PID Panel (#491)

Closes #443.

Co-authored-by: Nathanael Ren <[email protected]>
Co-authored-by: Mathew Chu <[email protected]>
Co-authored-by: Maxwell Lin <[email protected]>
Co-authored-by: Raul Galvez <[email protected]>
Co-authored-by: nathan <[email protected]>
Co-authored-by: viethungle-vt1401 <[email protected]>

core/catkin_ws/src/custom_msgs/CMakeLists.txt

@@ -22,6 +22,8 @@ add_message_files(
   SimObjectArray.msg
   RemoteLaunchInfo.msg
   RunningNode.msg
+  PIDGain.msg
+  PIDGains.msg
 )
 
 add_service_files(
@@ -33,6 +35,7 @@ add_service_files(
   StartLaunch.srv
   StopLaunch.srv
   GetRunningNodes.srv
+  SetPIDGains.srv
 )
 
 add_action_files(

core/catkin_ws/src/custom_msgs/msg/PIDGain.msg

@@ -0,0 +1,19 @@
+uint8 LOOP_POSITION = 0
+uint8 LOOP_VELOCITY = 1
+uint8 loop
+
+uint8 AXIS_X = 0
+uint8 AXIS_Y = 1
+uint8 AXIS_Z = 2
+uint8 AXIS_ROLL = 3
+uint8 AXIS_PITCH = 4
+uint8 AXIS_YAW = 5
+uint8 axis
+
+uint8 GAIN_KP = 0
+uint8 GAIN_KI = 1
+uint8 GAIN_KD = 2
+uint8 GAIN_FF = 3
+uint8 gain
+
+float64 value

core/catkin_ws/src/custom_msgs/msg/PIDGains.msg

@@ -0,0 +1 @@
+custom_msgs/PIDGain[] pid_gains

core/catkin_ws/src/custom_msgs/srv/SetPIDGains.srv

@@ -0,0 +1,4 @@
+custom_msgs/PIDGain[] pid_gains
+---
+bool success
+string message

foxglove/README.md

@@ -91,6 +91,7 @@ ws://<hostname or IP of onboard container>:8765
 - `sensors-status-panel`: Panel that displays the connected/disconnected status of Oogway's sensors
 - `thruster-speeds-panel`: Panel that displays the current thruster speeds and publishes desired thruster speeds
 - `toggle-joystick-panel`: Panel to toggle joystick control on/off, as well as publish transformed joystick inputs as a desired power
+- `pid-panel`: Panel to read/set PID gains
 
 ### Layouts
 - `controls-monitor.json`: 6 graphs for each control axis (x, y, z, roll, pitch, yaw) plotting setpoint and control effort against time. Used to test responsiveness of robot during PID tuning.

foxglove/extensions/pid-panel/README.md

@@ -0,0 +1,16 @@
+# PID Panel
+This is a panel to read/set PID gains.
+
+## Usage
+Use the tabs to switch between the two PID loop types (Position/Velocity).
+Each field in the table corresponds to a PID gain that is classified by the row (axis) and column (gain type).
+
+By default, each field displays its current PID value. If a field is clicked on, the value stops updating and the field becomes highlighted in red, indicating that it has been edited, and users may enter a new desired value.
+Users may propose new values for multiple gains before clicking "Submit" which then updates all of the edited PID gains.
+
+If users would like to cancel their changes, they can click "Reset" to revert all edited fields back to their read state.
+
+## Configuration
+The following constants can be modified:
+- `PID_TOPIC`: The topic where the current PID gains are published.
+- `PID_SERVICE`: The service which handles setting new PID gains.

foxglove/extensions/pid-panel/package.json

@@ -0,0 +1,19 @@
+{
+  "name": "@duke-robotics/pid-panel",
+  "publisher": "Duke Robotics",
+  "version": "0.0.0",
+  "main": "./dist/extension.js",
+  "scripts": {
+    "build": "foxglove-extension build",
+    "foxglove:prepublish": "foxglove-extension build --mode production",
+    "lint:ci": "eslint --report-unused-disable-directives .",
+    "lint": "eslint --report-unused-disable-directives --fix .",
+    "local-install": "foxglove-extension install",
+    "watch:local-install": "nodemon --watch './src/**' -e ts,tsx --exec 'npm run local-install'",
+    "package": "foxglove-extension package",
+    "pretest": "foxglove-extension pretest"
+  },
+  "dependencies": {
+    "@textea/json-viewer": "^3.2.2"
+  }
+}