kleiax/Bachelorarbeit-Rover
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finished speed and sensor menu in modes

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kleiax
2023-09-29 11:30:13 +02:00
parent d7357d4f95
commit 45264c6481
17 changed files with 96 additions and 78 deletions
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src/main.cpp
+8 -3
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@@ -208,6 +208,7 @@ void makeMenu() {
Menu* pid_m = new Menu();
MenuIntInput* pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
MenuIntInput* pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
MenuIntInput* speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef()));
MenuManualControl* man_m = new MenuManualControl(driveManager);
MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
@@ -223,8 +224,6 @@ void makeMenu() {
sys_m->setUpdateDelay(1500);
sen_m->setUpdateDelay(500);
man_m->addSensorMenu(sen_m);
// Entry for the main menu
main_m->addEntry(new MenuAction("Mode", mode_m));
main_m->addEntry(new MenuAction("Sensor", sen_m));
@@ -243,7 +242,7 @@ void makeMenu() {
// Entry for the setting menu
set_m->addEntry(new MenuAction("PID", pid_m));
set_m->addEntry(new MenuAction("Speed", dummy));
set_m->addEntry(new MenuAction("Speed", speed_m));
set_m->addEntry(new MenuAction("Distance", dummy));
set_m->addEntry(new MenuAction("WiFi", dummy));
set_m->addEntry(new MenuAction("Battery", bat_m));
@@ -263,6 +262,12 @@ void makeMenu() {
pidr_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(1)->GetKi());
pidr_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(1)->GetKd());
speed_m->setMinMax(5, UINT8_MAX);
speed_m->setEntry(0, "x m/s e-1", driveManager->getDrivingSpeedsRef().x * 10);
speed_m->setEntry(1, "z rad/s e-1", driveManager->getDrivingSpeedsRef().rot * 10);
man_m->addSensorMenu(sen_m);
controlPad->setMenuControl(main_m);
}