Fix issue saving PID values

SouthEugeneRoboticsTeam · Jul 4, 2024 · 8870b47 · 8870b47
1 parent 525acb0
commit 8870b47
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Showing 3 changed files with 32 additions and 14 deletions.
diff --git a/lib/domain/connection.dart b/lib/domain/connection.dart
@@ -95,7 +95,9 @@ class ConnectionManager {
 
     try {
       socket?.send(message, robotAddress, robotPort);
-      DesiredStateModel().saveRecallState = 1;
+
+      // Reset to recall state after sending a message
+      DesiredStateModel().setSaveRecallState(SaveRecallState.recall);
     } catch (e) {
       print('Could not send data, ensure robot is connected');
     }

diff --git a/lib/domain/dtos/command_message.dart b/lib/domain/dtos/command_message.dart
@@ -3,6 +3,16 @@ import 'dart:typed_data';
 import '../../models/config_model.dart';
 import '../../models/desired_state_model.dart';
 
+enum SaveRecallState {
+  none(0),
+  recall(1),
+  save(2);
+
+  const SaveRecallState(this.value);
+
+  final int value;
+}
+
 double remap(
   double value,
   double low1,
@@ -25,7 +35,7 @@ class CommandMessage {
   double speedP = 0;
   double speedI = 0;
   double speedD = 0;
-  int saveRecallState = 1;
+  int saveRecallState = SaveRecallState.recall.value;
 
   int speed = 0;
   int turn = 0;
@@ -83,8 +93,11 @@ class CommandMessage {
       commandMessage.saveRecallState = object.saveRecallState;
     } else if (object is DesiredStateModel) {
       commandMessage.enabled = object.enabled;
-      commandMessage.speed = remap(object.speed * (config?.speedScalar ?? 1), -1, 1, 0, 200).round();
-      commandMessage.turn = remap(object.turn * (config?.turnScalar ?? 1), -1, 1, 0, 200).round();
+      commandMessage.speed =
+          remap(object.speed * (config?.speedScalar ?? 1), -1, 1, 0, 200)
+              .round();
+      commandMessage.turn =
+          remap(object.turn * (config?.turnScalar ?? 1), -1, 1, 0, 200).round();
       commandMessage.auxiliary = object.auxiliary;
       commandMessage.advanced = object.advanced;
       commandMessage.angleP = object.angleP;

diff --git a/lib/models/desired_state_model.dart b/lib/models/desired_state_model.dart
@@ -1,6 +1,8 @@
 import 'package:flutter/material.dart';
 import 'package:flutter_joystick/flutter_joystick.dart';
 
+import '../domain/dtos/command_message.dart';
+
 class DesiredStateModel extends ChangeNotifier {
   static final DesiredStateModel _instance = DesiredStateModel._internal();
 
@@ -19,7 +21,7 @@ class DesiredStateModel extends ChangeNotifier {
   double speedP = 0;
   double speedI = 0;
   double speedD = 0;
-  int saveRecallState = 1;
+  int saveRecallState = SaveRecallState.recall.value;
 
   // -1 to 1... mapped to 0 to 200 in the command message
   double speed = 0;
@@ -48,20 +50,21 @@ class DesiredStateModel extends ChangeNotifier {
     bool save = false,
   }) {
     advanced = true;
-    saveRecallState = save ? 2 : 1;
+    saveRecallState =
+        save ? SaveRecallState.save.value : SaveRecallState.recall.value;
 
-    angleP = angleP;
-    angleI = angleI;
-    angleD = angleD;
-    speedP = speedP;
-    speedI = speedI;
-    speedD = speedD;
+    this.angleP = angleP;
+    this.angleI = angleI;
+    this.angleD = angleD;
+    this.speedP = speedP;
+    this.speedI = speedI;
+    this.speedD = speedD;
 
     notifyListeners();
   }
 
-  void setSaveRecallState(int value) {
-    saveRecallState = value;
+  void setSaveRecallState(SaveRecallState state) {
+    saveRecallState = state.value;
 
     notifyListeners();
   }