Small changes to the CS1 GUI

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h

@@ -106,10 +106,10 @@ private slots:
     void newDataForPerformingStepAndPlotting(float x);
     void analyseStepResponse();
 
-    //void on_lineEdit_k_returnPressed();
-    //void on_lineEdit_T_returnPressed();
-    //void on_lineEdit_alpha_returnPressed();
-    //void on_lineEdit_step_size_returnPressed();
+    void on_lineEdit_k_returnPressed();
+    void on_lineEdit_T_returnPressed();
+    void on_lineEdit_alpha_returnPressed();
+    void on_lineEdit_step_size_returnPressed();
 
     void on_set_controller_parameters_button_clicked();
 
@@ -152,7 +152,7 @@ private:
     // > Time (as a float) for the horizontal axis
     float m_time_for_step = 0.0f;
     // > The duration for which to record the step
-    float m_step_response_data_recording_duration = 10.0f;
+    float m_step_response_data_recording_duration = 20.0f;
     // > Line Series for the data
     QLineSeries *m_lineSeries_for_setpoint_x;
     QLineSeries *m_lineSeries_for_measured_x;

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp

@@ -216,17 +216,17 @@ void CsoneControllerTab::on_set_controller_parameters_button_clicked()
         if (k < 0.0)
         {
             k = 0.0;
-            ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 3));
+            ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 4));
         }
         else if (T > 100.0)
         {
             k = 100.0;
-            ui->lineEdit_T->setText(qstr + QString::number( k, 'f', 3));
+            ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 4));
         }
     }
     else
     {
-        ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 3));
+        ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 4));
     }
 
     // > For T
@@ -237,17 +237,17 @@ void CsoneControllerTab::on_set_controller_parameters_button_clicked()
         if (T < 0.0)
         {
             T = 0.0;
-            ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 3));
+            ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 1));
         }
         else if (T > 100.0)
         {
             T = 100.0;
-            ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 3));
+            ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 1));
         }
     }
     else
     {
-        ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 3));
+        ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 1));
     }
 
     // > For T
@@ -258,17 +258,17 @@ void CsoneControllerTab::on_set_controller_parameters_button_clicked()
         if (alpha < 0.0)
         {
             alpha = 0.0;
-            ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 3));
+            ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 2));
         }
         else if (T > 100.0)
         {
             T = 100.0;
-            ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 3));
+            ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 2));
         }
     }
     else
     {
-        ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 3));
+        ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 2));
     }
 
     // Call the function to publish the setpoint
@@ -294,7 +294,7 @@ void CsoneControllerTab::publishControllerParamters(float k, float T, float alph
     this->requestControllerParamterChangePublisher.publish(msg);
 
     // Inform the user about the change
-    ROS_INFO_STREAM("[CSONE CONTROLLER GUI] Published request for setpoint change to: [" << k << ", "<< T << ", "<< alpha << "]");
+    ROS_INFO_STREAM("[CSONE CONTROLLER GUI] Published request for new controller parameters (k,T,alpha) =  (" << k << ", "<< T << ", "<< alpha << ")");
 #else
     // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
     QTextStream(stdout) << "[CSONE CONTROLLER GUI] would publish request for: [" << k << ", "<< T << ", "<< alpha << "]";
@@ -303,25 +303,25 @@ void CsoneControllerTab::publishControllerParamters(float k, float T, float alph
 
 
 
-//void CsoneControllerTab::on_lineEdit_k_returnPressed()
-//{
-//    ui->set_setpoint_button->animateClick();
-//}
+void CsoneControllerTab::on_lineEdit_k_returnPressed()
+{
+    ui->set_controller_parameters_button->animateClick();
+}
 
-//void CsoneControllerTab::on_lineEdit_T_returnPressed()
-//{
-//    ui->set_setpoint_button->animateClick();
-//}
+void CsoneControllerTab::on_lineEdit_T_returnPressed()
+{
+    ui->set_controller_parameters_button->animateClick();
+}
 
-//void CsoneControllerTab::on_lineEdit_alpha_returnPressed()
-//{
-//    ui->set_setpoint_button->animateClick();
-//}
+void CsoneControllerTab::on_lineEdit_alpha_returnPressed()
+{
+    ui->set_controller_parameters_button->animateClick();
+}
 
-//void CsoneControllerTab::on_lineEdit_step_size_returnPressed()
-//{
-//    ui->set_setpoint_button->animateClick();
-//}
+void CsoneControllerTab::on_lineEdit_step_size_returnPressed()
+{
+    ui->set_controller_parameters_button->animateClick();
+}