Drone-Simulation-Gazebo/pid_lib.py at main · its-kundan/Drone-Simulation-Gazebo · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
#!/usr/bin/env python3

import tkinter as tk
from tkinter import Scale

import rospy
from pid_tune.msg import PidTune


class Pid_dim:
    def __init__(self, title, topic_name, queue_size):
        self.pub_pid = rospy.Publisher(topic_name, PidTune, queue_size=queue_size)
        self.pid_params = PidTune()

        self.root = tk.Tk()
        self.root.title(title)
        self.root.attributes("-topmost", True)
        self.root.geometry("250x210")

        self.scale = Scale(
            self.root,
            orient="horizontal",
            from_=0,
            to=5000,
            command=self.set_value,
            label="Kp",
            width="20",
            length="300",
            troughcolor="red",
            sliderlength="15",
        )
        self.scale1 = Scale(
            self.root,
            orient="horizontal",
            from_=0,
            to=1000,
            command=self.set_value,
            label="Ki",
            width="20",
            length="300",
            troughcolor="green",
            sliderlength="15",
        )
        self.scale2 = Scale(
            self.root,
            orient="horizontal",
            from_=0,
            to=5000,
            command=self.set_value,
            label="Kd",
            width="20",
            length="300",
            troughcolor="blue",
            sliderlength="15",
        )

        self.scale.pack()
        self.scale1.pack()
        self.scale2.pack()

    def set_value(self, event):

        self.pid_params.Kp = self.scale.get()
        self.pid_params.Ki = self.scale1.get()
        self.pid_params.Kd = self.scale2.get()
        self.pub_pid.publish(self.pid_params)