pid_controller.js

// PID Controller Surge Sliders
var kp_surge_slider = document.getElementById("kp_surge_slider");
var kp_surge_slider_value = document.getElementById("kp_surge_slider_value");
kp_surge_slider_value.innerHTML = kp_surge_slider.value;

kp_surge_slider.oninput = function(){
  kp_surge_slider_value.innerHTML = this.value;
}

var kp_surge_slider_2 = document.getElementById("kp_surge_slider_2");
var kp_surge_slider_value_2 = document.getElementById("kp_surge_slider_value_2");
kp_surge_slider_value_2.innerHTML = kp_surge_slider_2.value;

kp_surge_slider_2.oninput = function(){
  kp_surge_slider_value_2.innerHTML = this.value;
}


var ki_surge_slider = document.getElementById("ki_surge_slider");
var ki_surge_slider_value = document.getElementById("ki_surge_slider_value");
ki_surge_slider_value.innerHTML = ki_surge_slider.value;

ki_surge_slider.oninput = function(){
  ki_surge_slider_value.innerHTML = this.value;
}

var ki_surge_slider_2 = document.getElementById("ki_surge_slider_2");
var ki_surge_slider_value_2 = document.getElementById("ki_surge_slider_value_2");
ki_surge_slider_value_2.innerHTML = ki_surge_slider_2.value;

ki_surge_slider_2.oninput = function(){
  ki_surge_slider_value_2.innerHTML = this.value;
}


var kd_surge_slider = document.getElementById("kd_surge_slider");
var kd_surge_slider_value = document.getElementById("kd_surge_slider_value");
kd_surge_slider_value.innerHTML = kd_surge_slider.value;

kd_surge_slider.oninput = function(){
  kd_surge_slider_value.innerHTML = this.value;
}

var kd_surge_slider_2 = document.getElementById("kd_surge_slider_2");
var kd_surge_slider_value_2 = document.getElementById("kd_surge_slider_value_2");
kd_surge_slider_value_2.innerHTML = kd_surge_slider_2.value;

kd_surge_slider_2.oninput = function(){
  kd_surge_slider_value_2.innerHTML = this.value;
}


var sp_surge_slider = document.getElementById("sp_surge_slider");
var sp_surge_slider_value = document.getElementById("sp_surge_slider_value");
sp_surge_slider_value.innerHTML = sp_surge_slider.value;

sp_surge_slider.oninput = function(){
  sp_surge_slider_value.innerHTML = this.value;
}

var sp_surge_slider_2 = document.getElementById("sp_surge_slider_2");
var sp_surge_slider_value_2 = document.getElementById("sp_surge_slider_value_2");
sp_surge_slider_value_2.innerHTML = sp_surge_slider_2.value;

sp_surge_slider_2.oninput = function(){
  sp_surge_slider_value_2.innerHTML = this.value;
}



var kp_sway_slider = document.getElementById("kp_sway_slider");
var kp_sway_slider_value = document.getElementById("kp_sway_slider_value");
kp_sway_slider_value.innerHTML = kp_sway_slider.value;

kp_sway_slider.oninput = function(){
  kp_sway_slider_value.innerHTML = this.value;
}

var kp_sway_slider_2 = document.getElementById("kp_sway_slider_2");
var kp_sway_slider_value_2 = document.getElementById("kp_sway_slider_value_2");
kp_sway_slider_value_2.innerHTML = kp_sway_slider_2.value;

kp_sway_slider_2.oninput = function(){
  kp_sway_slider_value_2.innerHTML = this.value;
}



var ki_sway_slider = document.getElementById("ki_sway_slider");
var ki_sway_slider_value = document.getElementById("ki_sway_slider_value");
ki_sway_slider_value.innerHTML = ki_sway_slider.value;

ki_sway_slider.oninput = function(){
  ki_sway_slider_value.innerHTML = this.value;
}

