diff options
Diffstat (limited to 'smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/PIDEditor.java')
| -rw-r--r-- | smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/PIDEditor.java | 231 |
1 files changed, 135 insertions, 96 deletions
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/PIDEditor.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/PIDEditor.java index f7a0cac..8ef4991 100644 --- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/PIDEditor.java +++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/PIDEditor.java @@ -1,6 +1,8 @@ + package edu.wpi.first.smartdashboard.gui.elements; import edu.wpi.first.smartdashboard.gui.elements.bindings.AbstractTableWidget; +import edu.wpi.first.smartdashboard.livewindow.elements.Controller; import edu.wpi.first.smartdashboard.livewindow.elements.NameTag; import java.awt.*; @@ -14,101 +16,138 @@ import edu.wpi.first.smartdashboard.types.named.*; * * @author Joe Grinstead */ -public class PIDEditor extends AbstractTableWidget { - - public static final DataType[] TYPES = {PIDType.get()}; - - private NumberTableField pField; - private NumberTableField iField; - private NumberTableField dField; - private NumberTableField fField; - private NumberTableField sField; - private BooleanTableCheckBox eBox; - private JLabel pLabel; - private JLabel iLabel; - private JLabel dLabel; - private JLabel fLabel; - private JLabel sLabel; - private JLabel eLabel; - - public PIDEditor() {//TODO alert user when the robot is about reset modified PID values - setLayout(new GridBagLayout()); - - pLabel = new JLabel("P:"); - iLabel = new JLabel("I:"); - dLabel = new JLabel("D:"); - fLabel = new JLabel("F:"); - sLabel = new JLabel("Setpoint:"); - eLabel = new JLabel("Enabled:"); - pLabel.setHorizontalAlignment(JLabel.RIGHT); - iLabel.setHorizontalAlignment(JLabel.RIGHT); - dLabel.setHorizontalAlignment(JLabel.RIGHT); - fLabel.setHorizontalAlignment(JLabel.RIGHT); - sLabel.setHorizontalAlignment(JLabel.RIGHT); - eLabel.setHorizontalAlignment(JLabel.RIGHT); - - pField = new NumberTableField("p"); - iField = new NumberTableField("i"); - dField = new NumberTableField("d"); - fField = new NumberTableField("f"); - sField = new NumberTableField("setpoint"); - eBox = new BooleanTableCheckBox("enabled"); - - int columns = 10; - pField.setColumns(columns); - iField.setColumns(columns); - dField.setColumns(columns); - fField.setColumns(columns); - sField.setColumns(columns); - - - GridBagConstraints c = new GridBagConstraints(); - - - c.gridy = 1; - add(pLabel, c); - c.gridy = 2; - add(iLabel, c); - c.gridy = 3; - add(dLabel, c); - c.gridy = 4; - add(fLabel, c); - c.gridy = 5; - add(sLabel, c); - c.gridy = 6; - add(eLabel, c); - - c.gridx = 1; - c.weightx = 1.0; - c.gridy = 0; - c.fill = GridBagConstraints.HORIZONTAL; +public class PIDEditor extends AbstractTableWidget implements Controller { + + public static final DataType[] TYPES = {PIDType.get()}; + + private static final String[] pidTypes = {"Displacement", "Rate"}; // kDisplacement, kRate + + private final boolean editType; + + private NumberTableComboBox tBox; + private NumberTableField pField; + private NumberTableField iField; + private NumberTableField dField; + private NumberTableField fField; + private NumberTableField sField; + private BooleanTableCheckBox eBox; + private JLabel tLabel; + private JLabel pLabel; + private JLabel iLabel; + private JLabel dLabel; + private JLabel fLabel; + private JLabel sLabel; + private JLabel eLabel; + + public PIDEditor() { + this(true); + } + + public PIDEditor(boolean editType) {//TODO alert user when the robot is about reset modified PID values + this.editType = editType; + } + + @Override + public void init() { + setLayout(new GridBagLayout()); + + if (editType) { + tLabel = new JLabel("PID type: "); + } + pLabel = new JLabel("P:"); + iLabel = new JLabel("I:"); + dLabel = new JLabel("D:"); + fLabel = new JLabel("F:"); + sLabel = new JLabel("Setpoint:"); + eLabel = new JLabel("Enabled:"); + if (editType) { + tLabel.setHorizontalAlignment(JLabel.RIGHT); + } + pLabel.setHorizontalAlignment(JLabel.RIGHT); + iLabel.setHorizontalAlignment(JLabel.RIGHT); + dLabel.setHorizontalAlignment(JLabel.RIGHT); + fLabel.setHorizontalAlignment(JLabel.RIGHT); + sLabel.setHorizontalAlignment(JLabel.RIGHT); + eLabel.setHorizontalAlignment(JLabel.RIGHT); + if (editType) { + tBox = new NumberTableComboBox<>("PID Type", pidTypes); + } + pField = new NumberTableField("p"); + iField = new NumberTableField("i"); + dField = new NumberTableField("d"); + fField = new NumberTableField("f"); + sField = new NumberTableField("setpoint"); + eBox = new BooleanTableCheckBox("enabled"); + + int columns = 10; + pField.setColumns(columns); + iField.setColumns(columns); + dField.setColumns(columns); + fField.setColumns(columns); + sField.setColumns(columns); + + if (editType) { + System.out.println("tbox="+tBox); + System.out.println("table="+table); + tBox.addActionListener(e -> table.putNumber("PID Type", tBox.getSelectedIndex())); + } + + GridBagConstraints c = new GridBagConstraints(); + + + c.gridy = 1; + if (editType) { + add(tLabel, c); + } + c.gridy = 2; + add(pLabel, c); + c.gridy = 3; + add(iLabel, c); + c.gridy = 4; + add(dLabel, c); + c.gridy = 5; + add(fLabel, c); + c.gridy = 6; + add(sLabel, c); + c.gridy = 7; + add(eLabel, c); + + c.gridx = 1; + c.weightx = 1.0; + c.gridy = 0; + c.fill = GridBagConstraints.HORIZONTAL; add(nameTag = new NameTag(""), c); - nameTag.setHorizontalAlignment(JLabel.LEFT); - c.gridy = 1; - add(pField, c); - c.gridy = 2; - add(iField, c); - c.gridy = 3; - add(dField, c); - c.gridy = 4; - add(fField, c); - c.gridy = 5; - add(sField, c); - c.gridy = 6; - add(eBox, c); - - setMaximumSize(new Dimension(Integer.MAX_VALUE, getPreferredSize().height)); - - revalidate(); - repaint(); - } - - @Override - public void init(){ - nameTag.setText(getFieldName()); - } - - @Override - public void propertyChanged(Property property) { - } + nameTag.setHorizontalAlignment(JLabel.LEFT); + nameTag.setText(getFieldName()); + c.gridy = 1; + if (editType) { + add(tBox, c); + } + c.gridy = 2; + add(pField, c); + c.gridy = 3; + add(iField, c); + c.gridy = 4; + add(dField, c); + c.gridy = 5; + add(fField, c); + c.gridy = 6; + add(sField, c); + c.gridy = 7; + add(eBox, c); + + setMaximumSize(new Dimension(Integer.MAX_VALUE, getPreferredSize().height)); + + revalidate(); + repaint(); + } + + @Override + public void propertyChanged(Property property) { + } + + @Override + public void reset() { + eBox.setBindableValue(false); + } } |