private void Timer1_Tick(object sender, EventArgs e)
{
if (isSA)
{
//bool isSame = Math.PI - Math.Abs(Math.Abs(cH - mf.gpsHeading) - Math.PI) < (glm.PIBy2+0.1);
dist = glm.Distance(startFix, mf.pivotAxlePos);
cntr++;
if (dist > diameter)
{
diameter = dist;
cntr = 0;
}
lblDiameter.Text = diameter.ToString("N2") + " m";
if (cntr > 9)
{
steerAngleRight = Math.Atan(mf.vehicle.wheelbase / (diameter / 2));
steerAngleRight = glm.toDegrees(steerAngleRight);
//steerAngleLeft = Math.Atan(mf.vehicle.wheelbase / (diameter / 2 ));
//steerAngleLeft = glm.toDegrees(steerAngleLeft);
lblCalcSteerAngleInner.Text = steerAngleRight.ToString("N1") + "\u00B0";
//lblCalcSteerAngleOuter.Text = steerAngleLeft.ToString("N1") + "\u00B0";
lblDiameter.Text = diameter.ToString("N2") + " m";
btnStartSA.Image = Properties.Resources.BoundaryRecord;
isSA = false;
}
}
double actAng = mf.mc.actualSteerAngleDegrees * 5;
if (actAng > 0)
{
if (actAng > 49)
{
actAng = 49;
}
CExtensionMethods.SetProgressNoAnimation(pbarRight, (int)actAng);
pbarLeft.Value = 0;
}
else
{
if (actAng < -49)
{
actAng = -49;
}
pbarRight.Value = 0;
CExtensionMethods.SetProgressNoAnimation(pbarLeft, (int)-actAng);
}
lblSteerAngle.Text = mf.SetSteerAngle;
lblSteerAngleActual.Text = mf.mc.actualSteerAngleDegrees.ToString("N1") + "\u00B0";
lblActualSteerAngleUpper.Text = lblSteerAngleActual.Text;
double err = (mf.mc.actualSteerAngleDegrees - mf.guidanceLineSteerAngle * 0.01);
lblError.Text = Math.Abs(err).ToString("N1") + "\u00B0";
if (err > 0)
{
lblError.ForeColor = Color.Red;
}
else
{
lblError.ForeColor = Color.DarkGreen;
}
lblPWMDisplay.Text = mf.mc.pwmDisplay.ToString();
counter++;
if (toSend && counter > 4)
{
Properties.Settings.Default.setAS_countsPerDegree = mf.p_252.pgn[mf.p_252.countsPerDegree] = unchecked ((byte)hsbarCountsPerDegree.Value);
Properties.Settings.Default.setAS_ackerman = mf.p_252.pgn[mf.p_252.ackerman] = unchecked ((byte)hsbarAckerman.Value);
Properties.Settings.Default.setAS_wasOffset = hsbarWasOffset.Value;
mf.p_252.pgn[mf.p_252.wasOffsetHi] = unchecked ((byte)(hsbarWasOffset.Value >> 8));
mf.p_252.pgn[mf.p_252.wasOffsetLo] = unchecked ((byte)(hsbarWasOffset.Value));
Properties.Settings.Default.setAS_highSteerPWM = mf.p_252.pgn[mf.p_252.highPWM] = unchecked ((byte)hsbarHighSteerPWM.Value);
Properties.Settings.Default.setAS_lowSteerPWM = mf.p_252.pgn[mf.p_252.lowPWM] = unchecked ((byte)hsbarLowSteerPWM.Value);
Properties.Settings.Default.setAS_Kp = mf.p_252.pgn[mf.p_252.gainProportional] = unchecked ((byte)hsbarProportionalGain.Value);
Properties.Settings.Default.setAS_minSteerPWM = mf.p_252.pgn[mf.p_252.minPWM] = unchecked ((byte)hsbarMinPWM.Value);
Properties.Settings.Default.Save();
Properties.Vehicle.Default.Save();
mf.SendPgnToLoop(mf.p_252.pgn);
toSend = false;
counter = 0;
}
if (hsbarMinPWM.Value > hsbarLowSteerPWM.Value)
{
lblMinPWM.ForeColor = Color.OrangeRed;
}
else
{
lblMinPWM.ForeColor = SystemColors.ControlText;
}
if (mf.mc.sensorData != -1)
{
if (mf.mc.sensorData < 0 || mf.mc.sensorData > 255)
{
mf.mc.sensorData = 0;
}
CExtensionMethods.SetProgressNoAnimation(pbarSensor, mf.mc.sensorData);
lblPercentFS.Text = ((int)((double)mf.mc.sensorData * 0.3921568627)).ToString() + "%";
}
}
