/// <summary>
/// Initializes a new instance of the DashboardForm class
/// </summary>
/// <param name="theEventsPort">The Events Port for passing events back to the service</param>
/// <param name="state">The service state</param>
public ObstacleAvoidanceForm(ObstacleAvoidanceFormEvents theEventsPort, ObstacleAvoidanceDriveState state)
{
this.eventsPort = theEventsPort;
this.InitializeComponent();
this.UpdatePIDControllersValue(state);
}
/// <summary>
/// Update PID controller parameter values on the form.
/// This is a one-off call during constructor where we need to
/// set the initial state of the PID controllers
/// </summary>
/// <param name="state">state</param>
public void UpdatePIDControllersValue(ObstacleAvoidanceDriveState state)
{
// Set all the PID values on the form, copying them from state:
this.textBoxAngularKp.Text = state.Controller.Kp.ToString();
this.textBoxAngularKi.Text = state.Controller.Ki.ToString();
this.textBoxAngularKd.Text = state.Controller.Kd.ToString();
this.textBoxAngularMax.Text = state.Controller.MaxPidValue.ToString();
this.textBoxAngularMin.Text = state.Controller.MinPidValue.ToString();
this.textBoxAngularIntegralMax.Text = state.Controller.MaxIntegralError.ToString();
}
/// <summary>
/// Initializes a new instance of the DashboardForm class
/// </summary>
/// <param name="theEventsPort">The Events Port for passing events back to the service</param>
/// <param name="state">The service state</param>
public ObstacleAvoidanceForm(ObstacleAvoidanceFormEvents theEventsPort, ObstacleAvoidanceDriveState state)
{
this.eventsPort = theEventsPort;
this.InitializeComponent();
this.UpdatePIDControllersValue(
state.Controller.Kp,
state.Controller.Ki,
state.Controller.Kd);
this.currentPIDSelection = 0;
this.pidControllersControl = new List <Ccr.Core.Tuple <NumericUpDown, Control> >()
{
new Ccr.Core.Tuple <NumericUpDown, Control>(this.KpNumeric, this.KpIndicator),
new Ccr.Core.Tuple <NumericUpDown, Control>(this.KiNumeric, this.KiIndicator),
new Ccr.Core.Tuple <NumericUpDown, Control>(this.KdNumeric, this.KdIndicator)
};
this.pidControllersControl[this.currentPIDSelection].Item1.Visible = true;
}
