ui.ui_gains module

Controller gain tuning wizard for the Romi robot UI.

Steps the user through adjusting five control parameters via the serial terminal, then persists all gains to GAINS_FILE so they survive a power cycle. Uses multichar_input for non-blocking numeric entry.

Parameters tuned (in order):

  1. Motor Kp – proportional gain (must be > 0; same value applied to both motors)

  2. Motor Ki – integral gain (must be ≥ 0)

  3. LF Kp – line-follower proportional gain (must be ≥ 0)

  4. LF Ki – line-follower integral gain (must be ≥ 0)

  5. LF Kff – line-follower feed-forward gain (must be ≥ 0)

ui.ui_gains.run(ui)[source]

Generator that runs the interactive gain-tuning wizard.

For each gain the function displays the current value, prompts for a new one, validates the range, and either updates the shared variable or reports why the entry was rejected. A summary table is printed at the end and all gains are saved to disk.

Uses yield from multichar_input(ui._ser) so the scheduler remains responsive while waiting for the user to type a value.

Args:
ui: UI context object exposing _ser, _leftMotorKp,

_rightMotorKp, _leftMotorKi, _rightMotorKi, _lineFollowKp, _lineFollowKi, _lineFollowKff shares/queues, and a _save_gains() method.

Yields:

Delegates to multichar_input which yields on every serial poll.