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tune.ts
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tune.ts
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namespace custom {
/**
* Setting function parameters.
* Настройка параметров функций и методов.
* @param startupScreen экран при старте, eg: 0
*/
//% blockId="FunctionsTune"
//% block="проверка функций||начальный экран $startupScreen"
//% expandableArgumentMode="toggle"
//% weight="99"
//% group="Дополнительно"
export function FunctionsTune(startupScreen: number = 0) {
const LOOP_DELAY = 10; // Задержка цикла
const LINE_SCROLL_TRESHOLD = 5; // Начинать скролл параметров с строки
const BTN_PRESS_LOOP_DELAY = 150; // Задержка в цикле при нажатии
const REG_COEFFICIENT_STEP_NAMES: string[] = ["Kp_step", "Ki_step", "Kd_step", "N_step"];
let paramIncrease = false, paramDecrease = false; // Переменные состояния кнопок/влево вправо при изменении параметров
// Пользовательские значения
let methodScreens: { [key: string]: { params: { [key: string]: { [key: string]: any } }, hrStrings: number[], showStepsReg: boolean } } = {
SYNC_DIST_MOVE: {
params: {
dist: {
val: 500,
changeStep: 5,
min: 0,
max: 5000
},
speed: {
val: motions.lineFollowDistanceSpeed,
changeStep: 5,
min: 5,
max: 100
},
Kp: {
val: 0.02,
changeStep: 0.01
},
Ki: {
val: 0,
changeStep: 0.001
},
Kd: {
val: 0.5,
changeStep: 0.1
},
N: {
val: 0,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [2],
},
SYNC_RAMP_DIST_MOVE: {
params: {
minSpeed: {
val: 10,
changeStep: 5,
min: -100,
max: 100
},
maxSpeed: {
val: 50,
changeStep: 5,
min: -100,
max: 100
},
totalDist: {
val: 300,
changeStep: 5,
min: 100,
max: 10000
},
accelDist: {
val: 100,
changeStep: 5,
min: 0,
max: 10000
},
decelDist: {
val: 100,
changeStep: 5,
min: 0,
max: 10000
},
Kp: {
val: 0.02,
changeStep: 0.01
},
Ki: {
val: 0,
changeStep: 0.001
},
Kd: {
val: 0.5,
changeStep: 0.1
},
N: {
val: 0,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [5],
},
LW_2S_TO_INTERSECTION: {
params: {
debug: {
val: true
},
speed: {
val: motions.lineFollowCrossIntersactionSpeed,
changeStep: 5,
min: 5,
max: 100
},
Kp: {
val: motions.lineFollowCrossIntersactionKp,
changeStep: 0.05
},
Ki: {
val: motions.lineFollowCrossIntersactionKi,
changeStep: 0.001
},
Kd: {
val: motions.lineFollowCrossIntersactionKd,
changeStep: 0.1
},
N: {
val: motions.lineFollowCrossIntersactionN,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [2],
},
LW_2S_TO_DISTANCE: {
params: {
dist: {
val: 500,
changeStep: 5,
min: 0,
max: 5000
},
debug: {
val: true
},
speed: {
val: motions.lineFollowDistanceSpeed,
changeStep: 5,
min: 5,
max: 100
},
Kp: {
val: motions.lineFollowDistanceKp,
changeStep: 0.05
},
Ki: {
val: motions.lineFollowDistanceKi,
changeStep: 0.001
},
Kd: {
val: motions.lineFollowDistanceKd,
changeStep: 0.1
},
N: {
val: motions.lineFollowDistanceN,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [3]
},
LW_TO_SIDE_INTERSECTION: {
params: {
junction: {
val: SideJunctionType.Left
},
horizLineLoc: {
val: HorizontalLineLocation.Inside
},
debug: {
val: true
},
speed: {
val: motions.lineFollowDistanceSpeed,
changeStep: 5,
min: 5,
max: 100
},
Kp: {
val: motions.lineFollowDistanceKp,
changeStep: 0.05
},
Ki: {
val: motions.lineFollowDistanceKi,
changeStep: 0.001
},
Kd: {
val: motions.lineFollowDistanceKd,
changeStep: 0.1
},
N: {
val: motions.lineFollowDistanceN,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [3]
},
CHASSIS_SPIN_TURN: {
params: {
deg: {
val: 90,
changeStep: 1,
min: -360,
max: 360
},
speed: {
val: 40,
changeStep: 5,
min: 5,
max: 100
},
base_length: {
val: chassis.getBaseLength(),
changeStep: 1,
min: 100,
max: 250
}
},
showStepsReg: false,
hrStrings: [3]
},
CHASSIS_PIVOT_TURN: {
params: {
deg: {
val: 90,
changeStep: 1,
min: -360,
max: 360
},
pivot: {
val: WheelPivot.LeftWheel,
changeStep: 1
},
speed: {
val: 40,
changeStep: 5,
min: 5,
