public Controller(RigidBody obj, MainWindow x)
{
_targetPos = 0.4*1000;
_prevErr=0;
_myobj = obj;
_main = x;
}
public void loaded()
{
ctrlIsOn = false;
btnControllerSwitch.Content = "Turn On";
SolidColorBrush dd = new SolidColorBrush();
dd.Color = Colors.Green;
btnControllerSwitch.Background = dd;
cw = this.canv.Width;
ch = this.canv.Height;
w = this.circle.Width;
h = this.circle.Height;
txtPosY.Text = "5";
myObj = new RigidBody();
myObj.radius = w / 2;
myWorld = new World(myObj);
myCtrl = new Controller(myObj, this);
myCtrl.Kp = 0.5;
myCtrl.Kd_up = 2;
myCtrl.Kd_down = 16;
myCtrl.Ki = 0.1;
txtKp.Text = myCtrl.Kp.ToString();
txtKd_up.Text = myCtrl.Kd_up.ToString();
txtKd_down.Text = myCtrl.Kd_down.ToString();
txtKi.Text = myCtrl.Ki.ToString();
angle = 90;
//timer values
t = 0;
tInterval = 0.01;
myWorld.tInterval = tInterval;
highLine = new LineAttitude(this.canv);
lowLine = new LineAttitude(this.canv);
targetLine = new LineAttitude(this.canv);
setTargetHeight(2.5);
txtTarget.Text = (targetHeight/100).ToString();
Timer = new DispatcherTimer();
Timer.Interval = new TimeSpan(0, 0, 0, 0, 1);
Timer.Tick += Timer_Tick;
// Console.WriteLine(this.canv.Width + " " + this.canv.Height);
updateLine(angle);
poseCircle();
Timer.Start();
}
public World(RigidBody rb)
{
myObj = rb;
angle = 90;
tempCnt = 0; // random number
}
