class TabDrawer(BoxLayout, Sender):
current_tab = ObjectProperty(None)
current_text = StringProperty('BalanceBot')
main_panel = ObjectProperty(None)
orientation = 'vertical'
Data = (('Stability', (
('Vertical', (0, -5, 5, 0.1)),
('kPs', (5, 0, 100, 0.1)),
('kIs', (5, 0, 100, 0.1)),
('kDs', (5, 0, 100, 0.1)),
), (
('Angle', (1, 0, 0)),
('PID_stab', (0, 1, 0)),
('P_stab', (0.5, 0.5, 0)),
('I_stab', (0, 0.5, 0.5)),
('D_stab', (0, 0, 1)),
)), ('Deplacement', (
('Origine', (0, -100, 100, 1)),
('kPd', (5, 0, 10, 0.1)),
('kId', (5, 0, 10, 0.1)),
('kDd', (5, 0, 10, 0.1)),
), (
('Encoder', (1, 0, 0)),
('PID_dep', (0, 1, 0)),
('P_dep', (0.5, 0.5, 0)),
('I_dep', (0, 0.5, 0.5)),
('D_dep', (0, 0, 1)),
)), ('Rotation', (
('Direction', (0, -100, 100, 1)),
('kPr', (5, 0, 10, 0.1)),
('kIr', (5, 0, 10, 0.1)),
('kDr', (5, 0, 10, 0.1)),
), (
('Dif_Enc', (1, 0, 0)),
('PID_rot', (0, 1, 0)),
('P_rot', (0.5, 0.5, 0)),
('I_rot', (0, 0.5, 0.5)),
('D_rot', (0, 0, 1)),
)))
def __init__(self, **kwargs):
super(TabDrawer, self).__init__(**kwargs)
self.navdraw = NavigationDrawer()
self.side_panel = BoxLayout(orientation='vertical')
self.side_panel.tabbed_panel = self
self.navdraw.add_widget(self.side_panel)
self.add_widget(self.navdraw)
self.add_widget(ConnectionLayout())
pad_Layout = TabDrawerItem(text='control')
pad_Layout.add_widget(Pad())
self.add_widget(pad_Layout)
for item in self.Data:
self.add_widget(PidLayout(item))
self.add_widget(LogLayout())
def add_widget(self, widget, index=0):
if issubclass(widget.__class__, TabDrawerItem):
#if len( self.children ) > 2 :
self.side_panel.add_widget(widget)
if len(self.side_panel.children) == 1:
self.switch_to(widget)
else:
super(TabDrawer, self).add_widget(widget)
#print widget, len(self.children), len(self.children) > 2
def switch_to(self, header):
if self.navdraw.state == 'open':
self.navdraw.toggle_state()
if self.current_tab:
self.current_tab.state = 'normal'
header.state = 'down'
self.current_tab = header
self.current_text = header.text
if self.main_panel:
self.navdraw.remove_widget(self.main_panel)
self.navdraw.add_widget(header.content)
self.main_panel = header.content
def toggle_state(self):
self.navdraw.toggle_state()
def on_current_text(self, *args):
self.send("get", self.current_text)
def toggle_menu(self):
self.current_tab.menu = not self.current_tab.menu