var ki_sway_slider_2 = document.getElementById("ki_sway_slider_2");
var ki_sway_slider_value_2 = document.getElementById("ki_sway_slider_value_2");
ki_sway_slider_value_2.innerHTML = ki_sway_slider_2.value;

ki_sway_slider_2.oninput = function(){
  ki_sway_slider_value_2.innerHTML = this.value;
}



var kd_sway_slider = document.getElementById("kd_sway_slider");
var kd_sway_slider_value = document.getElementById("kd_sway_slider_value");
kd_sway_slider_value.innerHTML = kd_sway_slider.value;

kd_sway_slider.oninput = function(){
  kd_sway_slider_value.innerHTML = this.value;
}

var kd_sway_slider_2 = document.getElementById("kd_sway_slider_2");
var kd_sway_slider_value_2 = document.getElementById("kd_sway_slider_value_2");
kd_sway_slider_value_2.innerHTML = kd_sway_slider_2.value;

kd_sway_slider_2.oninput = function(){
  kd_sway_slider_value_2.innerHTML = this.value;
}


var sp_sway_slider = document.getElementById("sp_sway_slider");
var sp_sway_slider_value = document.getElementById("sp_sway_slider_value");
sp_sway_slider_value.innerHTML = sp_sway_slider.value;

sp_sway_slider.oninput = function(){
  sp_sway_slider_value.innerHTML = this.value;
}

var sp_sway_slider_2 = document.getElementById("sp_sway_slider_2");
var sp_sway_slider_value_2 = document.getElementById("sp_sway_slider_value_2");
sp_sway_slider_value_2.innerHTML = sp_sway_slider_2.value;

sp_sway_slider_2.oninput = function(){
  sp_sway_slider_value_2.innerHTML = this.value;
}


var kp_heave_slider = document.getElementById("kp_heave_slider");
var kp_heave_slider_value = document.getElementById("kp_heave_slider_value");
kp_heave_slider_value.innerHTML = kp_heave_slider.value;

kp_heave_slider.oninput = function(){
  kp_heave_slider_value.innerHTML = this.value;
}

var kp_heave_slider_2 = document.getElementById("kp_heave_slider_2");
var kp_heave_slider_value_2 = document.getElementById("kp_heave_slider_value_2");
kp_heave_slider_value_2.innerHTML = kp_heave_slider_2.value;

kp_heave_slider_2.oninput = function(){
  kp_heave_slider_value_2.innerHTML = this.value;
}


var ki_heave_slider = document.getElementById("ki_heave_slider");
var ki_heave_slider_value = document.getElementById("ki_heave_slider_value");
ki_heave_slider_value.innerHTML = ki_heave_slider.value;

ki_heave_slider.oninput = function(){
  ki_heave_slider_value.innerHTML = this.value;
}

var ki_heave_slider_2 = document.getElementById("ki_heave_slider_2");
var ki_heave_slider_value_2 = document.getElementById("ki_heave_slider_value_2");
ki_heave_slider_value_2.innerHTML = ki_heave_slider_2.value;

ki_heave_slider_2.oninput = function(){
  ki_heave_slider_value_2.innerHTML = this.value;
}



var kd_heave_slider = document.getElementById("kd_heave_slider");
var kd_heave_slider_value = document.getElementById("kd_heave_slider_value");
kd_heave_slider_value.innerHTML = kd_heave_slider.value;

kd_heave_slider.oninput = function(){
  kd_heave_slider_value.innerHTML = this.value;
}


var kd_heave_slider_2 = document.getElementById("kd_heave_slider_2");
var kd_heave_slider_value_2 = document.getElementById("kd_heave_slider_value_2");
kd_heave_slider_value_2.innerHTML = kd_heave_slider_2.value;

kd_heave_slider_2.oninput = function(){
  kd_heave_slider_value_2.innerHTML = this.value;
}



var sp_heave_slider = document.getElementById("sp_heave_slider");
var sp_heave_slider_value = document.getElementById("sp_heave_slider_value");
sp_heave_slider_value.innerHTML = sp_heave_slider.value;

