Made every PID button seperate get/set functions and added default se…

…ttings to defaults_set
EZ-Robotics · Jan 2, 2025 · 333fbd5 · 333fbd5
1 parent 35f21d7
commit 333fbd5
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Showing 4 changed files with 108 additions and 20 deletions.
diff --git a/include/EZ-Template/drive/drive.hpp b/include/EZ-Template/drive/drive.hpp
@@ -1247,24 +1247,55 @@ class Drive {
   bool pid_print_toggle_get();
 
   /**
-   * Sets the buttons to change the PID tuner.
-   *
-   * \param decrease
-   *        sets the button to lower PID tuner
-   * \param increase 
-   *        sets the button to increase PID tuner
-   * \param pageLeft
-            sets the PID screen left
-   * \param pageRight
-            sets the PID screen right
-   * \param pageUP
-            switched between kp, ki, kd, and start i
-   * \param pageDown
-            switched between kp, ki, kd, and start i
-   */
-  void pid_tuner_button_set(pros::controller_digital_e_t decrease, pros::controller_digital_e_t increase, pros::controller_digital_e_t pageLeft, pros::controller_digital_e_t pageRight, pros::controller_digital_e_t pageUp, pros::controller_digital_e_t pageDown);
-
-  std::vector<pros::controller_digital_e_t> pid_tuner_button_get();
+  * \param increase 
+  *        sets the button to increase PID tuner
+  */
+  void pid_tuner_button_increment_set(pros::controller_digital_e_t increase);
+
+  std::vector<pros::controller_digital_e_t> pid_tuner_button_increment_get();
+
+  /**
+  * \param decrease
+  *        sets the button to lower PID tuner
+  */
+  void pid_tuner_button_decrement_set(pros::controller_digital_e_t decrease);
+
+  std::vector<pros::controller_digital_e_t> pid_tuner_button_decrement_get();
+
+  /** 
+  * \param pageUP
+  *        switched between kp, ki, kd, and start i
+  */
+  void pid_tuner_button_up_set(pros::controller_digital_e_t pageUp);
+
+  std::vector<pros::controller_digital_e_t> pid_tuner_button_up_get();  
+
+  /**
+  * \param pageDown
+  *        switched between kp, ki, kd, and start i
+  */
+  void pid_tuner_button_down_set(pros::controller_digital_e_t pageDown);
+
+  std::vector<pros::controller_digital_e_t> pid_tuner_button_down_get();  
+
+  /**
+  * \param pageLeft
+  *        sets the PID screen left
+  */
+
+  void pid_tuner_button_left_set(pros::controller_digital_e_t pageLeft);
+
+  std::vector<pros::controller_digital_e_t> pid_tuner_button_left_get();  
+
+  /** 
+  * \param pageRight
+  *        sets the PID screen right
+  */
+  void pid_tuner_button_right_set(pros::controller_digital_e_t pageRight);
+
+  std::vector<pros::controller_digital_e_t> pid_tuner_button_right_get();  
+
+  //std::vector<pros::controller_digital_e_t> pid_tuner_button_get();
   /////
   //
   // Telemetry

diff --git a/src/EZ-Template/drive/drive.cpp b/src/EZ-Template/drive/drive.cpp
@@ -196,6 +196,15 @@ void Drive::drive_defaults_set() {
   opcontrol_curve_buttons_left_set(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
   opcontrol_curve_buttons_right_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A);
 
