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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.*;
import javax.swing.*;
import edu.wpi.first.smartdashboard.properties.*;
import edu.wpi.first.smartdashboard.types.*;
import edu.wpi.first.smartdashboard.types.named.*;
/**
*
* @author Joe Grinstead
*/
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);
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);
}
}
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