sp_heave_slider.oninput = function(){
  sp_heave_slider_value.innerHTML = this.value;
}


var sp_heave_slider_2 = document.getElementById("sp_heave_slider_2");
var sp_heave_slider_value_2 = document.getElementById("sp_heave_slider_value_2");
sp_heave_slider_value_2.innerHTML = sp_heave_slider_2.value;

sp_heave_slider_2.oninput = function(){
  sp_heave_slider_value_2.innerHTML = this.value;
}



var kp_roll_slider = document.getElementById("kp_roll_slider");
var kp_roll_slider_value = document.getElementById("kp_roll_slider_value");
kp_roll_slider_value.innerHTML = kp_roll_slider.value;

kp_roll_slider.oninput = function(){
  kp_roll_slider_value.innerHTML = this.value;
}


var kp_roll_slider_2 = document.getElementById("kp_roll_slider_2");
var kp_roll_slider_value_2 = document.getElementById("kp_roll_slider_value_2");
kp_roll_slider_value_2.innerHTML = kp_roll_slider_2.value;

kp_roll_slider_2.oninput = function(){
  kp_roll_slider_value_2.innerHTML = this.value;
}



var ki_roll_slider = document.getElementById("ki_roll_slider");
var ki_roll_slider_value = document.getElementById("ki_roll_slider_value");
ki_roll_slider_value.innerHTML = ki_roll_slider.value;

ki_roll_slider.oninput = function(){
  ki_roll_slider_value.innerHTML = this.value;
}


var ki_roll_slider_2 = document.getElementById("ki_roll_slider_2");
var ki_roll_slider_value_2 = document.getElementById("ki_roll_slider_value_2");
ki_roll_slider_value_2.innerHTML = ki_roll_slider_2.value;

ki_roll_slider_2.oninput = function(){
  ki_roll_slider_value_2.innerHTML = this.value;
}



var kd_roll_slider = document.getElementById("kd_roll_slider");
var kd_roll_slider_value = document.getElementById("kd_roll_slider_value");
kd_roll_slider_value.innerHTML = kd_roll_slider.value;

kd_roll_slider.oninput = function(){
  kd_roll_slider_value.innerHTML = this.value;
}


var kd_roll_slider_2 = document.getElementById("kd_roll_slider_2");
var kd_roll_slider_value_2 = document.getElementById("kd_roll_slider_value_2");
kd_roll_slider_value_2.innerHTML = kd_roll_slider_2.value;

kd_roll_slider_2.oninput = function(){
  kd_roll_slider_value_2.innerHTML = this.value;
}



var kp_pitch_slider = document.getElementById("kp_pitch_slider");
var kp_pitch_slider_value = document.getElementById("kp_pitch_slider_value");
kp_pitch_slider_value.innerHTML = kp_pitch_slider.value;

kp_pitch_slider.oninput = function(){
  kp_pitch_slider_value.innerHTML = this.value;
}


var kp_pitch_slider_2 = document.getElementById("kp_pitch_slider_2");
var kp_pitch_slider_value_2 = document.getElementById("kp_pitch_slider_value_2");
kp_pitch_slider_value_2.innerHTML = kp_pitch_slider_2.value;

kp_pitch_slider_2.oninput = function(){
  kp_pitch_slider_value_2.innerHTML = this.value;
}



var ki_pitch_slider = document.getElementById("ki_pitch_slider");
var ki_pitch_slider_value = document.getElementById("ki_pitch_slider_value");
ki_pitch_slider_value.innerHTML = ki_pitch_slider.value;

ki_pitch_slider.oninput = function(){
  ki_pitch_slider_value.innerHTML = this.value;
}


var ki_pitch_slider_2 = document.getElementById("ki_pitch_slider_2");
var ki_pitch_slider_value_2 = document.getElementById("ki_pitch_slider_value_2");
ki_pitch_slider_value_2innerHTML = ki_pitch_slider_2.value;

ki_pitch_slider_2.oninput = function(){
  ki_pitch_slider_value_2.innerHTML = this.value;
}



