf("\n\r(Hit shift + X to exit w/o saving. Hit shift + S to save.\n\r");
xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
-
+
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
HEADING_PID_key = xbee().getc();
- }
- else {
+ } else {
continue; // didn't get a user input, so keep waiting for it
}
-
- // handle the user's key input
+
+ // handle the user's key input
if (HEADING_PID_key == 'S') { // user wants to save the modified values
// set global values
headingLoop().setControllerP(heading_KP);
@@ -2528,102 +2501,108 @@
headingLoop().setOutputOffset(heading_offset_deg);
headingLoop().setFilterFrequency(heading_freq);
headingLoop().setDeadband(heading_deadband);
-
+
// save pitch PID values for outer loop (must save neutral position also)
configFileIO().saveHeadingData(heading_KP, heading_KI, heading_KD, heading_offset_deg, heading_freq, heading_deadband); //_neutral_heading_pos_deg);
xbee().printf("HEADING P: %3.3f, I: %3.3f, D %3.3f, zeroOffset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n\r\n", headingLoop().getControllerP(),headingLoop().getControllerI(),headingLoop().getControllerD(),headingLoop().getOutputOffset(),headingLoop().getFilterFrequency(),headingLoop().getDeadband());
- }
- else if (HEADING_PID_key == 'X') {
+ } else if (HEADING_PID_key == 'X') {
break; //exit the while loop
}
-
+
else if (HEADING_PID_key == 'P') {
heading_KP = getFloatUserInput();;
- }
- else if (HEADING_PID_key == 'I') {
+ } else if (HEADING_PID_key == 'I') {
heading_KI = getFloatUserInput();
- }
- else if (HEADING_PID_key == 'D') {
+ } else if (HEADING_PID_key == 'D') {
heading_KD = getFloatUserInput();
- }
- else if (HEADING_PID_key == 'F') {
+ } else if (HEADING_PID_key == 'F') {
xbee().printf(">> Type in FILTER FREQUENCY with keyboard.\n\r");
heading_freq = getFloatUserInput();
- }
- else if (HEADING_PID_key == 'B') {
+ } else if (HEADING_PID_key == 'B') {
xbee().printf(">> Type in DEADBAND with keyboard.\n\r");
heading_deadband = getFloatUserInput();
- }
- else if (HEADING_PID_key == 'O') {
+ } else if (HEADING_PID_key == 'O') {
heading_offset_deg = getFloatUserInput();
- }
- else {
+ } else {
xbee().printf("HEADING SETUP: [%c] This key does nothing here. \r", HEADING_PID_key);
}
}
}
-
-float StateMachine::getDepthCommand() {
+
+float StateMachine::getDepthCommand()
+{
return _depth_command;
}
-
-float StateMachine::getPitchCommand() {
+
+float StateMachine::getPitchCommand()
+{
return _pitch_command;
}
-float StateMachine::getDepthReading() {
+float StateMachine::getDepthReading()
+{
return _depth_reading;
}
-
-float StateMachine::getPitchReading() {
+
+float StateMachine::getPitchReading()
+{
return _pitch_reading;
}
-float StateMachine::getTimerReading() {
+float StateMachine::getTimerReading()
+{
return _timer_reading;
}
-void StateMachine::setState(int input_state) {
+void StateMachine::setState(int input_state)
+{
_state = input_state;
-
+
_isTimeoutRunning = false; //to start each state you have to reset this
}
-
-int StateMachine::getState() {
+
+int StateMachine::getState()
+{
return _state; //return the current state of the system
}
-
-void StateMachine::setTimeout(float input_timeout) {
+
+void StateMachine::setTimeout(float input_timeout)
+{
_timeout = input_timeout;
}
-
-void StateMachine::setDepthCommand(float input_depth_command) {
+
+void StateMachine::setDepthCommand(float input_depth_command)
+{
_depth_command = input_depth_command;
}
-
-void StateMachine::setPitchCommand(float input_pitch_command) {
+
+void StateMachine::setPitchCommand(float input_pitch_command)
+{
_pitch_command = input_pitch_command;
}
-
-void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm) {
+
+void StateMachine::setNeutralPositions(float batt_pos_mm, float bce_pos_mm)
+{
_neutral_batt_pos_mm = batt_pos_mm;
_neutral_bce_pos_mm = bce_pos_mm;
-
+
xbee().printf("Neutral Buoyancy Positions: batt: %0.1f, bce: %0.1f\r\n",_neutral_batt_pos_mm,_neutral_bce_pos_mm);
}
-
+
//process one state at a time
-void StateMachine::getDiveSequence() {
+void StateMachine::getDiveSequence()
+{
//iterate through this sequence using the FSM
currentStateStruct.state = sequenceController().sequenceStructLoaded[_multi_dive_counter].state;
currentStateStruct.timeout = sequenceController().sequenceStructLoaded[_multi_dive_counter].timeout;
currentStateStruct.depth = sequenceController().sequenceStructLoaded[_multi_dive_counter].depth;
currentStateStruct.pitch = sequenceController().sequenceStructLoaded[_multi_dive_counter].pitch;
-
+
_timeout = currentStateStruct.timeout; //set timeout before exiting this function
}
//process one state at a time
-void StateMachine::getLegParams() {
+void StateMachine::getLegParams()
+{
//iterate through this sequence using the FSM
currentLegStateStruct.state = legController().legStructLoaded[_multi_leg_counter].state;
