pid_tuner.hpp

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#pragma once
#include <array>
 
#include "LightLib/lib.hpp"
#include "light/lvgl.h"
 
namespace light {
 
enum PidType { PID_DRIVE = 0, 
               PID_TURN,      
               PID_SWING,     
               PID_HEADING,   
               PID_EKF,       
               PID_COUNT };   
 
enum ConstSlot { KP = 0,      
                 KI,          
                 KD,          
                 START_I,     
                 CONST_COUNT };
 
struct PidConstants {
  double val[CONST_COUNT] = {0, 0, 0, 0};
};
 
class PidTuner {
 public:
  void set_drive(light::Drive* drive);
 
  void start_task();
 
  void open();
 
  void close();
 
  bool is_open() const { return screen_ != nullptr && lv_scr_act() == screen_; }
 
  light::Drive* get_drive() const { return drive_; }
 
 private:
  light::Drive* drive_ = nullptr;
  lv_obj_t* screen_ = nullptr;
  lv_obj_t* chart_ = nullptr;
  lv_chart_series_t* ser_left_ = nullptr;
  lv_chart_series_t* ser_right_ = nullptr;
  lv_chart_series_t* ser_err_ = nullptr;
  lv_obj_t* tab_btns_[PID_COUNT] = {};
  lv_obj_t* val_labels_[CONST_COUNT] = {};
  lv_obj_t* name_labels_[CONST_COUNT] = {};
  PidType active_pid_ = PID_DRIVE;
  PidConstants constants_[PID_COUNT];
  bool recording_ = false;
  pros::Task* sample_task_ = nullptr;
  double chart_y_max_ = 1.0;
  double chart_y_min_ = -1.0;
  // Last bounds we actually pushed to LVGL — guards against per-sample
  // lv_chart_set_range when nothing changed.
  double last_chart_y_max_ = 0.0;
  double last_chart_y_min_ = 0.0;
 
  void build_ui();
  void select_pid(PidType t);
  void refresh_value_labels();
  void apply_constants();
  void push_sample();
 
  static void sample_task_fn(void* param);
  static void tab_cb(lv_event_t* e);
  static void inc_cb(lv_event_t* e);
  static void dec_cb(lv_event_t* e);
  static void apply_cb(lv_event_t* e);
  static void back_cb(lv_event_t* e);
  static void record_cb(lv_event_t* e);
};
 
extern PidTuner pid_tuner;
 
}  // namespace light