public PIDSample(Autopilot.PID pid)
{
p = pid.p;
i = pid.i;
d = pid.d;
total = pid.outputValue;
}
private void DrawContent(int windowID)
{
GUILayout.BeginVertical();
GUI.DragWindow(new Rect(0, 0, 10000, 20));
if (GUILayout.Button(modeStrings[displayMode]))
{
watchPID = null;
displayMode = (displayMode + 1) % 3;
}
GUILayout.Box(drawTexture);
GUILayout.BeginHorizontal();
GUILayout.Label("P", GUILayout.MaxWidth(30));
pString = GUILayout.TextField(pString);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("I", GUILayout.MaxWidth(30));
iString = GUILayout.TextField(iString);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("D", GUILayout.MaxWidth(30));
dString = GUILayout.TextField(dString);
GUILayout.EndHorizontal();
if (GUILayout.Button("Save"))
{
SavePIDs();
}
GUILayout.EndVertical();
}
public void SetPID(Autopilot.PID pid)
{
if (watchPID == null)
{
watchPID = pid;
pString = pid.kP.ToString();
iString = pid.kI.ToString();
dString = pid.kD.ToString();
}
}