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[glass] Add Profiled PID controller support & IZone Support (#5959)

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This commit is contained in:
m10653
2023-12-22 14:29:25 -05:00
committed by GitHub
parent bcef6c5398
commit 43fb6e9f87
11 changed files with 303 additions and 2 deletions
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15
glass/src/lib/native/cpp/other/PIDController.cpp
View File

@@ -29,6 +29,16 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
callback(*v);
}
};
// Workaround to allow for the input of inf, -inf, and nan
auto createTuningParameterNoFilter =
[flag](const char* name, double* v,
std::function<void(double)> callback) {
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
"%.3f", flag)) {
callback(*v);
}
};
if (auto p = m->GetPData()) {
double value = p->GetValue();
@@ -47,6 +57,11 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
createTuningParameter("Setpoint", &value,
[=](auto v) { m->SetSetpoint(v); });
}
if (auto s = m->GetIZoneData()) {
double value = s->GetValue();
createTuningParameterNoFilter("IZone", &value,
[=](auto v) { m->SetIZone(v); });
}
} else {
ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
ImGui::Text("Unknown PID Controller");

69
glass/src/lib/native/cpp/other/ProfiledPIDController.cpp Normal file
View File

@@ -0,0 +1,69 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "glass/other/ProfiledPIDController.h"
#include <string>
#include <imgui.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
using namespace glass;
void glass::DisplayProfiledPIDController(ProfiledPIDControllerModel* m) {
if (auto name = m->GetName()) {
ImGui::Text("%s", name);
ImGui::Separator();
}
if (m->Exists()) {
auto flag = m->IsReadOnly() ? ImGuiInputTextFlags_ReadOnly
: ImGuiInputTextFlags_None;
auto createTuningParameter = [flag](const char* name, double* v,
std::function<void(double)> callback) {
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f", flag)) {
callback(*v);
}
};
// Workaround to allow for the input of inf, -inf, and nan
auto createTuningParameterNoFilter =
[flag](const char* name, double* v,
std::function<void(double)> callback) {
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
"%.3f", flag)) {
callback(*v);
}
};
if (auto p = m->GetPData()) {
double value = p->GetValue();
createTuningParameter("P", &value, [=](auto v) { m->SetP(v); });
}
if (auto i = m->GetIData()) {
double value = i->GetValue();
createTuningParameter("I", &value, [=](auto v) { m->SetI(v); });
}
if (auto d = m->GetDData()) {
double value = d->GetValue();
createTuningParameter("D", &value, [=](auto v) { m->SetD(v); });
}
if (auto s = m->GetGoalData()) {
double value = s->GetValue();
createTuningParameter("Goal", &value, [=](auto v) { m->SetGoal(v); });
}
if (auto s = m->GetIZoneData()) {
double value = s->GetValue();
createTuningParameterNoFilter("IZone", &value,
[=](auto v) { m->SetIZone(v); });
}
} else {
ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
ImGui::Text("Unknown PID Controller");
ImGui::PopStyleColor();
}
}