private void btnReadData_Click(object sender, EventArgs e)
{
if (txtDataIndex.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
int Select_Index = Convert.ToInt16(txtDataIndex.Text) + 1;
DeliverData = new rtAGV_Control();
dataGridView_Log.Rows.Clear();
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][2].ToString());
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][3].ToString());
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][0].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][10].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][11].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][4].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][5].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][6].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][7].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][8].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][9].ToString());
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][1].ToString());
//DeliverData.tAGV_Data.tSensorData.tForkInputData.height = (int)GlobalVar.ForkCurrentHeight;
//取得Path資訊
string[] DataSrc = Main_Data.Tables[0].Rows[Select_Index][9].ToString().Split('/');
string[] DataDst = Main_Data.Tables[0].Rows[Select_Index][10].ToString().Split('/');
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(DataSrc[0]);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(DataSrc[1]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(DataDst[0]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(DataDst[1]);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = 2;
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
object[] obj = new object[12] { Select_Index, DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX+"/"+ DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY};
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Log, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Log.Rows.Add(dgvr);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_LogPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_LogMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
}
private void btnReadData_Click(object sender, EventArgs e)
{
if (txtDataIndex.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
int Select_Index = Convert.ToInt16(txtDataIndex.Text) + 1;
DeliverData = new rtAGV_Control();
dataGridView_Log.Rows.Clear();
try
{
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][2].ToString());
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][3].ToString());
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][0].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][10].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][11].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][4].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][5].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][6].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][7].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][8].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][9].ToString());
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][1].ToString());
//DeliverData.tAGV_Data.tSensorData.tForkInputData.height = (int)GlobalVar.ForkCurrentHeight;
//取得Path資訊
string[] DataSrc = Main_Data.Tables[0].Rows[Select_Index][9].ToString().Split('/');
string[] DataDst = Main_Data.Tables[0].Rows[Select_Index][10].ToString().Split('/');
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(DataSrc[0]);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(DataSrc[1]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(DataDst[0]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(DataDst[1]);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = 2;
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.BigCar)
{
obj = new object[12] {
Select_Index, DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.MediumCar)
{
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.SmallCar)
{
obj = new object[8] {
Select_Index, DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.Other)
{
}
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Log, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Log.Rows.Add(dgvr);
//判斷現在車種為何
DeliverData.rtAGV_Chang_Type_Self_Carriage(MainForm.comboBox_MachineType_Num);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_LogPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_LogMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
}
catch (Exception)
{
MessageBox.Show("此筆數據為非導航狀態");
}
}
private void btnCalculationResults_Click(object sender, EventArgs e)
{
if (textBox_PositionX.Text == "" || textBox_PositionY.Text == "" || textBox_Angle.Text == ""
|| textBox_CarTireSpeedLeft.Text == "" || textBox_CarTireSpeedRight.Text == "" || textBox_CarTirepositionR_X.Text == ""
|| textBox_CarTirepositionR_Y.Text == "" || textBox_CarTirepositionL_X.Text == "" || textBox_CarTirepositionL_Y.Text == ""
|| textBox_MotorPosition_X.Text == "" || textBox_MotorPosition_Y.Text == "" || textBox_WheelAngle.Text == ""
|| textBox_Src_X.Text == "" || textBox_Src_Y.Text == "" || textBox_Dest_X.Text == "" || textBox_Dest_Y.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
if (textBox_PositionX.Text == "")
{
return;
}
//int Select_Index = 1;
DeliverData = new rtAGV_Control();
dataGridView_Text.Rows.Clear();
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(textBox_PositionX.Text);
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(textBox_PositionY.Text);
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(textBox_Angle.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(textBox_CarTireSpeedLeft.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(textBox_CarTireSpeedRight.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(textBox_CarTirepositionR_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(textBox_CarTirepositionR_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(textBox_CarTirepositionL_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(textBox_CarTirepositionL_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(textBox_MotorPosition_X.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(textBox_MotorPosition_Y.Text);
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(textBox_WheelAngle.Text);
//取得Path資訊
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(textBox_Src_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(textBox_Src_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(textBox_Dest_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(textBox_Dest_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = Convert.ToByte(textBox_TurnType.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
object[] obj = new object[11] { DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX+"/"+ DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY};
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Text, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Text.Rows.Add(dgvr);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_TextPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_TextMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
}
private void btnCalculationResults_Click(object sender, EventArgs e)
{
if (textBox_PositionX.Text == "" || textBox_PositionY.Text == "" || textBox_Angle.Text == "" ||
textBox_CarTireSpeedLeft.Text == "" || textBox_CarTireSpeedRight.Text == "" || textBox_CarTirepositionR_X.Text == "" ||
textBox_CarTirepositionR_Y.Text == "" || textBox_CarTirepositionL_X.Text == "" || textBox_CarTirepositionL_Y.Text == "" ||
textBox_MotorPosition_X.Text == "" || textBox_MotorPosition_Y.Text == "" || textBox_WheelAngle.Text == "" ||
textBox_Src_X.Text == "" || textBox_Src_Y.Text == "" || textBox_Dest_X.Text == "" || textBox_Dest_Y.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
if (textBox_PositionX.Text == "")
{
return;
}
//int Select_Index = 1;
DeliverData = new rtAGV_Control();
dataGridView_Text.Rows.Clear();
try
{
//if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.BigCar)
{
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(textBox_PositionX.Text);
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(textBox_PositionY.Text);
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(textBox_Angle.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(textBox_CarTireSpeedLeft.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(textBox_CarTireSpeedRight.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(textBox_CarTirepositionR_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(textBox_CarTirepositionR_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(textBox_CarTirepositionL_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(textBox_CarTirepositionL_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(textBox_MotorPosition_X.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(textBox_MotorPosition_Y.Text);
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(textBox_WheelAngle.Text);
//取得Path資訊
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(textBox_Src_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(textBox_Src_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(textBox_Dest_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(textBox_Dest_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = Convert.ToByte(textBox_TurnType.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
//車種不同 顯示也會不一樣
if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.BigCar)
{
obj = new object[11] {
DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.MediumCar)
{
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.SmallCar)
{
obj = new object[7] {
DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.Other)
{
}
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Text, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Text.Rows.Add(dgvr);
//判斷現在車種為何
DeliverData.rtAGV_Chang_Type_Self_Carriage(MainForm.comboBox_MachineType_Num);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_TextPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_TextMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
//將數值寫回儲存資料內
PositionX = textBox_PositionX.Text;
PositionY = textBox_PositionY.Text;
Angle = textBox_Angle.Text;
CarTireSpeedLeft = textBox_CarTireSpeedLeft.Text;
CarTireSpeedRight = textBox_CarTireSpeedRight.Text;
CarTirepositionR_X = textBox_CarTirepositionR_X.Text;
CarTirepositionR_Y = textBox_CarTirepositionR_Y.Text;
CarTirepositionL_X = textBox_CarTirepositionL_X.Text;
CarTirepositionL_Y = textBox_CarTirepositionL_Y.Text;
MotorPosition_X = textBox_MotorPosition_X.Text;
MotorPosition_Y = textBox_MotorPosition_Y.Text;
WheelAngle = textBox_WheelAngle.Text;
TurnType = textBox_TurnType.Text;
Src_X = textBox_Src_X.Text;
Src_Y = textBox_Src_Y.Text;
Dest_X = textBox_Dest_X.Text;
Dest_Y = textBox_Dest_Y.Text;
}
}
catch (Exception)
{
MessageBox.Show("請正確輸入數值");
}
}
