public RobotInterface()
{
InitializeComponent();
Updater.Interval = new TimeSpan(0, 0, 0, 0, 10);
//setting graph titles
Updater.Tick += Updater_Tick;
Osc_LinearSpeedOdometry.SetTitle("Linear speed from odometry");
Osc_AngularSpeedOdometry.SetTitle("Angular speed from odometry");
Osc_ErrorLinearAngularSpeed.SetTitle("Error Linear/angular speed");
//actual values
Osc_LinearSpeedOdometry.AddOrUpdateLine((int)GraphLineID.LinearSpeed, maxPointsOnGraph, "LinearSpeed");
Osc_AngularSpeedOdometry.AddOrUpdateLine((int)GraphLineID.AngularSpeed, maxPointsOnGraph, "AngularSpeed");
//errors
Osc_AngularSpeedOdometry.AddOrUpdateLine((int)GraphLineID.ErrorAngularSpeed, maxPointsOnGraph, "AngularSpeedError");
Osc_LinearSpeedOdometry.AddOrUpdateLine((int)GraphLineID.ErrorLinearSpeed, maxPointsOnGraph, "LinearSpeedError");
Osc_AngularSpeedOdometry.ChangeLineColor((int)GraphLineID.ErrorAngularSpeed, System.Drawing.Color.DarkViolet);
Osc_LinearSpeedOdometry.ChangeLineColor((int)GraphLineID.ErrorLinearSpeed, System.Drawing.Color.LightGreen);
Updater.Start();
}
//Incoming Events
public void OnPositionDataProcessedEvent(object sender, PositionDataProcessedArgs e)
{
if (toggleFreeze == 0)
{
angularSpeedError = robot.vitesseAngulaireConsigne - e.VitesseAngulaireFromOdometry;
linearSpeedError = robot.vitesseLineaireConsigne - e.VitesseLineaireFromOdometry;
Osc_LinearSpeedOdometry.AddPointToLine((int)GraphLineID.LinearSpeed, e.Timestamp, e.VitesseLineaireFromOdometry);
Osc_AngularSpeedOdometry.AddPointToLine((int)GraphLineID.AngularSpeed, e.Timestamp, e.VitesseAngulaireFromOdometry);
Osc_AngularSpeedOdometry.AddPointToLine((int)GraphLineID.ErrorAngularSpeed, e.Timestamp, angularSpeedError);
Osc_LinearSpeedOdometry.AddPointToLine((int)GraphLineID.ErrorLinearSpeed, e.Timestamp, linearSpeedError);
}
}
