private void timerUI_Tick(object sender, EventArgs e)
{
//refresh the UI values
float currPos = SharingMemory.getPos();
float currAngle = SharingMemory.getAngle();
float delta = SharingMemory.getDelta();
currentAngleDisp.Value = Convert.ToDecimal(currAngle);
ballPosDisp.Value = Convert.ToDecimal(currPos);
targetAngleDisp.Value = Convert.ToDecimal(targetAngle);
deltaDisp.Value = Convert.ToDecimal(delta);
}
private void shareMemoryButton_Click(object sender, EventArgs e)
{
if (SharingMemory.ConnectMappedMemory())
{
sharedMemoryStatusLabel.Text = "Connected";
shareMemoryButton.Enabled = false;
timerTick.Enabled = true;
timerUI.Enabled = true;
}
else
{
sharedMemoryStatusLabel.Text = "Error, could not connect";
}
}
private void timerTick_Tick(object sender, EventArgs e) //this will be used arround 60 times a second
{
float currPos = SharingMemory.getPos();
//float delta = SharingMemory.getDelta();
float delta = 0.02f;
float temp1 = T / (T + delta);
float temp2 = k * (delta + a * T) / (delta + T);
float temp3 = -(k * a * T) / (delta + T);
float error = (targetPos - currPos) * 0.1024f;
float U = temp1 * prevU + temp2 * error + temp3 * prevError;
prevError = error;
targetAngle = Math.Max(Math.Min(45.0, U), -45.0);
prevU = (float)targetAngle;
if (useController)
{
SharingMemory.setAngle(Convert.ToSingle(targetAngle));// should you choose to use it or not, the previously mentionned value can be transmitted to the other program
}
}