max: 100
},
base_length: {
val: chassis.getBaseLength(),
changeStep: 1,
min: 100,
max: 250
}
},
showStepsReg: false,
hrStrings: [3]
},
SMART_SPIN_TURN: {
params: {
deg: {
val: 90,
changeStep: 1,
min: -360,
max: 360
},
debug: {
val: true
},
base_length: {
val: chassis.getBaseLength(),
changeStep: 1,
min: 100,
max: 250
},
speed: {
val: chassis.smartSpinTurnSpeed,
changeStep: 5,
min: 5,
max: 100
},
Kp: {
val: chassis.smartSpinTurnKp,
changeStep: 0.05
},
Ki: {
val: chassis.smartSpinTurnKi,
changeStep: 0.001
},
Kd: {
val: chassis.smartSpinTurnKd,
changeStep: 0.1
},
N: {
val: chassis.smartSpinTurnN,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [3]
},
SMART_PIVOT_TURN: {
params: {
deg: {
val: 90,
changeStep: 1,
min: 0,
max: 360
},
pivot: {
val: WheelPivot.LeftWheel,
changeStep: 1
},
debug: {
val: true
},
base_length: {
val: chassis.getBaseLength(),
changeStep: 1,
min: 100,
max: 250
},
speed: {
val: chassis.smartPivotTurnSpeed,
changeStep: 5,
min: 5,
max: 100
},
Kp: {
val: chassis.smartPivotTurnKp,
changeStep: 0.05
},
Ki: {
val: chassis.smartPivotTurnKi,
changeStep: 0.001
},
Kd: {
val: chassis.smartPivotTurnKd,
changeStep: 0.1
},
N: {
val: chassis.smartPivotTurnN,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [4]
},
LINE_ALIGNMET: {
params: {
location: {
val: VerticalLineLocation.Front
},
time: {
val: 2000,
changeStep: 50,
min: 100,
max: 5000
},
recalibrate: {
val: true
},
debug: {
val: true
},
maxSpeed: {
val: levelings.lineAlignmentMaxSpeed,
changeStep: 5,
min: 5,
max: 100
},
timeOut: {
val: levelings.lineAlignmentTimeOut,
changeStep: 100,
min: 100,
max: 10000
},
leftKp: {
val: levelings.lineAlignmentLeftSideKp,
changeStep: 0.05
},
rightKp: {
val: levelings.lineAlignmentRightSideKp,
changeStep: 0.05
},
leftKi: {
val: levelings.lineAlignmentLeftSideKi,
changeStep: 0.001
},
rightKi: {
val: levelings.lineAlignmentRightSideKi,
changeStep: 0.001
},
leftKd: {
val: levelings.lineAlignmentLeftSideKd,
changeStep: 0.1
},
rightKd: {
val: levelings.lineAlignmentRightSideKd,
changeStep: 0.1
},
leftN: {
val: levelings.lineAlignmentLeftSideN,
changeStep: 0.1
},
rightN: {
val: levelings.lineAlignmentRightSideN,
changeStep: 0.1
}
},
showStepsReg: true,
hrStrings: [5]
},
LINE_ALIGNMET_IN_MOTION: {
params: {
speed: {
val: 30,
changeStep: 5,
min: -100,
max: 100
},
debug: {
val: false
},
},
showStepsReg: false,
hrStrings: [2]
}
}
const screensNums = Object.keys(methodScreens).length; // Количество экранов с регуляторами
let screen = Math.constrain(startupScreen, 0, screensNums - 1);
let cursor = 0; // Крусор (выделенная строка)
let confirm = false; // Подтвержден ли курсор (строка) или нет
let scroll = 0; // Переменная хранение числа скролла
let screenChanged = false; // Переменная о смене экрана
// Защита от бага, что запуск функции по кнопке смещает курсор
// pauseUntil(() => brick.buttonUp.wasPressed() || brick.buttonDown.wasPressed() || brick.buttonLeft.wasPressed() || brick.buttonRight.wasPressed() || brick.buttonEnter.wasPressed());
// if (debug) console.log("cursor: " + cursor + ", PARAMS_VALUES[" + screen + "][" + (cursor - 1) + "]: " + PARAMS_VALUES[screen][cursor - 1]);
// Цикл обработки интерфейса
while (true) {
brick.clearScreen(); // Очищаем экран
// console.log(`cursor: ${cursor}, scroll: ${scroll}`);
const screenName = Object.keys(methodScreens)[screen];
// console.log(`screenName: ${screenName}`);
const screenParamsNum = Object.keys(methodScreens[screenName].params).length; // Количество параметров
const regSteps = methodScreens[screenName].showStepsReg ? REG_COEFFICIENT_STEP_NAMES.length : 0;
const totalStrNum = screenParamsNum + regSteps + 2; // Общее количество кликабельных строк c параметрами
// console.log(`totalStrNum: ${totalStrNum}`);
// if (debug) console.log(`screenParamsNum: ${screenParamsNum}`);
if (screenChanged) { // Экран на прошлой итеррации цикла был изменён?
