WORKING PIDS

unofficial-rev-port · Jun 21, 2024 · 08c633e · 08c633e
1 parent 1412e92
commit 08c633e
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Showing 2 changed files with 8 additions and 14 deletions.
diff --git a/REVHubInterface/REVMotor.py b/REVHubInterface/REVMotor.py
@@ -61,7 +61,6 @@ def resetMotorEncoder(commObj, destination, motorChannel):
 
 
 def setMotorConstantPower(commObj, destination, motorChannel, powerLevel):
-    print('setpower')
     setMotorConstantPowerMsg = REVMsg.SetMotorConstantPower()
     setMotorConstantPowerMsg.payload.motorChannel = motorChannel
     setMotorConstantPowerMsg.payload.powerLevel = powerLevel
@@ -183,8 +182,6 @@ def __init__(self, commObj, channel, destinationModule):
         self.destinationModule = destinationModule
         self.commObj = commObj
         self.motorCurrent = REVADC.ADCPin(self.commObj, 8 + channel, self.destinationModule)
-        self.targetPositon = None
-        self.targetVeolcity = None
 
     def setDestination(self, destinationModule):
         self.destinationModule = destinationModule
@@ -224,8 +221,7 @@ def resetEncoder(self):
         resetMotorEncoder(self.commObj, self.destinationModule, self.channel)
 
     def setPower(self, powerLevel):
-        if self.targetPositon and self.targetVelocity is None:
-            setMotorConstantPower(self.commObj, self.destinationModule, self.channel, powerLevel)
+        setMotorConstantPower(self.commObj, self.destinationModule, self.channel, powerLevel)
 
     def getPower(self):
         return getMotorConstantPower(self.commObj, self.destinationModule, self.channel)
@@ -243,7 +239,6 @@ def getTargetVelocity(self):
         return getMotorTargetVelocity(self.commObj, self.destinationModule, self.channel)
 
     def setTargetPosition(self, position, tolerance):
-        self.targetPositon = position
         setMotorTargetPosition(self.commObj, self.destinationModule, self.channel, position, tolerance)
 
     def getTargetPosition(self):
@@ -290,9 +285,6 @@ def getPositionPID(self):
 
     def getBulkPIDData(self):
         return getBulkPIDData(self.commObj, self.destinationModule, self.channel)
-    def disablePIDs(self):
-        self.targetPositon = None
-        self.targetVeolcity = None
 
     def init(self):
         self.setMode(0, 1)

diff --git a/REVHubInterface/__main__.py b/REVHubInterface/__main__.py
@@ -688,9 +688,10 @@ def send_all_KA(self):
                 module.getStatus()
 
     def speedMotorSlider(self, speed, moduleNumber, motorNumber, *args):
+        self.repetitiveFunctions = []        
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.delete(0, END)
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.insert(0, '%.2f' % (float(speed) / 32000))
-        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
+        self.REVModules[moduleNumber].motors[motorNumber].setMode(0, 1)
         self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed))
         self.REVModules[moduleNumber].motors[motorNumber].enable()
         self.repetitiveFunctions = [
@@ -700,10 +701,11 @@ def speedMotorSlider(self, speed, moduleNumber, motorNumber, *args):
 
     def zeroMotorSpeed(self, motorNumber, moduleNumber, *args):
         speed = 0
+        self.repetitiveFunctions = []
+        self.REVModules[moduleNumber].motors[motorNumber].setMode(0, 1)
         self.Motor_packs[moduleNumber * 4 + motorNumber].Speed_slider.set(speed)
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.delete(0, END)
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.insert(0, '%.2f' % float(speed / 32000))
-        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
         self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed))
         self.REVModules[moduleNumber].motors[motorNumber].enable()
         self.repetitiveFunctions = [
@@ -717,10 +719,9 @@ def javaMotorEntry(self, motorNumber, moduleNumber, *args):
         except ValueError:
             print('Invalid speed entered: ' + self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.get())
             return False
-
+        self.repetitiveFunctions = []
         self.Motor_packs[moduleNumber * 4 + motorNumber].Speed_slider.set(speed * 32000)
         self.REVModules[moduleNumber].motors[motorNumber].setMode(0, 1)
-        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
         self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed * 32000))
         self.REVModules[moduleNumber].motors[motorNumber].enable()
         self.repetitiveFunctions = [
@@ -729,6 +730,7 @@ def javaMotorEntry(self, motorNumber, moduleNumber, *args):
         return True
 
     def javaTargetEntry(self, motorNumber, moduleNumber, *args):
+        self.repetitiveFunctions = []
         self.zeroMotorSpeed(motorNumber, moduleNumber)
         target = int(self.pid_packs[moduleNumber * 4 + motorNumber].Java_entry.get())
         self.REVModules[moduleNumber].motors[motorNumber].setTargetPosition(target, 1)
@@ -1021,7 +1023,7 @@ def on_connect_button_callback(self):
                 frame.grid(row=motorNumber, column=moduleNumber, sticky=(N, S, E, W))
                 self.Motor_packs.append(
                     dc_motor(frame, partial(self.speedMotorSlider, motorNumber=motorNumber, moduleNumber=moduleNumber),
-                             partial(self.speedMotorEntry, motorNumber=motorNumber, moduleNumber=moduleNumber),
+                             partial(self.zeroMotorSpeed, motorNumber=motorNumber, moduleNumber=moduleNumber),
                              partial(self.javaMotorEntry, motorNumber=motorNumber, moduleNumber=moduleNumber)))
                 self.Motor_packs[-1].Motor_pack.config(
                     text='Module: ' + str(moduleNumber) + ' Motors: ' + str(motorNumber))