kleiax/Bachelorarbeit-Rover
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added pid settings to menu

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kleiax
2022-01-19 14:55:26 +01:00
parent 241123e6c9
commit 1265cfda5c
20 changed files with 608 additions and 87 deletions
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src/main.cpp
+26 -36
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@@ -8,8 +8,10 @@
#include "driveModi/driveManager.h"
#include "moveControl.h"
#include "network.h"
#include "menu.h"
#include "menuEntry.h"
#include "menuAction.h"
#include "menuPidSettings.h"
// Platzhalter, muss irgendwann weg
void dummy(){Serial.println("Dummy in Action");}
@@ -45,21 +47,23 @@ void setup() {
main_m = new Menu();
Menu* mode_m = new Menu();
Menu* pid_m = new Menu();
MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
// Entry for the main menu
MenuEntry* mode_e = new MenuEntry("Mode", mode_m);
MenuEntry* gps_e = new MenuEntry("GPS", dummy);
MenuEntry* pid_e = new MenuEntry("PID", pid_m);
MenuAction* mode_e = new MenuAction("Mode", mode_m);
MenuAction* gps_e = new MenuAction("GPS", dummy);
MenuAction* pid_e = new MenuAction("PID", pid_m);
main_m->addEntry(mode_e);
main_m->addEntry(gps_e);
main_m->addEntry(pid_e);
// Entry for the mode Menu
MenuEntry* autopilot_e = new MenuEntry("Autopilot", dummy);
MenuEntry* captureRoute_e = new MenuEntry("Capture Route", dummy);
MenuEntry* consolControl_e = new MenuEntry("Consol Control", dummy);
MenuEntry* manualControl_e = new MenuEntry("Manual Control", dummy);
MenuEntry* testMode_e = new MenuEntry("Test Mode", dummy);
MenuAction* autopilot_e = new MenuAction("Autopilot", dummy);
MenuAction* captureRoute_e = new MenuAction("Capture Route", dummy);
MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
MenuAction* manualControl_e = new MenuAction("Manual Control", dummy);
MenuAction* testMode_e = new MenuAction("Test Mode", dummy);
mode_m->addEntry(autopilot_e);
mode_m->addEntry(captureRoute_e);
mode_m->addEntry(consolControl_e);
@@ -67,12 +71,11 @@ void setup() {
mode_m->addEntry(testMode_e);
// Entry for the PID Menu
MenuEntry* p_e = new MenuEntry("P", dummy);
MenuEntry* i_e = new MenuEntry("I", dummy);
MenuEntry* d_e = new MenuEntry("D", dummy);
pid_m->addEntry(p_e);
pid_m->addEntry(i_e);
pid_m->addEntry(d_e);
MenuAction* pidl_e = new MenuAction("Left", pidl_m);
MenuAction* pidr_e = new MenuAction("Right", pidr_m);
pid_m->addEntry(pidl_e);
pid_m->addEntry(pidr_e);
}
void loop() {
@@ -97,16 +100,19 @@ bool isDelayReached() {
void callbackControllerAction() {
// Menu controlling
if (isDelayReached()) {
if (Ps3.data.button.up)
main_m->prevEntry();
main_m->up();
else if (Ps3.data.button.down)
main_m->nextEntry();
main_m->down();
else if (Ps3.data.button.left)
main_m->enterParentMenu();
main_m->left();
else if (Ps3.data.button.right)
main_m->enterEntry();
main_m->right();
else if (Ps3.data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
main_m->no();
else if (Ps3.data.button.select)
main_m->printMenu();
else if (Ps3.data.button.ps)
@@ -133,19 +139,3 @@ void controllerPrintBattery() {
else if( controller_battery == ps3_status_battery_shutdown ) Serial.println("SHUTDOWN");
else Serial.println("UNDEFINED");
}
void p_f() {
}
void i_f() {
}
void d_f() {
}
int32_t displaySelectValue() {
}