if (cursor > totalStrNum) cursor = totalStrNum; // Если позиция курсора была дальше, чем общее количество строк, тогда курсор ставим на последнюю строку
screenChanged = false;
}
brick.printString(`${screen + 1}) ${screenName}`, 1); // Шапка выводится всегда
brick.showString("=============================", 2);
let strPrint = 3; // Строка печати
if (strPrint - scroll > 2) brick.showString(`${cursor == 0 ? "> " : ""} RUN TEST`, strPrint - scroll);
strPrint++;
if (strPrint - scroll > 2) brick.showString("-----------------------------", strPrint - scroll);
strPrint++;
//console.log(`strPrint: ${strPrint}, scroll: ${scroll}`);
const hrArr = methodScreens[screenName].hrStrings; // Массив разделителей
for (let i = 0; i < screenParamsNum; i++) {
if (hrArr.indexOf(i) != -1 && strPrint - scroll > 2) { // Проверяем совпадает ли индекс со строкой в массиве разделителей
brick.showString("-----------------------------", strPrint - scroll);
strPrint++;
}
if (strPrint - scroll > 2) {
const paramName = Object.keys(methodScreens[screenName].params)[i];
let paramValue = methodScreens[screenName].params[paramName].val;
if (paramName == "pivot") {
if (paramValue == 0) paramValue = "left wheel";
else paramValue = "right wheel";
brick.showString(`${cursor == i + 1 ? (confirm ? ">>> " : "> ") : ""} ${paramName}: ${paramValue}`, strPrint - scroll);
} else if (paramName == "location") {
if (paramValue == 0) paramValue = "front";
else paramValue = "behind";
brick.showString(`${cursor == i + 1 ? (confirm ? ">>> " : "> ") : ""} ${paramName}: ${paramValue}`, strPrint - scroll);
} else if (paramName == "junction") {
if (paramValue == 0) paramValue = "left cross";
else paramValue = "right cross";
brick.showString(`${cursor == i + 1 ? (confirm ? ">>> " : "> ") : ""} ${paramName}: ${paramValue}`, strPrint - scroll);
} else if (paramName == "horizLineLoc") {
if (paramValue == 0) paramValue = "inside";
else paramValue = "outside";
brick.showString(`${cursor == i + 1 ? (confirm ? ">>> " : "> ") : ""} ${paramName}: ${paramValue}`, strPrint - scroll);
} else if (paramName == "debug" || paramName == "recalibrate") brick.showString(`${cursor == i + 1 ? (confirm ? ">>> " : "> ") : ""} ${paramName}: ${paramValue}`, strPrint - scroll);
else brick.showString(`${cursor == i + 1 ? (confirm ? ">>> " : "> ") : ""} ${paramName}: ${Math.round(paramValue * 10000) / 10000}`, strPrint - scroll);
}
strPrint++;
}
if (strPrint - scroll > 2) {
brick.showString("-----------------------------", strPrint - scroll);
strPrint++;
}
if (strPrint - scroll > 2) {
brick.showString(`${cursor == screenParamsNum + 1 ? "> " : ""} RUN TEST`, strPrint - scroll);
strPrint++;
}
if (strPrint - scroll > 2) {
brick.showString("-----------------------------", strPrint - scroll);
strPrint++;
}
// Печать параметров шагов
if (regSteps > 0) {
const paramsStepOffset = screenParamsNum - 4; // Отступ от начала для параметров шагов
for (let i = 0; i < REG_COEFFICIENT_STEP_NAMES.length; i++) {
if (strPrint - scroll > 2) {
const paramName = Object.keys(methodScreens[screenName].params)[i + paramsStepOffset];
let changeStep = methodScreens[screenName].params[paramName].changeStep;
changeStep = (changeStep != undefined ? changeStep : 1);
brick.showString(`${cursor == i + screenParamsNum + 2 ? (confirm ? ">>> " : "> ") : ""} ${REG_COEFFICIENT_STEP_NAMES[i]}: ${changeStep}`, strPrint - scroll);
strPrint++;
}
}
}
// Если активно изменение
if (confirm) {
// Фиксируем о необходимости изменить параметр
if (brick.buttonLeft.isPressed()) paramDecrease = true; // Нажатие влево - уменьшаем число
else if (brick.buttonRight.isPressed()) paramIncrease = true; // Нажатие вправо - увеличиваем число