currentLegStateStruct.timeout = legController().legStructLoaded[_multi_leg_counter].timeout;
@@ -2631,102 +2610,119 @@
currentLegStateStruct.min_depth = legController().legStructLoaded[_multi_leg_counter].min_depth;
currentLegStateStruct.max_depth = legController().legStructLoaded[_multi_leg_counter].max_depth;
currentLegStateStruct.heading = legController().legStructLoaded[_multi_leg_counter].heading;
+ currentLegStateStruct.BCE_dive_offset = legController().legStructLoaded[_multi_leg_counter].BCE_dive_offset;
+ currentLegStateStruct.BMM_dive_offset = legController().legStructLoaded[_multi_leg_counter].BMM_dive_offset;
+ currentLegStateStruct.BCE_rise_offset = legController().legStructLoaded[_multi_leg_counter].BCE_rise_offset;
+ currentLegStateStruct.BMM_rise_offset = legController().legStructLoaded[_multi_leg_counter].BMM_rise_offset;
+
_timeout = currentLegStateStruct.timeout; //set timeout before exiting this function
_yo_time = currentLegStateStruct.yo_time;
_state = currentLegStateStruct.state;
+ _heading = currentLegStateStruct.heading;
+ _leg_max_depth = currentLegStateStruct.max_depth;
+ _leg_min_depth = currentLegStateStruct.min_depth;
+ _leg_BCE_dive_offset = currentLegStateStruct.BCE_dive_offset;
+ _leg_BMM_dive_offset = currentLegStateStruct.BMM_dive_offset;
+ _leg_BCE_rise_offset = currentLegStateStruct.BCE_rise_offset;
+ _leg_BMM_rise_offset = currentLegStateStruct.BMM_rise_offset;
+
+ _state = currentLegStateStruct.state;
+
+ xbee().printf("BCE_DIVE = %f || BMM_DIVE = %f || BCE_RISE = %f || BMM_RISE = %f\n\r", _leg_BCE_dive_offset, _leg_BMM_dive_offset, _leg_BCE_rise_offset, _leg_BMM_rise_offset);
+
// _multi_leg_counter += 1; // this is wrong, because this subroutine is called multiple times on the same leg, I need indicator of 'next_leg', first.
}
-void StateMachine::setstate_frommain(int set_state_val, int new_timeout) { // used for setting state from main, when find_neutral has not been run
+void StateMachine::setstate_frommain(int set_state_val, int new_timeout) // used for setting state from main, when find_neutral has not been run
+{
_state = set_state_val;
_timeout = new_timeout;
- }
-
-
-void StateMachine::printCurrentSdLog() {
+}
+
+
+void StateMachine::printCurrentSdLog()
+{
xbee().printf("SD card log work in progress\r\n");
//might be worth saving the last few logs to the MBED...
}
// 06/06/2018
-float StateMachine::getFloatUserInput() {
+float StateMachine::getFloatUserInput()
+{
float float_conversion = 0.0;
-
+
while(1) {
bool valid_input = false; //flag for valid or invalid input
-
+
xbee().printf("\n\rPlease enter your number below and press ENTER:\r\n");
char user_string [80]; //variable to store input as a character array
-
+
xbee().scanf("%s", user_string); //read formatted data from stdin
xbee().printf("\n\n\ruser_string was <%s>\r\n", user_string);
-
+
//check through the string for invalid characters (decimal values 43 through 57)
for (int c = 0; c < strlen(user_string); c++) {
//xbee().printf("character is [%c]\r\n", user_string[c]); //debug
if (user_string[c] >= 43 and user_string[c] <= 57) {
//xbee().printf("VALID CHARACTER!\r\n"); //debug
;
- }
- else {
+ } else {
xbee().printf("INVALID INPUT!\r\n");
break;
}
-
+
if (c == (strlen(user_string) - 1)) {
valid_input = true;
}
}
-
+
if (valid_input) {
float_conversion = atof(user_string);
xbee().printf("VALID INPUT! Your input was: %3.3f (PRESS \"S\" (shift + S) to save!)\r\n", float_conversion);
break;
}
}
-
+
return float_conversion;
}
-float StateMachine::getTimerValue() {
- return _fsm_timer;
+float StateMachine::getTimerValue()
+{
+ return _fsm_timer;
}
-void StateMachine::logFileMenu() {
+void StateMachine::logFileMenu()
+{
char FILE_MENU_key;
-
+
// print the menu
xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
-
+
// handle the key presses
while(1) {
// get the user's keystroke from either of the two inputs
if (xbee().readable()) {
xbee().printf("\n\r>>> LOG FILE MENU. Y = Yes, erase file (and exit). N = No, keep file (and exit). P = Print file size.<<<\n\r");
FILE_MENU_key = xbee().getc();
- }
- else {
+ } else {
continue; // didn't get a user input, so keep waiting for it
}
-
+
// handle the user's key input
if (FILE_MENU_key == 'P') { // user wants to save these modified values
xbee().printf("\n\r>> Printing log file size!\n\r");
wait(2);
mbedLogger().getFileSize("/local/LOG000.csv");
- }
- else if (FILE_MENU_key == 'Y') {
+ } else if (FILE_MENU_key == 'Y') {
xbee().printf("\n\r>> Erasing MBED LOG FILE!\n\r");
wait(2);
mbedLogger().eraseFile();
break;
- }
- else if (FILE_MENU_key == 'N') {
+ } else if (FILE_MENU_key == 'N') {
xbee().printf("\n\r>> EXITING MENU. Log file intact.\n\r");
wait(2);
break;
- }
- else {
+ } else {
xbee().printf("\n\r[%c] This key does nothing here. \r", FILE_MENU_key);
}
}