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moved pid settings to menuIntInput

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kleiax
2023-01-04 02:29:22 +01:00
parent facfd1d045
commit bc7379ae7e
3 changed files with 22 additions and 122 deletions
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src/SpecialMenus/PID/menuPidSettings.cpp
+4 -75
View File
@@ -13,81 +13,10 @@
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::action(int16_t* values, uint8_t length) {
if (length != 3)
return;
this->pid->SetTunings(values[0], values[1], values[2]);
}
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() {
char buf[17];
switch (this->curPos) {
case 0:
sprintf(buf, "_%3.d_ %3.d %3.d ", this->values[0], this->values[1], this->values[2]);
break;
case 1:
sprintf(buf, " %3.d _%3.d_ %3.d ", this->values[0], this->values[1], this->values[2]);
break;
case 2:
sprintf(buf, " %3.d %3.d _%3.d_", this->values[0], this->values[1], this->values[2]);
break;
default:
break;
}
if (this->lcd) {
lcd->clear();
lcd->setCursor(0, 0);
lcd->print(" P I D ");
lcd->setCursor(0, 1);
lcd->print(buf);
}
std::cout << " P I D " << std::endl;
std::cout << buf << std::endl;
}
src/SpecialMenus/PID/menuPidSettings.h
+3 -45
View File
@@ -12,17 +12,15 @@
#ifndef PID_SETTINGS_H
#define PID_SETTINGS_H
#include "menuControl.h"
#include "menuIntInput.h"
#include <PID_v1.h>
#include <stdint.h>
#define NUM_VAL 3
/**
* @brief A class to tune the PID settings
*
*/
class MenuPidSettings : public MenuControl {
class MenuPidSettings : public MenuIntInputWrapper {
public:
/**
* @brief Construct a new Menu Pid Settings object
@@ -31,50 +29,10 @@ class MenuPidSettings : public MenuControl {
*/
MenuPidSettings(PID* pid);
/**
* @brief Decrement selected value
*/
void down() override;
/**
* @brief Increment selected value
*/
void up() override;
/**
* @brief Select next value
*/
void right() override;
/**
* @brief Select previous value
*/
void left() override;
/**
* @brief Leave menu without saving
*/
void no() override;
/**
* @brief Leave menu with saving
*/
void yes() override;
/**
* @brief Prints the Information to display and console
*
* The informations are only printed to the display if it
* set.
*/
void printMenu() override;
void update() override {};
void action(int16_t* values, uint8_t length);
private:
PID* pid;
uint8_t values[NUM_VAL];
uint8_t curPos = 0;
};
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());
}