% FILENAME: TUNE.M
% DONE BY : RENO CIPOLLA
% DATE: January 1995
% VERSION: 2.0
% REVISED : January 1995
% COPYRIGHT 1995 by T. Marlin and R. Ciplloa  
% **********************************************************

while 1
  clc
  disp('*************************************************************')
  disp('*        MODIFY PID CONTROLLER TUNING CONSTANTS             *')
  disp('*                                                           *')
  disp('*************************************************************')
  disp('')
  disp('SELECT THE APPROPRIATE MENU ITEM(s)')
  disp('')
  disp('MODIFY...')
  disp('                               PRESENT VALUES')
  fprintf('1) Controller Gain, Kc         %4.2f\n',kc)
  fprintf('2) Integral Time, TI           %4.2f\n',ti)
  fprintf('3) Derivative Time, TD         %4.2f\n',td)
  fprintf('4) Derivative Filter           %4.3f\n',al_pha)
  disp('5) Return to main menu')
  disp('')
        
  TOON = input('Enter the desired selection:   ');
  
  if isempty(TOON), break, end   % go back to main menu if ENTER is pressed
      
  TOON = round(TOON);
  if (TOON<1) | (TOON>5)
      disp('')
      disp('Not a valid selection')
      disp('')
      disp('Press ENTER to continue')
      pause;
  end    
  
  if TOON == 1
      junk = input('Enter value for controller gain:  ') ;
      if isempty(junk)
          junk=kc;
      end
      kc=junk; Y0i(1)=kc; 
      
  elseif TOON == 2
      junk = input('Enter value for integral time:  ') ;
      if junk <= 0
       junk=ti;
       disp('')
       disp(' Sorry, must enter a positive integral time ')
       disp('')
       disp(' Press Enter to continue ')
        pause
%       junk=ti;
      end
      if isempty(junk)
          junk=ti;
      end
      ti=junk; Y0i(2)=ti; 

  elseif TOON == 3
      junk = input('Enter value for derivative time:  ') ;
      if isempty(junk)
          junk=td;
      end
      if junk < 0
       junk=td;
       disp(' ')
       disp(' Sorry, must enter a nonnegative derivative time ')
       disp('')
       disp(' Press Enter to continue ')
       pause
      end
      td=junk; 
  
  elseif TOON == 4
      junk = input('Enter value for derivative filter (0 - 0.3):  ') ;
      if isempty(junk)
          junk=al_pha;
      end
      if junk > 0.3 | junk < 0
        disp('')
        disp(' Enter a nonnegative number less than or equal to 0.3 ')
        disp('')
        disp(' Press any key to continue')
        junk=al_pha;
        pause
      end
      al_pha=junk; 
  
  else
      break
  end 
  
end