class StablePIDTuningController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._accel_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_roll_pid_controller)
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_roll_pid_controller.p_line.ui.title_label.setText(
'Accel Roll Gain')
self._accel_roll_pid_controller.i_line.ui.title_label.setText(
'Accel Roll Error Correction')
self._accel_roll_pid_controller.d_line.ui.title_label.setText(
'Accel Roll Set Point Adjustment')
self._gyro_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.p_line.ui.title_label.setText(
'Gyro Roll Gain')
self._gyro_roll_pid_controller.i_line.ui.title_label.setText(
'Gyro Roll Error Correction')
self._gyro_roll_pid_controller.d_line.ui.title_label.setText(
'Gyro Roll Set Point Adjustment')
self._accel_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_pitch_pid_controller)
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.p_line.ui.title_label.setText(
'Accel Pitch Gain')
self._accel_pitch_pid_controller.i_line.ui.title_label.setText(
'Accel Pitch Error Correction')
self._accel_pitch_pid_controller.d_line.ui.title_label.setText(
'Accel Pitch Set Point Adjustment')
self._gyro_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
self._gyro_pitch_pid_controller.p_line.ui.title_label.setText(
'Gyro Pitch Gain')
self._gyro_pitch_pid_controller.i_line.ui.title_label.setText(
'Gyro Pitch Error Correction')
self._gyro_pitch_pid_controller.d_line.ui.title_label.setText(
'Gyro Pitch Set Point Adjustment')
self.setBeginnerMode()
def setBeginnerMode(self):
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_pitch_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.set_edit_box_enabled(False)
def setIntermediateMode(self):
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_pitch_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.set_edit_box_enabled(False)
def setAdvancedMode(self):
self._accel_roll_pid_controller.show_i_line()
self._accel_roll_pid_controller.show_d_line()
self._accel_pitch_pid_controller.show_i_line()
self._accel_pitch_pid_controller.show_d_line()
self._gyro_roll_pid_controller.show_i_line()
self._gyro_pitch_pid_controller.show_i_line()
self._gyro_roll_pid_controller.set_edit_box_enabled(True)
class StablePIDTuningController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._accel_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_roll_pid_controller)
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_roll_pid_controller.p_line.ui.label.setText('Accel Roll Gain')
self._accel_roll_pid_controller.i_line.ui.label.setText('Accel Roll Error Correction')
self._accel_roll_pid_controller.d_line.ui.label.setText('Accel Roll Set Point Adjustment')
self._gyro_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.p_line.ui.label.setText('Gyro Roll Gain')
self._gyro_roll_pid_controller.i_line.ui.label.setText('Gyro Roll Error Correction')
self._gyro_roll_pid_controller.d_line.ui.label.setText('Gyro Roll Set Point Adjustment')
self._accel_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_pitch_pid_controller)
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.p_line.ui.label.setText('Accel Pitch Gain')
self._accel_pitch_pid_controller.i_line.ui.label.setText('Accel Pitch Error Correction')
self._accel_pitch_pid_controller.d_line.ui.label.setText('Accel Pitch Set Point Adjustment')
self._gyro_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
self._gyro_pitch_pid_controller.p_line.ui.label.setText('Gyro Pitch Gain')
self._gyro_pitch_pid_controller.i_line.ui.label.setText('Gyro Pitch Error Correction')
self._gyro_pitch_pid_controller.d_line.ui.label.setText('Gyro Pitch Set Point Adjustment')
self.setBeginnerMode()
self.ui.linked_check_box.clicked.connect(self._linked_checkbox_pressed)
self._linked_checkbox_pressed()
def _linked_checkbox_pressed(self):
if self.ui.linked_check_box.isChecked():
self._accel_pitch_pid_controller.hide();
self._gyro_pitch_pid_controller.hide();
self._gyro_roll_pid_controller.p_line.ui.label.setText('Gyro Gain Factor')
self._gyro_roll_pid_controller.i_line.ui.label.setText('Gyro Error Correction Factor')
self._gyro_roll_pid_controller.d_line.ui.label.setText('Gyro Set Point Adjustment Factor')
else :
self._accel_pitch_pid_controller.show();
self._gyro_pitch_pid_controller.show();
self._gyro_roll_pid_controller.p_line.ui.label.setText('Gyro Roll Gain Factor')
self._gyro_roll_pid_controller.i_line.ui.label.setText('Gyro Roll Error Correction Factor')
self._gyro_roll_pid_controller.d_line.ui.label.setText('Gyro Roll Set Point Adjustment Factor')
def setBeginnerMode(self):
self.ui.linked_check_box.setChecked(True)
self._linked_checkbox_pressed()
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_pitch_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.set_edit_box_enabled(False)
def setIntermediateMode(self):
self.ui.linked_check_box.setChecked(False)
self._linked_checkbox_pressed()
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_pitch_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.set_edit_box_enabled(False)
def setAdvancedMode(self):
self.ui.linked_check_box.setChecked(False)
self._accel_roll_pid_controller.show_i_line()
self._accel_roll_pid_controller.show_d_line()
self._accel_pitch_pid_controller.show_i_line()
self._accel_pitch_pid_controller.show_d_line()
self._gyro_roll_pid_controller.show_i_line()
self._gyro_pitch_pid_controller.show_i_line()
self._gyro_roll_pid_controller.set_edit_box_enabled(True)
