Flying Sea Glider / Mbed 2 deprecated 2019_19feb19_jcw_noSD

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Dependencies:   mbed MODSERIAL FATFileSystem

Files at this revision

API Documentation at this revision

Revision 18:85a7535af8fd, committed 2017-11-22

Comitter:
tnhnrl
Date:
Wed Nov 22 00:06:48 2017 +0000
Parent:
17:7c16b5671d0e
Child:
19:aaa0f4f29d50
Commit message:
flipped checks on neutral finding subsequence

Changed in this revision

StateMachine/StateMachine.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/StateMachine/StateMachine.cpp	Tue Nov 21 22:03:26 2017 +0000
+++ b/StateMachine/StateMachine.cpp	Wed Nov 22 00:06:48 2017 +0000
@@ -471,10 +471,9 @@
                 isSubStateTimeoutRunning = false;
             }
             
-            //before the sub-fsm runs again, make sure the piston is in a safe position
+            //before the sub-fsm runs again, make sure the piston is in a safe position (retracted)
             //NEW: need to double-check this behavior
-            //need to set a max travel position ? or just hardcode? or use bceFloatPosition?
-            if (bce().getPosition_mm() >= 320) {
+            if (bce().getPosition_mm() <= 0) {
                 output_substate = NEUTRAL_EXIT;     
                 //the "case" NEUTRAL_EXIT is used to tell the greater FSM that this sub-FSM has completed
             }
@@ -511,7 +510,7 @@
                 output_substate = NEUTRAL_CHECK_PITCH;
             }
             
-            //before the sub-fsm runs again, make sure the piston is in a safe position
+            //before the sub-fsm runs again, make sure the piston is in a safe position (retracted)
             //NEW: need to double-check this behavior
             //need to set a max travel position ? or just hardcode? or use bceFloatPosition?
             if (bce().getPosition_mm() >= 320) {