private void timer2_Tick(object sender, EventArgs e)
{
sw = new System.Diagnostics.Stopwatch();
sw.Start();
float torqueVoltageValue;
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
//troque = troque / 100;
troque_trans = (troque - 2048) / 2048 * 80;
settingDegree += 1.8f * oritation;
if (settingDegree >= 135)
{
oritation = -1;
}
if (settingDegree <= -135)
{
oritation = 1;
}
this.lblPositionValue.Text = settingDegree.ToString();
this.lblTorqueValue.Text = troque.ToString();
this.lblTroqueTransValue.Text = troque_trans.ToString();
lpf1.Add(settingDegree);
lpf2.Add(troque_trans);
//lpf1.Add(180);
//lpf2.Add(10);
if (lpf1.Count == 400)
{
lpf1.Remove(lpf1[0]);
}
if (lpf2.Count == 400)
{
lpf2.Remove(lpf2[0]);
}
this.pictureBox1.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf1, lpf2), 0, 0);
this.vf.pbCanvas.CreateGraphics().DrawImage(vf.getImage(settingDegree), 0, 0);
this.vf.simpleOpenGlControl1.Refresh();
sw.Stop();
TimeSpan ts = sw.Elapsed;
this.lblDebugTime.Text = ts.Milliseconds.ToString();
}
private void timer1_Tick(object sender, EventArgs e)
{
position = float.Parse(pc.AnalogInput(0, out positionVoltageValue));
troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
tacho = float.Parse(pc.AnalogInput(2, out tachoVoltageValue));
this.lblPosition.Text = position.ToString();
this.lblTorque.Text = troque.ToString();
this.lblTacho.Text = tacho.ToString();
this.lblPositionVoltageValue.Text = positionVoltageValue.ToString("0.000");
this.lblTorqueVoltageValue.Text = torqueVoltageValue.ToString("0.000");
this.lblTachoVoltageValue.Text = tachoVoltageValue.ToString("0.000");
}
private void myTimer()
{
timeBeginPeriod(1);
uint start = timeGetTime();
uint newStart;
while (!isTheardCircleClosed)
{
float positionVoltageValue;
endPosition = float.Parse(pc.AnalogInput(0, out positionVoltageValue));
timeCount++;
if (timeCount > 100)
{
if (UpOrDown)
{
if (endPosition > iniPosition && Math.Abs(endPosition - iniPosition) > 100)
{
isTheardCircleClosed = true;
newStart = timeGetTime();
timeSpent = newStart - start;
this.lblTimespan.Text = timeSpent.ToString();
pc.VOutput(0, 2.5f);
Close();
timer1.Stop();
t.Abort();
}
}
else
{
if (endPosition < iniPosition && Math.Abs(endPosition - iniPosition) > 100)
{
isTheardCircleClosed = true;
newStart = timeGetTime();
timeSpent = newStart - start;
this.lblTimespan.Text = timeSpent.ToString();
pc.VOutput(0, 2.5f);
Close();
timer1.Stop();
t.Abort();
}
}
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
position = float.Parse(pc.AnalogInput(0, out positionVoltageValue));
troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
tacho = float.Parse(pc.AnalogInput(2, out tachoVoltageValue));
if (ifStartDebugMode)
{
position = position / 100;
troque = troque / 100;
}
this.lblPosition.Text = position.ToString();
this.lblTorque.Text = troque.ToString();
this.lblTacho.Text = tacho.ToString();
this.lblPositionVoltageValue.Text = positionVoltageValue.ToString("0.000");
this.lblTorqueVoltageValue.Text = torqueVoltageValue.ToString("0.000");
this.lblTachoVoltageValue.Text = tachoVoltageValue.ToString("0.000");
lpf1.Add(position);
lpf2.Add(troque);
if (lpf1.Count == 300)
{
lpf1.Remove(lpf1[0]);
}
if (lpf2.Count == 300)
{
lpf2.Remove(lpf2[0]);
}
this.CreateGraphics().DrawImage(dpl.drawSignalCurve(lpf1, lpf2), 540, 60);
this.CreateGraphics().DrawImage(dpl.drawPosition(troque), 540, 420);
}
private void timer1_Tick(object sender, EventArgs e)
{
float positionVoltageValue;
float torqueVoltageValue;
float position = float.Parse(pc.AnalogInput10(0, out positionVoltageValue));
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
//if (true)
//{
// position = 1744;
// troque = 2862;
//}
this.lblPositionValue.Text = positionRawData[ii].ToString();
this.lblTorqueValue.Text = torqueRawData[ii].ToString();
if (ii < positionRawData.Count)
{
lpf1.Add(positionRawData[ii]);
lpf2.Add(torqueRawData[ii]);
}
else
{
lpf1.Add(positionRawData[0]);
lpf2.Add(torqueRawData[0]);
}
if (lpf1.Count == 900)
{
lpf1.Remove(lpf1[0]);
}
if (lpf2.Count == 900)
{
lpf2.Remove(lpf2[0]);
}
ii++;
this.pictureBox1.CreateGraphics().DrawImage(dp.drawSignalCurve(lpf1, lpf2), 0, 0);
}
private void timer2_Tick(object sender, EventArgs e)
{
float positionVoltageValue;
float torqueVoltageValue;
float position = float.Parse(pc.AnalogInput10(0, out positionVoltageValue));
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
positionForEverySequence[sequenceIndexForExperiment].Add(position);
torqueForEverySequence[sequenceIndexForExperiment].Add(troque);
if (trainOrTestUsed[sequenceIndexForExperiment])
{
if (rbUpT.Checked)
{
if ((position > 1488 & position < 2000) || (position > 2516 || position < 976))
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
}
else
{
if ((position > 1488 & position < 2000) || (position > 2516 || position < 976))
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
else
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
}
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
timeIndex++;
if (timeIndex == experimentTimeUsed[sequenceIndexForExperiment] * 10)
{
timeIndex = 0;
sequenceIndexForExperiment++;
dp2.clearCommunitivePosition();
lpf3.Clear();
lpf4.Clear();
if (sequenceIndexForExperiment == experimentTimeUsed.Count)
{
timer2.Stop();
this.btnStep3Start.Enabled = true;
pc.ClearALLDigitalPort();
OpenLoop();
cbOpenOrClosed.Checked = false;
cbOpenOrClosed.Text = "Open";
DataSave();
}
else
{
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
controls[sequenceIndexForExperiment].BackColor = Color.DarkCyan;
}
Bitmap imageHere = new Bitmap(imageNow);
PictureBox pb = new PictureBox();
float width = this.flpBottomForImageList.Size.Width - 30;
float height = (int)(((float)this.pictureBox3.Size.Height / (float)this.pictureBox3.Size.Width) * width);
pb.Size = new Size((int)width, (int)height);
pb.Image = imageHere;
pb.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.flpBottomForImageList.Controls.Add(pb);
}
////debug mode
// position = 721;
// troque = 100;
lpf3.Add(position);
lpf4.Add(troque);
if (lpf3.Count == 150)
{
lpf3.Remove(lpf3[0]);
}
if (lpf4.Count == 150)
{
lpf4.Remove(lpf4[0]);
}
this.pictureBox2.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
imageNow = dp2.drawCommunitivePoint(position, ifStartDebugMode, sequenceIndexForExperiment);
this.pictureBox3.CreateGraphics().DrawImage(imageNow, 0, 0);
}