Merge pull request #747 from MaslowCNC/add-PID-settings-for-the-Z-axis

Add PID settings for the z axis (take two)

Author: MaslowCommunityGardenRobot

Settings/maslowSettings.py

@@ -338,6 +338,27 @@
                 "key": "KdPos",
                 "default": 34
             },
+            {
+                "type": "string",
+                "title": "Kp Position Z-Axis",
+                "desc": "The proportional constant for the position Z-Axis PID controller",
+                "key": "KpPosZ",
+                "default": 1300
+            },
+            {
+                "type": "string",
+                "title": "Ki Position Z-Axis",
+                "desc": "The integral constant for the position Z-Axis PID controller",
+                "key": "KiPosZ",
+                "default": 0
+            },
+            {
+                "type": "string",
+                "title": "Kd Position Z-Axis",
+                "desc": "The derivative constant for the position Z-Axis PID controller",
+                "key": "KdPosZ",
+                "default": 34
+            },
             {
                 "type": "string",
                 "title": "Proportional Weighting",
@@ -373,6 +394,27 @@
                 "key": "KdV",
                 "default": .28
             },
+            {
+                "type": "string",
+                "title": "Kp Velocity Z-Axis",
+                "desc": "The proportional constant for the Z-axis velocity PID controller",
+                "key": "KpVZ",
+                "default": 5
+            },
+            {
+                "type": "string",
+                "title": "Ki Velocity Z-Axis",
+                "desc": "The integral constant for the Z-axis velocity PID controller",
+                "key": "KiVZ",
+                "default": 0
+            },
+            {
+                "type": "string",
+                "title": "Kd Velocity Z-Axis",
+                "desc": "The derivative constant for the Z-axis velocity PID controller",
+                "key": "KdVZ",
+                "default": .28
+            },
             {
                 "type": "options",
                 "title": "PWM frequency for motor control",

UIElements/diagnosticsMenu.py

@@ -193,6 +193,5 @@ def advancedOptionsFunctions(self, text):
             self.runJustTriangularCuts()
         elif text == "Reset settings to defaults":
             self.resetAllSettings()
-            self.runJustTriangularCuts()
         elif text == "Compute chain calibration factors":
             self.measureChainTolerances()

main.py

@@ -195,7 +195,13 @@ def computeSettings(self, section, key, value):
                 else:
                     value = maslowSettings.getDefaultValue('Advanced Settings', key)
                 self.config.set('Computed Settings', key + "Main", value)
-                self.config.set('Computed Settings', key + "Z", value)
+            #updated computed values for z-axis
+            for key in ('KpPosZ', 'KiPosZ', 'KdPosZ'):
+                if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
+                    value = float(self.config.get('Advanced Settings', key))
+                else:
+                    value = maslowSettings.getDefaultValue('Advanced Settings', key)
+                self.config.set('Computed Settings', key, value)
 
         elif key == 'enableVPIDValues':
             for key in ('KpV', 'KiV', 'KdV'):
@@ -204,7 +210,13 @@ def computeSettings(self, section, key, value):
                 else:
                     value = maslowSettings.getDefaultValue('Advanced Settings', key)
                 self.config.set('Computed Settings', key + "Main", value)
-                self.config.set('Computed Settings', key + "Z", value)
+            #updated computed values for z-axis
+            for key in ('KpVZ', 'KiVZ', 'KdVZ'):
+                if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
+                    value = float(self.config.get('Advanced Settings', key))
+                else:
+                    value = maslowSettings.getDefaultValue('Advanced Settings', key)
+                self.config.set('Computed Settings', key, value)
 
         elif key == 'chainOverSprocket':
             if value == 'Top':