#!/usr/bin/env python
# Copyright 2019 Philip Hopley
#
# Licensed under the Apache License, Version 2.0 (the "License"); you may not 
# use this file except in compliance with the License. You may obtain a  copy
# of the License at
#
#  http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software 
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations under
# the License.
#
# Dynamic rconfiguration for Thunderborg node
PACKAGE = "thunderborg"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("p_param", double_t, 0, "P-Proportional", 0.5, 0, 5)
gen.add("i_param", double_t, 0, "I-Integral", 0.9, 0, 5)
gen.add("d_param", double_t, 0, "D-Derivative", 0.006, 0, 5)

gen.add("restore_defaults", bool_t, 0, "Restore to original configuration", False)

exit(gen.generate(PACKAGE, "thunderborg_node", "Thunderborg"))
