PidTunerWidget::PidTunerWidget(Device *device, QWidget *parent)
: StandardWidget(device, parent),
ui(new Ui::PidTunerWidget)
{
ui->setupUi(this);
performStandardSetup(tr("PID Tuner"), false);
connect(ui->p, SIGNAL(textChanged(QString)), SLOT(coeffChanged()));
connect(ui->i, SIGNAL(textChanged(QString)), SLOT(coeffChanged()));
connect(ui->d, SIGNAL(textChanged(QString)), SLOT(coeffChanged()));
connect(ui->motor, SIGNAL(currentIndexChanged(int)), SLOT(motorChanged()));
//void get_pid_gains(int motor, short *p, short *i, short *d, short *pd, short *id, short *dd)
NumpadDialog *pProvider = new NumpadDialog(tr("P Value"), NumpadDialog::Decimal, -99.0, 99.0, this);
NumpadDialog *iProvider = new NumpadDialog(tr("I Value"), NumpadDialog::Decimal, -99.0, 99.0, this);
NumpadDialog *dProvider = new NumpadDialog(tr("D Value"), NumpadDialog::Decimal, -99.0, 99.0, this);
ui->p->setInputProvider(pProvider);
ui->i->setInputProvider(iProvider);
ui->d->setInputProvider(dProvider);
m_feedback = ui->plot->addPlot(QColor(0, 0, 200));
m_setpoint = ui->plot->addPlot(QColor(0, 0, 0));
updatePids();
QTimer *updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), SLOT(update()));
updateTimer->start(UPDATE_MS);
connect(ui->plot, SIGNAL(mouseEvent(double)), SLOT(mouseEvent(double)));
m_setpointVal = 0.0;
m_feedbackVal = 0.0;
m_position_1 = 0;
m_vel_1 = 0;
}
// This update function should be called every second
void Control::update() {
updateSensors();
updatePids();
updateActuators();
mutex->update();
}
void PidTunerWidget::motorChanged()
{
updatePids();
}