else paramDecrease = false, paramIncrease = false; // Если нажатий нет
if (paramDecrease || paramIncrease) { // Изменяем коэффициент
music.playToneInBackground(Note.C, 50); // Сигнал о переключении экрана
let paramName = Object.keys(methodScreens[screenName].params)[cursor - 1];
// console.log(`paramName: ${paramName}`);
if (paramName != undefined && paramName != "debug" && paramName != "recalibrate" && paramName != "pivot" && paramName != "junction" && paramName != "horizLineLoc") { // Параметры функции
let changeStep = methodScreens[screenName].params[paramName].changeStep;
changeStep = (changeStep != undefined ? changeStep : 0.01);
let minLimit = methodScreens[screenName].params[paramName].min;
minLimit = (minLimit != undefined ? minLimit : 0);
let maxLimit = methodScreens[screenName].params[paramName].max;
maxLimit = (maxLimit != undefined ? maxLimit : 1000);
if (paramDecrease) methodScreens[screenName].params[paramName].val -= changeStep;
else if (paramIncrease) methodScreens[screenName].params[paramName].val += changeStep;
methodScreens[screenName].params[paramName].val = Math.constrain(methodScreens[screenName].params[paramName].val, minLimit, maxLimit);
} else if (paramName == "debug" || paramName == "recalibrate") {
if (paramDecrease || paramIncrease) methodScreens[screenName].params[paramName].val = !methodScreens[screenName].params[paramName].val;
} else if (paramName == "pivot" || paramName == "junction" || paramName == "horizLineLoc") {
if (paramDecrease) methodScreens[screenName].params[paramName].val -= 1;
else if (paramIncrease) methodScreens[screenName].params[paramName].val += 1;
methodScreens[screenName].params[paramName].val = Math.constrain(methodScreens[screenName].params[paramName].val, 0, 1);
} else { // Параметры шагов
function PidParamsStep(paramName: string, deflStep: number, changeStepValue: number, minVal: number, maxVal: number) {
let changeStep = methodScreens[screenName].params[paramName].changeStep;
if (changeStep == undefined) methodScreens[screenName].params[paramName].changeStep = deflStep; // Если шаг изменения параметра не был указан, тогда установить значение, на которое будет изменяться
if (paramDecrease) methodScreens[screenName].params[paramName].changeStep -= changeStepValue; // Уменьшение
else if (paramIncrease) methodScreens[screenName].params[paramName].changeStep += changeStepValue; // Увеличение
methodScreens[screenName].params[paramName].changeStep = Math.constrain(methodScreens[screenName].params[paramName].changeStep, minVal, maxVal); // Ограничение диапазона возможного числа
}
if (cursor == screenParamsNum + 2) PidParamsStep("Kp", 0.01, 0.001, 0.001, 1);
else if (cursor == screenParamsNum + 3) PidParamsStep("Ki", 0.001, 0.0001, 0.0001, 100);
else if (cursor == screenParamsNum + 4) PidParamsStep("Kd", 0.01, 0.001, 0.001, 100);
else if (cursor == screenParamsNum + 5) PidParamsStep("N", 0.01, 0.001, 0.001, 100);
}
loops.pause(BTN_PRESS_LOOP_DELAY);
continue;
}
} else { // Если изменение не активно
if (brick.buttonLeft.wasPressed() && control.timer1.millis() >= 100) {
screenChanged = true;
if (screen > 0) screen--;
else screen = screensNums - 1;
music.playToneInBackground(Note.C, 50); // Сигнал о переключении экрана
} else if (brick.buttonRight.wasPressed() && control.timer1.millis() >= 100) {
screenChanged = true;
if (screen < screensNums - 1) screen++;
else screen = 0;
music.playToneInBackground(Note.C, 50); // Сигнал о переключении экрана
}
}
// Обрабатываем нажатия
if (brick.buttonUp.wasPressed()) { // Если нажали кнопку вверх
if (confirm) confirm = !confirm; // Если изменение было активно, тогда отключаем подтверждение изменения
