added pid settings to menu

lib/Menu/menu.cpp

@@ -14,11 +14,7 @@ Menu::Menu() {
     this->it = this->entrys.begin();
 }
 
-void Menu::setParentMenu(Menu* menu) {
-    this->parentMenu = menu;
-}
-
-void Menu::addEntry(MenuEntry* entry) {
+void Menu::addEntry(MenuAction* entry) {
     this->entrys.push_back(entry);
         
     // TODO: Same shit here. Why I get the first element after an increment.
@@ -31,8 +27,8 @@ void Menu::addEntry(MenuEntry* entry) {
 
 void Menu::printMenu() {
     Serial.println("\n\n");
-    for (std::list<MenuEntry*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
-        MenuEntry* selectedEntry = *(iter);
+    for (std::list<MenuAction*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
+        MenuAction* selectedEntry = *(iter);
         if (this->it == iter)
             Serial.print("  ");
         Serial.println(selectedEntry->getName());
@@ -40,15 +36,15 @@ void Menu::printMenu() {
     this->inSubmenu = false;
 }
 
-void Menu::nextEntry() {
+void Menu::down() {
     if (this->inSubmenu) {
-        MenuEntry* selectedEntry = *(this->it);
-        selectedEntry->getMenu()->nextEntry();
+        MenuAction* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->down();
         return;
     }
 
     // TODO: Why I need the fucking next two lines? here and in the next function
-    std::list<MenuEntry*>::iterator iter = this->it;
+    std::list<MenuAction*>::iterator iter = this->it;
     iter++;
     if (iter != this->entrys.end()) 
         this->it++;
@@ -57,13 +53,13 @@ void Menu::nextEntry() {
     this->printMenu();
 }
 
-void Menu::prevEntry() {
+void Menu::up() {
     if (this->inSubmenu) {
-        MenuEntry* selectedEntry = *(this->it);
-        selectedEntry->getMenu()->prevEntry();
+        MenuAction* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->up();
         return;
     }
-    std::list<MenuEntry*>::iterator iter = this->entrys.end();
+    std::list<MenuAction*>::iterator iter = this->entrys.end();
     iter--;
     if (this->it != this->entrys.begin()) {
         Serial.println("--");
@@ -76,12 +72,12 @@ void Menu::prevEntry() {
     this->printMenu();
 }
 
-void Menu::enterEntry() {
+void Menu::right() {
     // TODO: find out why i cannot call runAction() directly from the iterator
-    MenuEntry* selectedEntry = *(this->it);
+    MenuAction* selectedEntry = *(this->it);
 
     if (this->inSubmenu) {
-        selectedEntry->getMenu()->enterEntry();
+        selectedEntry->getMenu()->right();
         return;
     }
 
@@ -92,13 +88,33 @@ void Menu::enterEntry() {
     selectedEntry->runAction();
 }
 
-void Menu::enterParentMenu() {
+void Menu::left() {
     if (this->inSubmenu) {
-        MenuEntry* selectedEntry = *(this->it);
-        selectedEntry->getMenu()->enterParentMenu();
+        MenuAction* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->left();
         return;
     }
 
     if (parentMenu)
         this->parentMenu->printMenu();
+}
+
+void Menu::yes() {
+    if (this->inSubmenu) {
+        MenuAction* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->yes();
+        return;
+    }
+
+    this->right();
+}
+
+void Menu::no() {
+    if (this->inSubmenu) {
+        MenuAction* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->no();
+        return;
+    }
+
+    this->left();
 }

lib/Menu/menu.h

@@ -17,30 +17,29 @@
 // have to be deleted after display installation
 #include <Arduino.h>
 
-#include "menuEntry.h"
+#include "menuAction.h"
+#include "menuControl.h"
 
-class MenuEntry;
-class Menu {
+class MenuAction;
+class Menu : public MenuControl {
     public:
         Menu();
 
-        void setParentMenu(Menu* menu);
-
-        void addEntry(MenuEntry* entry);
+        void addEntry(MenuAction* entry);
         void printMenu();
 
-        void nextEntry();
-        void prevEntry();
-        void enterEntry();
-        void enterParentMenu();
+        void down();
+        void up();
+        void right();
+        void left();
+        void yes();
+        void no();
 
     private:
         bool inSubmenu = false;
 
-        Menu* parentMenu;
-
-        std::list<MenuEntry*> entrys;
-        std::list<MenuEntry*>::iterator it;
+        std::list<MenuAction*> entrys;
+        std::list<MenuAction*>::iterator it;
 
 };
 

lib/Menu/menuAction.cpp

@@ -8,28 +8,28 @@
  * @copyright Copyright (c) 2022
  * 
  */
-#include "menuEntry.h"
+#include "menuAction.h"
 
-MenuEntry::MenuEntry(const char* name, void (*function) (), void (*callback) ()) {
+MenuAction::MenuAction(const char* name, void (*function) (), void (*callback) ()) {
     this->name = name;
     this->function = function;
     this->callback = callback;
 }
 
-MenuEntry::MenuEntry(const char* name, void (*function) ()) {
+MenuAction::MenuAction(const char* name, void (*function) ()) {
     this->name = name;
     this->function = function;
     this->callback = nullptr;
 }
 
