mtsPIDQtWidget: display desired effort values

jhu-saw · Dec 9, 2015 · 643318a · 643318a
1 parent b145e84
commit 643318a
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Showing 2 changed files with 22 additions and 12 deletions.
diff --git a/code/Qt/mtsPIDQtWidget.cpp b/code/Qt/mtsPIDQtWidget.cpp
@@ -281,6 +281,7 @@ void mtsPIDQtWidget::timerEvent(QTimerEvent * CMN_UNUSED(event))
     // display requested joint positions when we are not trying to set it using GUI
     if (!DirectControl) {
         QVWDesiredPositionWidget->SetValue(PID.StateJointDesired.Position());
+        QVWDesiredEffortWidget->SetValue(PID.StateJointDesired.Effort());
     }
 
     // plot
@@ -308,6 +309,7 @@ void mtsPIDQtWidget::setupUi(void)
     const double maximum = 30000;
 
     QGridLayout * gridLayout = new QGridLayout();
+    gridLayout->setSpacing(1);
 
     int row = 0;
     QLabel * currentPosLabel = new QLabel("Current position (deg)");
@@ -322,12 +324,27 @@ void mtsPIDQtWidget::setupUi(void)
     desiredPosLabel->setAlignment(Qt::AlignRight);
     gridLayout->addWidget(desiredPosLabel, row, 0);
     QVWDesiredPositionWidget = new vctQtWidgetDynamicVectorDoubleWrite(vctQtWidgetDynamicVectorDoubleWrite::SPINBOX_WIDGET);
-    // DesiredPositionWidget->SetDecimals(2);
     QVWDesiredPositionWidget->SetStep(0.1);
     QVWDesiredPositionWidget->SetRange(-360.0, 360.0);
     gridLayout->addWidget(QVWDesiredPositionWidget, row, 1);
     row++;
 
+    QLabel * currentEffortLabel = new QLabel("Current effort (Nm)");
+    currentEffortLabel->setAlignment(Qt::AlignRight);
+    gridLayout->addWidget(currentEffortLabel, row, 0);
+    QVRCurrentEffortWidget = new vctQtWidgetDynamicVectorDoubleRead();
+    QVRCurrentEffortWidget->SetPrecision(3);
+    gridLayout->addWidget(QVRCurrentEffortWidget, row, 1);
+    row++;
+
+    QLabel * desiredEffortLabel = new QLabel("Desired effort (Nm)");
+    desiredEffortLabel->setAlignment(Qt::AlignRight);
+    gridLayout->addWidget(desiredEffortLabel, row, 0);
+    QVWDesiredEffortWidget = new vctQtWidgetDynamicVectorDoubleRead();
+    QVWDesiredEffortWidget->SetPrecision(3);
+    gridLayout->addWidget(QVWDesiredEffortWidget, row, 1);
+    row++;
+
     QLabel * pLabel = new QLabel("PGain");
     pLabel->setAlignment(Qt::AlignRight);
     gridLayout->addWidget(pLabel);
@@ -358,14 +375,6 @@ void mtsPIDQtWidget::setupUi(void)
     gridLayout->addWidget(QVWIGainWidget, row, 1);
     row++;
 
-    QLabel * currentEffortLabel = new QLabel("Current effort (Nm)");
-    currentEffortLabel->setAlignment(Qt::AlignRight);
-    gridLayout->addWidget(currentEffortLabel, row, 0);
-    QVRCurrentEffortWidget = new vctQtWidgetDynamicVectorDoubleRead();
-    QVRCurrentEffortWidget->SetPrecision(5);
-    gridLayout->addWidget(QVRCurrentEffortWidget, row, 1);
-    row++;
-
     // plot
     QHBoxLayout * plotLayout = new QHBoxLayout;
     // plot control

diff --git a/include/sawControllers/mtsPIDQtWidget.h b/include/sawControllers/mtsPIDQtWidget.h
@@ -5,7 +5,7 @@
   Author(s):  Zihan Chen, Anton Deguet
   Created on: 2013-02-20
 
-  (C) Copyright 2013-2014 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2013-2015 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -129,11 +129,12 @@ private slots:
     QPushButton * QPBZeroPosition;
     QPushButton * QPBResetPIDGain;
     vctQtWidgetDynamicVectorDoubleWrite * QVWDesiredPositionWidget;
+    vctQtWidgetDynamicVectorDoubleRead * QVRCurrentPositionWidget;
+    vctQtWidgetDynamicVectorDoubleRead * QVWDesiredEffortWidget;
+    vctQtWidgetDynamicVectorDoubleRead * QVRCurrentEffortWidget;
     vctQtWidgetDynamicVectorDoubleWrite * QVWPGainWidget;
     vctQtWidgetDynamicVectorDoubleWrite * QVWDGainWidget;
     vctQtWidgetDynamicVectorDoubleWrite * QVWIGainWidget;
-    vctQtWidgetDynamicVectorDoubleRead * QVRCurrentPositionWidget;
-    vctQtWidgetDynamicVectorDoubleRead * QVRCurrentEffortWidget;
 
     // GUI: plot
     vctPlot2DOpenGLQtWidget * QVPlot;