Flying Sea Glider / Mbed 2 deprecated 2019_19feb19_jcw_noSD

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Dependencies:   mbed MODSERIAL FATFileSystem

Diff: System/config_functions.cpp

Revision:
10:085ab7328054
Parent:
9:d5fcdcb3c89d
Child:
11:3b241ecb75ed
--- a/System/config_functions.cpp	Fri Oct 20 11:41:22 2017 +0000
+++ b/System/config_functions.cpp	Mon Oct 23 12:50:53 2017 +0000
@@ -5,12 +5,11 @@
 {
     ConfigFile cfg;
     int count = 0;
-    if (!cfg.read("/local/bce.txt")){
+    if (!cfg.read("/local/bce.txt")) {
             error("File Read Error");
-        }
+    }
     char value[BUFSIZ];
  
-    
     if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
         bce().setControllerP(atof(value));
         count++;
@@ -44,7 +43,6 @@
         count++;
     }
     
-    
     return count;     
 }
 
@@ -52,9 +50,9 @@
 {
     ConfigFile cfg;
     int count = 0;
-    if (!cfg.read("/local/batt.txt")){
+    if (!cfg.read("/local/batt.txt")) {
             error("File Read Error");
-        }
+    }
     char value[BUFSIZ];
  
     
@@ -91,6 +89,71 @@
         count++;
     }
     
+    return count;     
+}
+
+int load_DEPTH_config()
+{
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/depth.txt")) {
+            error("File Read Error");
+    }
+    char value[BUFSIZ];
     
-    return count;     
+    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
+        depthLoop().setControllerP(atof(value));
+        count++;
+    }
+    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
+        depthLoop().setControllerI(atof(value));
+        count++;
+    }
+    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
+        depthLoop().setControllerD(atof(value));
+        count++;
+    }
+    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
+        depthLoop().setFilterFrequency(atof(value));
+        count++;
+    }
+    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
+        depthLoop().setDeadband(atof(value));
+        count++;
+    }
+    
+    return count;
+}
+
+int load_PITCH_config()
+{
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/pitch.txt")){
+            error("File Read Error");
+    }
+    char value[BUFSIZ];
+    
+    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
+        pitchLoop().setControllerP(atof(value));
+        count++;
+    }
+    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
+        pitchLoop().setControllerI(atof(value));
+        count++;
+    }
+    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
+        pitchLoop().setControllerD(atof(value));
+        count++;
+    }
+    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
+        pitchLoop().setFilterFrequency(atof(value));
+        count++;
+    }
+    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
+        pitchLoop().setDeadband(atof(value));
+        count++;
+    }
+    
+    return count;
 }
\ No newline at end of file