void controlpanel_calibrate() {
PIDGains newgains;
while (true) {
char ch = controlpanel_promptChar("Calibrate");
switch (ch) {
case 'm':
if (controlpanel_promptGains("magfollow", magfollow_getGains(), newgains)) {
magfollow_setGains(newgains);
printf_P(PSTR("Gains set!\n"));
} else {
printf_P(PSTR("Cancelled.\n"));
}
break;
case 't':
if (controlpanel_promptGains("magturn", magfollow_getTurnGains(), newgains)) {
magfollow_setTurnGains(newgains);
printf_P(PSTR("Gains set!\n"));
} else {
printf_P(PSTR("Cancelled.\n"));
}
break;
case 'd':
if (controlpanel_promptGains("motorcontrol", motorcontrol_getGains(), newgains)) {
motorcontrol_setGains(newgains);
printf_P(PSTR("Gains set!\n"));
} else {
printf_P(PSTR("Cancelled.\n"));
}
break;
case 'f':
tests_feedforward();
break;
case 'q':
return;
case '?':
static const char msg[] PROGMEM =
"Calibrate Menu:\n"
" m - Magnetometer PID\n"
" t - Magturn PID\n"
" d - Motorcontrol PID\n"
" f - Feed-forward calibration !!MOVES MOTORS!!\n"
" q - Back\n";
puts_P(msg);
break;
default:
puts_P(unknown_str);
break;
}
}
}
void controlpanel_gains() {
PIDGains newgains;
while (true) {
char ch = controlpanel_promptChar("Gains");
switch (ch) {
case 'm':
if (controlpanel_promptGains("motorcontrol", motorcontrol_getGains(), newgains)) {
motorcontrol_setGains(newgains);
printf_P(PSTR("Gains set!\n"));
} else {
printf_P(PSTR("Cancelled.\n"));
}
break;
case 'M':
if (controlpanel_promptGains("magfollow", magfollow_getGains(), newgains)) {
magfollow_setGains(newgains);
printf_P(PSTR("Gains set!\n"));
} else {
printf_P(PSTR("Cancelled.\n"));
}
break;
case 'l':
if (controlpanel_promptGains("linefollow", linefollow_getGains(), newgains)) {
linefollow_setGains(newgains);
printf_P(PSTR("Gains set!\n"));
} else {
printf_P(PSTR("Cancelled.\n"));
}
break;
case 'q':
return;
case '?':
static const char msg[] PROGMEM =
"Gain commands:\n"
" m - Adjust Motor Gains\n"
" M - Adjust Magfollow Gains\n"
" l - Adjust Linefollow Gains\n"
" q - Back\n";
puts_P(msg);
break;
default:
printf_P(PSTR("Unknown Command, type '?' for help.\n"));
}
}
}
