modelec/modelec-marcel-ROS
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PID value

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This commit is contained in:
acki
2025-11-19 19:30:28 +01:00
parent 7ba7f38197
commit fc63fc910e
2 changed files with 16 additions and 3 deletions
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2
src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
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@@ -109,6 +109,6 @@ namespace Modelec
void GetPID();
void SetPID(const modelec_interfaces::msg::OdometryPid::SharedPtr msg);
void SetPID(std::string name, float p, float i, float d);
void SetPID(std::string name, float p, float i, float d, std::optional<float> min = std::nullopt, std::optional<float> max = std::nullopt);
};
} // namespace Modelec

17
src/modelec_com/src/pcb_odo_interface.cpp
View File

@@ -63,7 +63,10 @@ namespace Modelec
SetStart(true);
SetPID("THETA", 8, 0, 0.1);
SetPID("THETA", 14, 0, 0);
SetPID("POS", 10, 0, 0);
SetPID("LEFT", 5, 0, 0);
SetPID("RIGHT", 5, 0, 0);
}
else
{
@@ -424,7 +427,7 @@ namespace Modelec
SetPID(msg->name, msg->p, msg->i, msg->d);
}
void PCBOdoInterface::SetPID(std::string name, float p, float i, float d)
void PCBOdoInterface::SetPID(std::string name, float p, float i, float d, std::optional<float> min, std::optional<float> max)
{
std::vector<std::string> data = {
name,
@@ -433,6 +436,16 @@ namespace Modelec
std::to_string(d)
};
if (min.has_value())
{
data.push_back(std::to_string(min.value()));
}
if (max.has_value())
{
data.push_back(std::to_string(max.value()));
}
SendOrder("PID", data);
}
} // Modelec