+  //Default PID tuner controlls
+
+  pid_tuner_button_increment_set(pros::E_CONTROLLER_DIGITAL_A);
+  pid_tuner_button_decrement_set(pros::E_CONTROLLER_DIGITAL_Y);
+  pid_tuner_button_up_set(pros::E_CONTROLLER_DIGITAL_UP);
+  pid_tuner_button_down_set(pros::E_CONTROLLER_DIGITAL_DOWN);
+  pid_tuner_button_left_set(pros::E_CONTROLLER_DIGITAL_LEFT);
+  pid_tuner_button_right_set(pros::E_CONTROLLER_DIGITAL_RIGHT);
+
   // Enable auto printing and drive motors moving
   pid_drive_toggle(true);
   pid_print_toggle(true);

diff --git a/src/EZ-Template/drive/pid_tuner.cpp b/src/EZ-Template/drive/pid_tuner.cpp
@@ -164,7 +164,7 @@ double Drive::pid_tuner_increment_i_get() { return i_increment; }
 double Drive::pid_tuner_increment_d_get() { return d_increment; }
 double Drive::pid_tuner_increment_start_i_get() { return start_i_increment; }
 
-void Drive::pid_tuner_button_set(pros::controller_digital_e_t decrease, pros::controller_digital_e_t increase, pros::controller_digital_e_t pageLeft, pros::controller_digital_e_t pageRight, pros::controller_digital_e_t pageUp, pros::controller_digital_e_t pageDown){
+/*void Drive::pid_tuner_button_set(pros::controller_digital_e_t decrease, pros::controller_digital_e_t increase, pros::controller_digital_e_t pageLeft, pros::controller_digital_e_t pageRight, pros::controller_digital_e_t pageUp, pros::controller_digital_e_t pageDown){
   pid_tuner_increase = increase;
   pid_tuner_decrease = decrease;
   pid_tuner_pageLeft = pageLeft;
@@ -175,6 +175,54 @@ void Drive::pid_tuner_button_set(pros::controller_digital_e_t decrease, pros::co
 
 std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_get() {
   return {pid_tuner_increase, pid_tuner_decrease, pid_tuner_pageLeft, pid_tuner_pageRight, pid_tuner_pageUp, pid_tuner_pageDown};
+}*/
+
+void Drive::pid_tuner_button_increment_set(pros::controller_digital_e_t increase){
+  pid_tuner_increase = increase;
+}
+
+std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_increment_get() {
+  return {pid_tuner_increase};
+}
+
+void Drive::pid_tuner_button_decrement_set(pros::controller_digital_e_t decrease){
+  pid_tuner_decrease = decrease;
+}
+
+std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_decrement_get() {
+  return {pid_tuner_decrease};
+}
+
+void Drive::pid_tuner_button_up_set(pros::controller_digital_e_t pageUp){
+  pid_tuner_pageUp = pageUp;
+}
+
+std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_up_get() {
+  return {pid_tuner_pageUp};
+}
+
+void Drive::pid_tuner_button_down_set(pros::controller_digital_e_t pageDown){
+  pid_tuner_pageDown = pageDown;
+}
+
+std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_down_get() {
+  return {pid_tuner_pageDown};
+}
+
+void Drive::pid_tuner_button_left_set(pros::controller_digital_e_t pageLeft){
+  pid_tuner_pageLeft = pageLeft;
+}
+
+std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_left_get() {
+  return {pid_tuner_pageLeft};
+}
+
+void Drive::pid_tuner_button_right_set(pros::controller_digital_e_t pageRight){
+  pid_tuner_pageRight = pageRight;
+}
+
+std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_right_get() {
+  return {pid_tuner_pageRight};
 }
 
 // Iterate

diff --git a/src/main.cpp b/src/main.cpp
@@ -44,7 +44,7 @@ void initialize() {
   //  - ignore this if you aren't using a vertical tracker
   // chassis.odom_tracker_left_set(&vert_tracker);
 
-  chassis.pid_tuner_button_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A, pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT, pros::E_CONTROLLER_DIGITAL_UP, pros::E_CONTROLLER_DIGITAL_DOWN); // Sets the buttons used for PID Tuning. 
+  //chassis.pid_tuner_button_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A, pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT, pros::E_CONTROLLER_DIGITAL_UP, pros::E_CONTROLLER_DIGITAL_DOWN); // Sets the buttons used for PID Tuning. 
 
   // Configure your chassis controls
   chassis.opcontrol_curve_buttons_toggle(true);   // Enables modifying the controller curve with buttons on the joysticks