if (cursor > 0) { // Изменить курсор, если значение больше первой строке с числом на экране
cursor--;
if (cursor >= LINE_SCROLL_TRESHOLD) scroll--;
else scroll = 0;
} else { // Иначе ставим курсор в конец и устанавливаем скролл на последнюю строку
cursor = totalStrNum - 1;
scroll = screenParamsNum + 1;
}
music.playToneInBackground(Note.F, 50); // Сигнал
} else if (brick.buttonDown.wasPressed()) { // Если нажали кнопку вниз
if (confirm) confirm = !confirm; // Если изменение было активно, тогда отключаем подтверждение изменения
if (cursor < totalStrNum - 1) { // Изменить курсор, если значение меньше количеству строк с значениями на экране
cursor++;
if (cursor >= LINE_SCROLL_TRESHOLD) scroll++;
else scroll = 0;
} else { // Иначе ставим курсор в начало и убираем скролл
cursor = 0;
scroll = 0;
}
music.playToneInBackground(Note.F, 50); // Сигнал
}
// Обрабатываем нажатие ENTER
if (brick.buttonEnter.wasPressed()) {
if (cursor == 0 || cursor == screenParamsNum + 1) { // Нажали на строку RUN TEST?
music.playToneInBackground(Note.D, 100); // Сигнал, что было запущено
brick.clearScreen();
// Запускаем выполнение теста
if (screenName == "SYNC_DIST_MOVE") {
const dist = methodScreens[screenName].params.dist.val;
const speed = methodScreens[screenName].params.speed.val;
const params = {
speed: methodScreens[screenName].params.speed.val,
Kp: methodScreens[screenName].params.Kp.val,
Ki: methodScreens[screenName].params.Ki.val,
Kd: methodScreens[screenName].params.Kd.val,
N: methodScreens[screenName].params.N.val
};
chassis.setSyncRegulatorGains(params.Kp, params.Ki, params.Kd);
chassis.LinearDistMove(dist, speed, Braking.Hold);
} else if (screenName == "SYNC_RAMP_DIST_MOVE") {
const minSpeed = methodScreens[screenName].params.minSpeed.val;
const maxSpeed = methodScreens[screenName].params.maxSpeed.val;
const totalDist = methodScreens[screenName].params.totalDist.val;
const accelDist = methodScreens[screenName].params.accelDist.val;
const decelDist = methodScreens[screenName].params.totalDist.val;
const params = {
Kp: methodScreens[screenName].params.Kp.val,
Ki: methodScreens[screenName].params.Ki.val,
Kd: methodScreens[screenName].params.Kd.val,
N: methodScreens[screenName].params.N.val
};
chassis.setSyncRegulatorGains(params.Kp, params.Ki, params.Kd);
chassis.RampLinearDistMove(minSpeed, maxSpeed, totalDist, accelDist, decelDist);
} else if (screenName == "LW_2S_TO_INTERSECTION") {
const debug = methodScreens[screenName].params.debug.val;
const params = {
speed: methodScreens[screenName].params.speed.val,
Kp: methodScreens[screenName].params.Kp.val,
Ki: methodScreens[screenName].params.Ki.val,
Kd: methodScreens[screenName].params.Kd.val,
N: methodScreens[screenName].params.N.val
};
motions.LineFollowToCrossIntersection(AfterMotion.BreakStop, params, debug);
} else if (screenName == "LW_2S_TO_DISTANCE") {
const dist = methodScreens[screenName].params.dist.val;
const debug = methodScreens[screenName].params.debug.val;
const params = {
speed: methodScreens[screenName].params.speed.val,
Kp: methodScreens[screenName].params.Kp.val,
Ki: methodScreens[screenName].params.Ki.val,
Kd: methodScreens[screenName].params.Kd.val,
N: methodScreens[screenName].params.N.val
};
motions.LineFollowToDistance(dist, AfterMotion.BreakStop, params, debug);
} else if (screenName == "LW_TO_SIDE_INTERSECTION") {
const junction = methodScreens[screenName].params.junction.val;
const lineLocation = methodScreens[screenName].params.lineLocation.val;
const debug = methodScreens[screenName].params.debug.val;
const params = {
speed: methodScreens[screenName].params.speed.val,
Kp: methodScreens[screenName].params.Kp.val,
