mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "glass/other/PIDController.h"
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#include <string>
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#include <imgui.h>
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#include "glass/Context.h"
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#include "glass/DataSource.h"
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using namespace glass;
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void glass::DisplayPIDController(PIDControllerModel* m) {
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if (auto name = m->GetName()) {
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ImGui::Text("%s", name);
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ImGui::Separator();
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}
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if (m->Exists()) {
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auto createTuningParameter = [](const char* name, double* v,
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std::function<void(double)> callback) {
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ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
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if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f")) callback(*v);
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};
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if (auto p = m->GetPData()) {
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double value = p->GetValue();
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createTuningParameter("P", &value, [=](auto v) { m->SetP(v); });
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}
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if (auto i = m->GetIData()) {
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double value = i->GetValue();
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createTuningParameter("I", &value, [=](auto v) { m->SetI(v); });
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}
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if (auto d = m->GetDData()) {
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double value = d->GetValue();
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createTuningParameter("D", &value, [=](auto v) { m->SetD(v); });
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}
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if (auto s = m->GetSetpointData()) {
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double value = s->GetValue();
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createTuningParameter("Setpoint", &value,
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[=](auto v) { m->SetSetpoint(v); });
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}
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} else {
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ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
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ImGui::Text("Unknown PID Controller");
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ImGui::PopStyleColor();
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}
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}
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