var kd_pitch_slider = document.getElementById("kd_pitch_slider");
var kd_pitch_slider_value = document.getElementById("kd_pitch_slider_value");
kd_pitch_slider_value.innerHTML = kd_pitch_slider.value;

kd_pitch_slider.oninput = function(){
  kd_pitch_slider_value.innerHTML = this.value;
}


var kd_pitch_slider_2 = document.getElementById("kd_pitch_slider_2");
var kd_pitch_slider_value_2 = document.getElementById("kd_pitch_slider_value_2");
kd_pitch_slider_value_2.innerHTML = kd_pitch_slider_2.value;

kd_pitch_slider_2.oninput = function(){
  kd_pitch_slider_value_2.innerHTML = this.value;
}



var kp_yaw_slider = document.getElementById("kp_yaw_slider");
var kp_yaw_slider_value = document.getElementById("kp_yaw_slider_value");
kp_yaw_slider_value.innerHTML = kp_yaw_slider.value;

kp_yaw_slider.oninput = function(){
  kp_yaw_slider_value.innerHTML = this.value;
}


var kp_yaw_slider_2 = document.getElementById("kp_yaw_slider_2");
var kp_yaw_slider_value_2 = document.getElementById("kp_yaw_slider_value_2");
kp_yaw_slider_value_2.innerHTML = kp_yaw_slider_2.value;

kp_yaw_slider_2.oninput = function(){
  kp_yaw_slider_value_2.innerHTML = this.value;
}



var ki_yaw_slider = document.getElementById("ki_yaw_slider");
var ki_yaw_slider_value = document.getElementById("ki_yaw_slider_value");
ki_yaw_slider_value.innerHTML = ki_yaw_slider.value;

ki_yaw_slider.oninput = function(){
  ki_yaw_slider_value.innerHTML = this.value;
}


var ki_yaw_slider_2 = document.getElementById("ki_yaw_slider_2");
var ki_yaw_slider_value_2 = document.getElementById("ki_yaw_slider_value_2");
ki_yaw_slider_value_2.innerHTML = ki_yaw_slider_2.value;

ki_yaw_slider_2.oninput = function(){
  ki_yaw_slider_value_2.innerHTML = this.value;
}



var kd_yaw_slider = document.getElementById("kd_yaw_slider");
var kd_yaw_slider_value = document.getElementById("kd_yaw_slider_value");
kd_yaw_slider_value.innerHTML = kd_yaw_slider.value;

kd_yaw_slider.oninput = function(){
  kd_yaw_slider_value.innerHTML = this.value;
}


var kd_yaw_slider_2 = document.getElementById("kd_yaw_slider_2");
var kd_yaw_slider_value_2 = document.getElementById("kd_yaw_slider_value_2");
kd_yaw_slider_value_2.innerHTML = kd_yaw_slider_2.value;

kd_yaw_slider_2.oninput = function(){
  kd_yaw_slider_value_2.innerHTML = this.value;
}



var sp_yaw_slider = document.getElementById("sp_yaw_slider");
var sp_yaw_slider_value = document.getElementById("sp_yaw_slider_value");
sp_yaw_slider_value.innerHTML = sp_yaw_slider.value;

sp_yaw_slider.oninput = function(){
  sp_yaw_slider_value.innerHTML = this.value;
}


var sp_yaw_slider_2 = document.getElementById("sp_yaw_slider_2");
var sp_yaw_slider_value_2 = document.getElementById("sp_yaw_slider_value_2");
sp_yaw_slider_value_2.innerHTML = sp_yaw_slider_2.value;

sp_yaw_slider_2.oninput = function(){
  sp_yaw_slider_value_2.innerHTML = this.value;
}



var pid_params = new ROSLIB.Topic({
  ros : rosServer,
  name : '/pid_params',
  messageType : 'pid_controller/PID'
});

var pidMsg = new ROSLIB.Message({
  kp : [0,0,0,0,0,0],
  ki : [0,0,0,0,0,0],
  kd : [0,0,0,0,0,0]
});

