kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

moved pid settings to menuIntInput

Browse Source
This commit is contained in:
kleiax
2023-01-04 02:29:22 +01:00
parent facfd1d045
commit bc7379ae7e
3 changed files with 22 additions and 122 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main.cpp
+15 -2
View File
@@ -274,8 +274,10 @@ void makeMenu() {
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));
MenuIntInput* pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
MenuIntInput* pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
// MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
// MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
MenuManualControl* man_m = new MenuManualControl(driveManager);
MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
@@ -332,4 +334,15 @@ void makeMenu() {
MenuAction* pidr_e = new MenuAction("Right", pidr_m);
pid_m->addEntry(pidl_e);
pid_m->addEntry(pidr_e);
// Other config
pidl_m->setMinMax(0, UINT8_MAX);
pidl_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(0)->GetKp());
pidl_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(0)->GetKi());
pidl_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(0)->GetKd());
pidr_m->setMinMax(0, UINT8_MAX);
pidr_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(1)->GetKp());
pidr_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(1)->GetKi());
pidr_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(1)->GetKd());
}