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ADD new message to request the pid factors #30

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Merged
rmatsuda merged 4 commits into from
Feb 24, 2026
Merged

ADD new message to request the pid factors #30

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2617e50
FIX: send pid factors to dashboard
MarcioCamposJr Feb 24, 2026
627c601
Merge branch 'biomaglab:main' into main
MarcioCamposJr Feb 24, 2026
3791c21
FIX: add data argument to send message in pid factors
MarcioCamposJr Feb 24, 2026
97d24a5
Merge branch 'main' of https://github.com/MarcioCamposJr/tms-robot-co…
MarcioCamposJr Feb 24, 2026
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1 change: 1 addition & 0 deletions main_loop.py
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Original file line number Diff line number Diff line change
Expand Up @@ -279,6 +279,7 @@ def main(connection=None):
const.FUNCTION_UPDATE_CONFIG: robot_control.set_config,
const.FUNCTION_UPDATE_PID: robot_control.update_pid_values,
const.FUNCTION_REQUEST_CONFIG: robot_control.send_config,
const.FUNCTION_REQUEST_PID: robot_control.send_pid_factors,
}
get_function[const.PUB_MESSAGES.index(topic[i])](buf[i]["data"])

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2 changes: 2 additions & 0 deletions robot/constants.py
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Expand Up @@ -159,6 +159,7 @@
"Neuronavigation to Robot: Update config",
"Neuronavigation to Robot: Update robot control pid factors",
"Neuronavigation to Robot: Request config",
"Dashboard to Robot: Request pid factors",
]

FUNCTION_CONNECT_TO_ROBOT = 0
Expand All @@ -179,3 +180,4 @@
FUNCTION_UPDATE_CONFIG = 15
FUNCTION_UPDATE_PID = 16
FUNCTION_REQUEST_CONFIG = 17
FUNCTION_REQUEST_PID = 18
9 changes: 6 additions & 3 deletions robot/control/robot_control.py
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Expand Up @@ -1127,8 +1127,7 @@ def update(self):
def send_config(self, data):
self.remote_control.send_message(
"Robot to Neuronavigation: Initial config",
{"config": self.config,
"pid_factors": self.pid_group.get_pid_factors()},
{"config": self.config},
)

def set_config(self, data: dict):
Expand Down Expand Up @@ -1179,4 +1178,8 @@ def set_config(self, data: dict):
def update_pid_values(self, pids_factors: dict):
if "translations" in pids_factors and "rotations" in pids_factors:
self.pid_group.update_pid_factors(pids_factors["translations"], pids_factors["rotations"])


def send_pid_factors(self, data):
self.remote_control.send_message(
"Robot to Dashboard: PID factors",
{"pid_factors": self.pid_group.get_pid_factors()})