function pubPID_params(){
  // msg data order: kp,ki,kd
  pidMsg.kp[0] = Number(document.getElementById('kp_surge_slider').value) + Number(document.getElementById('kp_surge_slider_2').value);
  pidMsg.ki[0] = Number(document.getElementById('ki_surge_slider').value) + Number(document.getElementById('ki_surge_slider_2').value);
  pidMsg.kd[0] = Number(document.getElementById('kd_surge_slider').value) + Number(document.getElementById('kd_surge_slider_2').value);
  pidMsg.kp[1] = Number(document.getElementById('kp_sway_slider').value) + Number(document.getElementById('kp_sway_slider_2').value);
  pidMsg.ki[1] = Number(document.getElementById('ki_sway_slider').value) + Number(document.getElementById('ki_sway_slider_2').value);
  pidMsg.kd[1] = Number(document.getElementById('kd_sway_slider').value) + Number(document.getElementById('kd_sway_slider_2').value);
  pidMsg.kp[2] = Number(document.getElementById('kp_heave_slider').value) + Number(document.getElementById('kp_heave_slider_2').value);
  pidMsg.ki[2] = Number(document.getElementById('ki_heave_slider').value) + Number(document.getElementById('ki_heave_slider_2').value);
  pidMsg.kd[2] = Number(document.getElementById('kd_heave_slider').value) + Number(document.getElementById('kd_heave_slider_2').value);
  pidMsg.kp[3] = Number(document.getElementById('kp_roll_slider').value) + Number(document.getElementById('kp_roll_slider_2').value);
  pidMsg.ki[3] = Number(document.getElementById('ki_roll_slider').value) + Number(document.getElementById('ki_roll_slider_2').value);
  pidMsg.kd[3] = Number(document.getElementById('kd_roll_slider').value) + Number(document.getElementById('kd_roll_slider_2').value);
  pidMsg.kp[4] = Number(document.getElementById('kp_pitch_slider').value) + Number(document.getElementById('kp_pitch_slider_2').value);
  pidMsg.ki[4] = Number(document.getElementById('ki_pitch_slider').value) + Number(document.getElementById('ki_pitch_slider_2').value);
  pidMsg.kd[4] = Number(document.getElementById('kd_pitch_slider').value) + Number(document.getElementById('kd_pitch_slider_2').value);
  pidMsg.kp[5] = Number(document.getElementById('kp_yaw_slider').value) + Number(document.getElementById('kp_yaw_slider_2').value);
  pidMsg.ki[5] = Number(document.getElementById('ki_yaw_slider').value) + Number(document.getElementById('ki_yaw_slider_2').value);
  pidMsg.kd[5] = Number(document.getElementById('kd_yaw_slider').value) + Number(document.getElementById('kd_yaw_slider_2').value);

  pid_params.publish(pidMsg);
}

var pid_setpoints = new ROSLIB.Topic({
  ros : rosServer,
  name : '/setpoints',
  messageType : 'pid_controller/Setpoint'
});

var spMsg = new ROSLIB.Message({
  setpoints : [0,0,0,0,0,0]
});

function pubPID_setpoints(){
  spMsg.setpoints[0] = Number(document.getElementById('sp_surge_slider').value) + Number(document.getElementById('sp_surge_slider_2').value);
  spMsg.setpoints[1] = Number(document.getElementById('sp_sway_slider').value) + Number(document.getElementById('sp_sway_slider_2').value);
  spMsg.setpoints[2] = Number(document.getElementById('sp_heave_slider').value) + Number(document.getElementById('sp_heave_slider_2').value);
  spMsg.setpoints[3] = 0.0;
  spMsg.setpoints[4] = 0.0;
  spMsg.setpoints[5] = Number(document.getElementById('sp_yaw_slider').value) + Number(document.getElementById('sp_yaw_slider_2').value);
  
  pid_setpoints.publish(spMsg);
}