/**
* Function: runMasterSM
* @return None.
* @remark Executes one cycle of the command center's state machine.
* @author David Goodman
* @date 2013.03.09 */
void runMasterSM() {
//Magnetometer_runSM();
// Record these button presses since we don't know
// if they will be pressed after runSM
lockPressed = isLockPressed();
zeroPressed = isZeroPressed();
if(lockPressed || zeroPressed){
#ifdef USE_ENCODERS
Encoder_runSM();
#endif
if(lockPressed) {
printf("Lock was pressed.\n");
#ifdef USE_NAVIGATION
#ifdef USE_ENCODERS
Encoder_enableZeroAngle();
Encoder_runSM();
Coordinate ned; // = Coordinate_new(ned, 0, 0 ,0);
if (Navigation_getProjectedCoordinate(&ned, Encoder_getYaw(),
Encoder_getPitch(), height)) {
printf("Desired coordinate -- N: %.6f, E: %.6f, D: %.2f (m)\n",
ned.x, ned.y, ned.z);
#ifdef USE_XBEE
Mavlink_send_start_rescue(XBEE_UART_ID, TRUE, 0,ned.x, ned.y);
#endif
}
else {
printf("Failed to obtain desired NED coordinate.\n");
}
Encoder_disableZeroAngle();
#else
printf("Navigation module is disabled.\n");
#endif
#endif
}
else if (zeroPressed) {
// Zero was pressed
#ifdef USE_ENCODERS
Encoder_setZeroAngle();
#endif
useLevel = TRUE;
#ifdef USE_MAGNETOMETER
Magnetometer_runSM();
heading = Magnetometer_getDegree();
updateHeading();
#endif
//printf("Zeroing...\n");
}
else {
}
}
if (!zeroPressed) {
if (useLevel)
printf("Done zeroing.\n");
useLevel = FALSE;
}
#ifdef USE_ACCELEROMETER
Accelerometer_runSM();
updateAccelerometerLEDs();
#endif
#ifdef USE_NAVIGATION
Navigation_runSM();
#endif
#ifdef USE_XBEE
Xbee_runSM();
#endif
}
void Encoder_setZeroYaw() {
zeroYawAngle = yawAngle;
if (haveZeroPitch)
Encoder_enableZeroAngle();
}