Ki: methodScreens[screenName].params.Ki.val,
Kd: methodScreens[screenName].params.Kd.val,
N: methodScreens[screenName].params.N.val
};
motions.LineFollowToSideIntersection(junction, lineLocation, AfterMotion.BreakStop, params, debug);
} else if (screenName == "CHASSIS_SPIN_TURN") {
const deg = methodScreens[screenName].params.deg.val;
const speed = methodScreens[screenName].params.speed.val;
const baseLength = methodScreens[screenName].params.base_length.val;
chassis.setBaseLength(baseLength);
chassis.spinTurn(deg, speed);
} else if (screenName == "CHASSIS_PIVOT_TURN") {
const deg = methodScreens[screenName].params.deg.val;
const pivot = methodScreens[screenName].params.pivot.val;
const speed = methodScreens[screenName].params.speed.val;
const debug = methodScreens[screenName].params.debug.val;
const baseLength = methodScreens[screenName].params.base_length.val;
chassis.setBaseLength(baseLength);
chassis.pivotTurn(deg, speed, pivot);
} else if (screenName == "SMART_SPIN_TURN") {
const deg = methodScreens[screenName].params.deg.val;
const debug = methodScreens[screenName].params.debug.val;
const baseLength = methodScreens[screenName].params.base_length.val;
chassis.setBaseLength(baseLength);
const params = {
speed: methodScreens[screenName].params.speed.val,
Kp: methodScreens[screenName].params.Kp.val,
Ki: methodScreens[screenName].params.Ki.val,
Kd: methodScreens[screenName].params.Kd.val,
N: methodScreens[screenName].params.N.val
};
chassis.SmartSpinTurn(deg, params, debug);
} else if (screenName == "SMART_PIVOT_TURN") {
const deg = methodScreens[screenName].params.deg.val;
const pivot = methodScreens[screenName].params.pivot.val;
const debug = methodScreens[screenName].params.debug.val;
const baseLength = methodScreens[screenName].params.base_length.val;
chassis.setBaseLength(baseLength);
const params = {
speed: methodScreens[screenName].params.speed.val,
Kp: methodScreens[screenName].params.Kp.val,
Ki: methodScreens[screenName].params.Ki.val,
Kd: methodScreens[screenName].params.Kd.val,
N: methodScreens[screenName].params.N.val
};
chassis.SmartPivotTurn(deg, pivot, params, debug);
} else if (screenName == "LINE_ALIGNMET") {
const lineLocation = methodScreens[screenName].params.location.val;
const time = methodScreens[screenName].params.time.val;
const recalibrate = methodScreens[screenName].params.recalibrate.val;
const debug = methodScreens[screenName].params.debug.val;
const params = {
maxSpeed: methodScreens[screenName].params.maxSpeed.val,
timeOut: methodScreens[screenName].params.timeOut.val,
leftKp: methodScreens[screenName].params.leftKp.val,
rightKp: methodScreens[screenName].params.rightKp.val,
leftKi: methodScreens[screenName].params.leftKi.val,
rightKi: methodScreens[screenName].params.rightKi.val,
leftKd: methodScreens[screenName].params.leftKd.val,
rightKd: methodScreens[screenName].params.rightKd.val,
leftN: methodScreens[screenName].params.leftN.val,
rightN: methodScreens[screenName].params.rightN.val
};
levelings.LineAlignment(lineLocation, time, recalibrate, params, debug);
} else if (screenName == "LINE_ALIGNMET_IN_MOTION") {
const speed = methodScreens[screenName].params.speed.val;
const debug = methodScreens[screenName].params.debug.val;
levelings.LineAlignmentInMotion(speed, AfterMotionShort.BreakStop, debug)
}
} else { // Если нажали на обычную строку с параметром, то подтверждаем для возможности его изменения
music.playToneInBackground(Note.F, 50); // Сигнал
if (confirm) control.timer1.reset(); // Костыль от переключения экрана после изменения коэффициента и применения
confirm = !confirm; // Измение состояния выбора
continue;
}
}
loops.pause(LOOP_DELAY);
}
}
}