-MenuEntry::MenuEntry(const char* name, Menu* menu) {
+MenuAction::MenuAction(const char* name, MenuControl* menu) {
     this->name = name;
     this->menu = menu;
     this->isMenu = true;
     this->callback = nullptr;
 }
 
-void MenuEntry::runAction() {
+void MenuAction::runAction() {
     if (isMenu)
         this->menu->printMenu();
     else
@@ -39,15 +39,15 @@ void MenuEntry::runAction() {
         this->callback();
 }
 
-const char* MenuEntry::getName() {
+const char* MenuAction::getName() {
     return this->name;
 }
 
-bool MenuEntry::getIsMenu() {
+bool MenuAction::getIsMenu() {
     return this->isMenu;
 }
 
-Menu* MenuEntry::getMenu() {
+MenuControl* MenuAction::getMenu() {
     if (isMenu)
         return this->menu;
     else

lib/Menu/menuAction.h

@@ -13,17 +13,17 @@
 
 #include "menu.h"
 
-class Menu;
-class MenuEntry {
+class MenuControl;
+class MenuAction {
     public:
-        MenuEntry(const char* name, void (*function) (), void (*callback) ());
-        MenuEntry(const char* name, void (*function) ());
-        MenuEntry(const char* name, Menu* menu);
+        MenuAction(const char* name, void (*function) (), void (*callback) ());
+        MenuAction(const char* name, void (*function) ());
+        MenuAction(const char* name, MenuControl* menu);
         void runAction();
 
         const char* getName();
         bool getIsMenu();
-        Menu* getMenu();
+        MenuControl* getMenu();
 
     private:
         const char* name;
@@ -32,7 +32,7 @@ class MenuEntry {
         void (*callback) () = nullptr;
 
         bool isMenu = false;
-        Menu *menu;
+        MenuControl* menu;
 };
 
 #endif // MENU_ENTRY_H

lib/Menu/menuControl.h

@@ -0,0 +1,33 @@
+/**
+ * @file menuControl.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-19
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef MENU_CONTROLL_H
+#define MENU_CONTROLL_H
+
+class MenuControl {
+    public:
+
+        // Ínputs from the Gamepad
+        virtual void down();
+        virtual void up();
+        virtual void right();
+        virtual void left();
+        virtual void yes();
+        virtual void no();
+
+        virtual void printMenu();
+        void setParentMenu(MenuControl* menu) {this->parentMenu = menu;}
+
+    protected:
+        MenuControl* parentMenu = nullptr;
+};
+
+#endif // MENU_CONTROLL_H

lib/Menu/menuPidSettings.cpp

@@ -0,0 +1,86 @@
+/**
+ * @file pidSettings.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-19
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#include "menuPidSettings.h"
+
+MenuPidSettings::MenuPidSettings(PID* pid) {
+    this->pid = pid;
+    this->values[0] = (uint8_t) pid->GetKp();
+    this->values[1] = (uint8_t) pid->GetKi();
+    this->values[2] = (uint8_t) pid->GetKd();
+}
+
+void MenuPidSettings::down() {
+    if (values[curPos] > 0)
+        values[curPos]--;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::up() {
+    if (values[curPos] < UINT8_MAX)
+        values[curPos]++;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::right() {
+    if (curPos < NUM_VAL - 1)
+        curPos++;
+    else
+        curPos = 0;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::left() {
+    if (curPos > 0)
+        curPos--;
+    else
+        curPos = NUM_VAL - 1;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::no() {
+    if (parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuPidSettings::yes() {
+    this->pid->SetTunings(this->values[0], this->values[1], this->values[2]);
+    if (parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuPidSettings::printMenu() {
+    Serial.println("  P    I    D  ");
+    char pos[16];
+    switch (this->curPos) {
+        case 0:
+            sprintf(pos, "_%d.3_ %d.3  %d.3 ", this->values[0], this->values[1], this->values[2]);
+            break;
+
+        case 1:
+            sprintf(pos, " %d.3 _%d.3_ %d.3 ", this->values[0], this->values[1], this->values[2]);
+            break;
+
+        case 2:
+            sprintf(pos, " %d.3  %d.3 _%d.3_", this->values[0], this->values[1], this->values[2]);
+            break;
+        
+        default:
+            break;
+    }
+    Serial.println(pos);
+}
+
+

lib/Menu/menuPidSettings.h

@@ -0,0 +1,44 @@
+/**
+ * @file pidSettings.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-19
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef PID_SETTINGS_H
+#define PID_SETTINGS_H
+
+#include "menuControl.h"
+#include <PID_v1.h>
+#include <stdint.h>
+
+// TODO: delete after installtion of display
+#include <Arduino.h>
+
+#define NUM_VAL 3
+
+class MenuPidSettings : public MenuControl {
+    public:
+        MenuPidSettings(PID* pid);
+
+        void down();
+        void up();
+        void right();
+        void left();
+        void no();
+        void yes();
+
+        void printMenu();
+
+    private:
+        PID* pid;
+        uint8_t values[NUM_VAL];
+        uint8_t curPos = 0;
+
+};
+
+#endif // PID_SETTINGS_H