public ControladorPrincipal()
{
InitializeComponent();
this.iniciado = false;
this.serialPort1 = new SerialPort();
this.serialPort1.DataReceived += this.serialPort1_DataReceived;
this.pid = new PID(0, 0, 180, 10, 0.5F, 1, PID.MovementDirection.Direct);
this.pid.SetOutputLimits (-100, 100);
this.pid.Mode = PID.OperationMode.Auto;
this.penduloVO = new PenduloVO();
}
public Form1()
{
InitializeComponent();
this.portas.DataSource = SerialPort.GetPortNames();
this.serialPort1 = new SerialPort();
this.serialPort1.DataReceived += this.serialPort1_DataReceived;
this.pid = new PID(0, 0, -135, 10, 5F, 1F, PID.MovementDirection.Direct);
//this.pid = new PID(0, 0, -135, 1.3F, 2F, 1.2F, PID.MovementDirection.Direct);
//this.pid = new PID(0, 0, -145, 2.5F, 5F, 0.8F, PID.MovementDirection.Direct);
this.pid.SetOutputLimits(-200, 200);
this.pid.Mode = PID.OperationMode.Auto;
this.penduloVO = new PenduloVO();
this.log.Multiline = true;
this.log.WordWrap = true;
this.sinal = 1;
this.velocidade = 200;
}