public void SetLimit(double newLimit, AsstList controller)
{
Asst_PID_Controller c = controller.GetAsst(this);
c.outMax = Math.Abs(newLimit);
c.outMin = -Math.Abs(newLimit);
}
private void drawPIDvalues(AsstList controllerid, string inputName, string inputUnits, double inputValue, int displayPrecision, string outputName, string outputUnits, bool showTarget = true)
{
Asst_PID_Controller controller = controllerid.GetAsst(this);
controller.bShow = GUILayout.Toggle(controller.bShow, string.Format("{0}: {1}{2}", inputName, inputValue.ToString("N" + displayPrecision.ToString()), inputUnits), GeneralUI.UISkin.customStyles[(int)myStyles.btnToggle], GUILayout.Width(200));
if (controller.bShow)
{
if (showTarget)
{
switch (controllerid)
{
case AsstList.Speed:
case AsstList.Acceleration:
GUILayout.Label("Target: " + (controller.target_setpoint * Utils.speedUnitTransform(units, Vessel.speedOfSound)).ToString("N" + displayPrecision.ToString()) + inputUnits, GUILayout.Width(200));
break;
default:
GUILayout.Label("Target: " + controller.target_setpoint.ToString("N" + displayPrecision.ToString()) + inputUnits, GUILayout.Width(200));
break;
}
}
GUILayout.BeginHorizontal();
GUILayout.BeginVertical();
controller.k_proportional = GeneralUI.labPlusNumBox(GeneralUI.KpLabel, controller.k_proportional.ToString("G3"), 45);
controller.k_integral = GeneralUI.labPlusNumBox(GeneralUI.KiLabel, controller.k_integral.ToString("G3"), 45);
controller.k_derivative = GeneralUI.labPlusNumBox(GeneralUI.KdLabel, controller.k_derivative.ToString("G3"), 45);
controller.Scalar = GeneralUI.labPlusNumBox(GeneralUI.ScalarLabel, controller.Scalar.ToString("G3"), 45);
if (showPIDLimits)
{
GUILayout.EndVertical();
GUILayout.BeginVertical();
controller.outMax = GeneralUI.labPlusNumBox(new GUIContent(string.Format("Max {0}{1}:", outputName, outputUnits), OutMaxTooltip), controller.outMax.ToString("G3"));
if (doublesided)
{
controller.outMin = GeneralUI.labPlusNumBox(new GUIContent(string.Format("Min {0}{1}:", outputName, outputUnits), OutMinTooltip), controller.outMin.ToString("G3"));
controller.integralClampLower = GeneralUI.labPlusNumBox(GeneralUI.IMinLabel, controller.integralClampLower.ToString("G3"));
}
else
{
controller.outMin = -controller.outMax;
controller.integralClampLower = -controller.integralClampUpper;
}
controller.integralClampUpper = GeneralUI.labPlusNumBox(GeneralUI.IMaxLabel, controller.integralClampUpper.ToString("G3"));
controller.Easing = GeneralUI.labPlusNumBox(GeneralUI.EasingLabel, controller.Easing.ToString("G3"));
}
GUILayout.EndVertical();
GUILayout.EndHorizontal();
}
}
public double GetLimit(AsstList controller)
{
return controller.GetAsst(this).outMax;
}
private void drawPIDvalues(AsstList controllerid, string inputName, string inputUnits, double inputValue, int displayPrecision, string outputName, string outputUnits, bool invertOutput = false, bool showTarget = true)
{
AsstController controller = controllerid.GetAsst(this);
controller.bShow = GUILayout.Toggle(controller.bShow, string.Format("{0}: {1}{2}", inputName, inputValue.ToString("N" + displayPrecision.ToString()), inputUnits), GeneralUI.UISkin.customStyles[(int)myStyles.btnToggle], GUILayout.Width(200));
if (controller.bShow)
{
if (showTarget)
{
switch (controllerid)
{
case AsstList.Speed:
case AsstList.Acceleration:
GUILayout.Label("Target: " + (controller.SetPoint * Utils.speedUnitTransform(units, vesModule.vesselRef.speedOfSound)).ToString("N" + displayPrecision.ToString()) + inputUnits, GUILayout.Width(200));
break;
default:
GUILayout.Label("Target: " + controller.SetPoint.ToString("N" + displayPrecision.ToString()) + inputUnits, GUILayout.Width(200));
break;
}
}
GUILayout.BeginHorizontal();
GUILayout.BeginVertical();
controller.PGain = GeneralUI.labPlusNumBox(GeneralUI.KpLabel, controller.PGain.ToString("G3"), 45);
controller.IGain = GeneralUI.labPlusNumBox(GeneralUI.KiLabel, controller.IGain.ToString("G3"), 45);
controller.DGain = GeneralUI.labPlusNumBox(GeneralUI.KdLabel, controller.DGain.ToString("G3"), 45);
controller.Scalar = GeneralUI.labPlusNumBox(GeneralUI.ScalarLabel, controller.Scalar.ToString("G3"), 45);
if (showPIDLimits)
{
GUILayout.EndVertical();
GUILayout.BeginVertical();
if (!invertOutput)
{
controller.OutMax = GeneralUI.labPlusNumBox(new GUIContent(string.Format("Max {0}{1}:", outputName, outputUnits), OutMaxTooltip), controller.OutMax.ToString("G3"));
if (doublesided)
controller.OutMin = GeneralUI.labPlusNumBox(new GUIContent(string.Format("Min {0}{1}:", outputName, outputUnits), OutMinTooltip), controller.OutMin.ToString("G3"));
else
controller.OutMin = -controller.OutMax;
if (doublesided)
controller.ClampLower = GeneralUI.labPlusNumBox(GeneralUI.IMinLabel, controller.ClampLower.ToString("G3"));
else
controller.ClampLower = -controller.ClampUpper;
controller.ClampUpper = GeneralUI.labPlusNumBox(GeneralUI.IMaxLabel, controller.ClampUpper.ToString("G3"));
controller.Easing = GeneralUI.labPlusNumBox(GeneralUI.EasingLabel, controller.Easing.ToString("G3"));
}
else
{ // used when response * -1 is used to get the correct output
controller.OutMin = -1 * GeneralUI.labPlusNumBox(new GUIContent(string.Format("Max {0}{1}:", outputName, outputUnits), OutMaxTooltip), (-controller.OutMin).ToString("G3"));
if (doublesided)
controller.OutMax = -1 * GeneralUI.labPlusNumBox(new GUIContent(string.Format("Min {0}{1}:", outputName, outputUnits), OutMinTooltip), (-controller.OutMax).ToString("G3"));
else
controller.OutMax = -controller.OutMin;
if (doublesided)
controller.ClampUpper = -1 * GeneralUI.labPlusNumBox(GeneralUI.IMinLabel, (-controller.ClampUpper).ToString("G3"));
else
controller.ClampUpper = -controller.ClampLower;
controller.ClampLower = -1 * GeneralUI.labPlusNumBox(GeneralUI.IMaxLabel, (-controller.ClampLower).ToString("G3"));
controller.Easing = GeneralUI.labPlusNumBox(GeneralUI.EasingLabel, controller.Easing.ToString("G3"));
}
}
GUILayout.EndVertical();
GUILayout.EndHorizontal();
}
}
