From f6731b0ab0f40e2ad7539a2ff5a3be23da06eaaf Mon Sep 17 00:00:00 2001
From: annabunches <annabunches@gmail.com>
Date: Mon, 26 Jul 2021 15:13:03 -0400
Subject: [PATCH] Clean up UI and add TWR-lock that continues to give control
 over navigation.

---
 rocket/init.ks | 56 +++++++++++++++++++++++++++++++++++++++-----------
 1 file changed, 44 insertions(+), 12 deletions(-)

diff --git a/rocket/init.ks b/rocket/init.ks
index 4fdd416..4b906c5 100644
--- a/rocket/init.ks
+++ b/rocket/init.ks
@@ -1,4 +1,5 @@
 runoncepath("/lib/navigation").
+runoncepath("/lib/throttle").
 
 function launchButtonPressed {
   // adjust torque settings here...
@@ -54,14 +55,16 @@ set x:AddButton("NODE"):onClick to {
     run "/execnode".
 }.
 
+set x:AddButton("TWR"):onClick to {
+  stk:ShowOnly(twrMenu).
+}.
+  
+
 local stk is interface:AddStack().
 
 // Build launch menu
 local launchMenu is stk:AddVLayout().
 
-set btn to launchMenu:AddButton("Execute").
-set btn:onClick to launchButtonPressed@.
-
 local launchConfig is launchMenu:AddScrollBox().
 
 set sbox to launchConfig:AddHLayout().
@@ -88,23 +91,52 @@ set sbox to launchConfig:AddHLayout().
 sbox:AddLabel("Gravity Turn Pitch").
 local gravPitch is sbox:AddTextField("75").
 
-launchConfig:AddSpacing(5).
-
-set sbox to launchConfig:AddHLayout().
-sbox:AddLabel("Torque Epsilon Max").
-local maxEpsilon is sbox:AddTextField("0.001").
-
-set sbox to launchConfig:AddHLayout().
-sbox:AddLabel("Max Stopping Time").
-local maxStopTime is sbox:AddTextField("2.0").
+set btn to launchMenu:AddButton("Execute").
+set btn:onClick to launchButtonPressed@.
 
 // End Launch Menu
 
 // Build conf menu
+local confMenu is stk:AddVLayout().
 
+local confBox is confMenu:AddScrollbox().
+
+set sbox to confBox:AddHLayout().
+sbox:AddLabel("Torque Epsilon Max").
+local maxEpsilon is sbox:AddTextField("0.001").
+
+set sbox to confBox:AddHLayout().
+sbox:AddLabel("Max Stopping Time").
+local maxStopTime is sbox:AddTextField("2.0").
+
+set btn to confMenu:AddButton("Apply").
+set btn:onClick to {
+  set STEERINGMANAGER:TORQUEEPSILONMAX to maxEpsilon:TEXT:ToNumber().
+  set STEERINGMANAGER:MAXSTOPPINGTIME to maxStopTime:TEXT:ToNumber().
+}.
 
 // end conf menu
 
+// twr menu
+local twrMenu is stk:AddVLayout().
+
+set sbox to twrMenu:AddHLayout().
+sbox:AddLabel("Target TWR").
+local twrLock is sbox:AddTextField("1.6").
+
+set twrMenu:AddButton("Lock TWR"):onClick to {
+  local done is false.
+  on AG9 {
+    set done to true.
+  }
+
+  local tgt is twrLock:TEXT:ToNumber().
+  lock THROTTLE to ThrottleToTWR(tgt).
+  wait until done.
+}.
+
+// end twr menu
+
 interface:show().
 
 wait until false.