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76 lines
2.5 KiB
76 lines
2.5 KiB
12 years ago
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#include "ArduRoverPidConfig.h"
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ArduRoverPidConfig::ArduRoverPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
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{
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ui.setupUi(this);
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nameToBoxMap["STEER2SRV_P"] = ui.steer2ServoPSpinBox;
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nameToBoxMap["STEER2SRV_I"] = ui.steer2ServoISpinBox;
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nameToBoxMap["STEER2SRV_D"] = ui.steer2ServoDSpinBox;
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nameToBoxMap["STEER2SRV_IMAX"] = ui.steer2ServoIMAXSpinBox;
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nameToBoxMap["XTRK_ANGLE_CD"] = ui.xtrackEntryAngleSpinBox;
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nameToBoxMap["XTRK_GAIN_SC"] = ui.xtrackGainSpinBox;
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nameToBoxMap["CRUISE_THROTTLE"] = ui.throttleCruiseSpinBox;
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nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
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nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
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nameToBoxMap["FS_THR_VALUE"] = ui.throttleFSSpinBox;
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nameToBoxMap["HDNG2STEER_P"] = ui.heading2SteerPSpinBox;
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nameToBoxMap["HDNG2STEER_I"] = ui.heading2SteerISpinBox;
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nameToBoxMap["HDNG2STEER_D"] = ui.heading2SteerDSpinBox;
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nameToBoxMap["HDNG2STEER_IMAX"] = ui.heading2SteerIMAXSpinBox;
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nameToBoxMap["SPEED2THR_P"] = ui.speed2ThrottlePSpinBox;
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nameToBoxMap["SPEED2THR_I"] = ui.speed2ThrottleISpinBox;
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nameToBoxMap["SPEED2THR_D"] = ui.speed2ThrottleDSpinBox;
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nameToBoxMap["SPEED2THR_IMAX"] = ui.speed2ThrottleIMAXSpinBox;
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nameToBoxMap["CRUISE_SPEED"] = ui.roverCruiseSpinBox;
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nameToBoxMap["SPEED_TURN_GAIN"] = ui.roverTurnSpeedSpinBox;
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nameToBoxMap["SPEED_TURN_DIST"] = ui.roverTurnDistSpinBox;
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nameToBoxMap["WP_RADIUS"] = ui.roverWPRadiusSpinBox;
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nameToBoxMap["SONAR_TRIGGER_CM"] = ui.sonarTriggerSpinBox;
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nameToBoxMap["SONAR_TURN_ANGLE"] = ui.sonarTurnAngleSpinBox;
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nameToBoxMap["SONAR_TURN_TIME"] = ui.sonarTurnTimeSpinBox;
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nameToBoxMap["SONAR_DEBOUNCE"] = ui.sonaeDebounceSpinBox;
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}
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ArduRoverPidConfig::~ArduRoverPidConfig()
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{
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}
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void ArduRoverPidConfig::writeButtonClicked()
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{
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if (!m_uas)
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{
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return;
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}
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for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
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{
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m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
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}
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}
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void ArduRoverPidConfig::refreshButtonClicked()
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{
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if (!m_uas)
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{
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return;
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}
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for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
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{
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m_uas->getParamManager()->requestParameterUpdate(1,i.key());
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}
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}
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void ArduRoverPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
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{
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if (nameToBoxMap.contains(parameterName))
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{
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nameToBoxMap[parameterName]->setValue(value.toFloat());
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}
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}
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