private void sethome_request(Object sender, EventArgs e)
{
command_request = _command_request.SETHOME;
}
private void setbrake_request(Object sender, EventArgs e)
{
command_request = _command_request.SETBRAKE;
}
private void gui_admin_func(Object source, System.Timers.ElapsedEventArgs e)
{
if (this.InvokeRequired)
{
try
{
this.BeginInvoke(new System.Timers.ElapsedEventHandler(gui_admin_func), new object[2] {
source, e
});
return;
}
catch (ObjectDisposedException exception_catched)
{
Console.WriteLine(exception_catched.Message);
gui_admin.Stop();
return;
}
}
label7.Text = trackBar1.Value.ToString();
label8.Text = trackBar2.Value.ToString();
label9.Text = trackBar3.Value.ToString();
textBox1.Text = arduino.motors[0].position.ToString();
textBox2.Text = arduino.motors[1].position.ToString();
textBox3.Text = (pitch_rotation * 360).ToString();
textBox4.Text = arduino.motors[0].setpoint.ToString();
textBox5.Text = arduino.motors[1].setpoint.ToString();
switch (arduino.state)
{
case _state.DISCONNECTED:
this.Text = "DISCONNECTED";
String[] ports = arduino.available_ports();
if (this.actual_ports.Length == 255)
{
foreach (String port in ports)
{
comboBox1.Items.Add(port);
}
comboBox1.Refresh();
}
else if (!this.actual_ports.SequenceEqual(ports))
{
comboBox1.Items.Clear();
foreach (String port in ports)
{
comboBox1.Items.Add(port);
}
comboBox1.Refresh();
}
this.actual_ports = ports;
break;
case _state.INITIALIZING:
this.Text = "INITIALIZING";
trackBar1.Value = Convert.ToInt32(arduino.motors[0].position);
trackBar2.Value = Convert.ToInt32(arduino.motors[1].position);
break;
case _state.CONTROLLING:
//this.Text = "CONTROLLING";
current_time += 5;
chart1.Series["Setpoint1"].Points.AddXY(Convert.ToDouble(current_time) / 1000, arduino.motors[0].setpoint);
chart1.Series["Position1"].Points.AddXY(Convert.ToDouble(current_time) / 1000, arduino.motors[0].position);
chart1.Series["Setpoint2"].Points.AddXY(Convert.ToDouble(current_time) / 1000, arduino.motors[1].setpoint);
chart1.Series["Position2"].Points.AddXY(Convert.ToDouble(current_time) / 1000, arduino.motors[1].position);
chart1.ChartAreas[0].AxisX.LabelStyle.Enabled = false;
chart1.ChartAreas[0].AxisY.LabelStyle.Enabled = false;
chart1.ChartAreas[0].AxisX.Maximum = Math.Round(Convert.ToDouble(current_time) / 1000, 2);
chart1.ChartAreas[0].AxisX.Minimum = Math.Round((Convert.ToDouble(current_time) / 1000) - 5.0, 2);
chart1.ChartAreas[0].AxisX.Interval = 1;
chart1.ChartAreas[0].AxisY.Maximum = 1024;
chart1.ChartAreas[0].AxisY.Minimum = 0;
chart1.ChartAreas[0].AxisY.Interval = 1024 / 16;
switch (command_request)
{
case _command_request.SETPOINT:
{
arduino.set_homming_calibration(trackBar4.Value == 1);
long[] setpoints;
if (trackBar4.Value == 1)
{
if (arduino.command_type == command_types.HOME)
{
this.Text = "CONTROLLING - HOME";
setpoints = new long[] { arduino.motors[0].home, arduino.motors[1].home };
}
else if (arduino.command_type == command_types.START)
{
this.Text = "CONTROLLING - START";
setpoints = new long[] { arduino.motors[0].start, arduino.motors[1].start };
}
else
{
this.Text = "CONTROLLING - NORMAL";
setpoints = new long[] { convert_to_arduino(pitch_rotation), convert_to_arduino(pitch_rotation) };
}
}
else
{
if (arduino.command_type == command_types.HOME)
{
this.Text = "CONTROLLING - HOME";
setpoints = new long[] { arduino.motors[0].home, arduino.motors[1].home };
}
else if (arduino.command_type == command_types.START)
{
this.Text = "CONTROLLING - START";
setpoints = new long[] { arduino.motors[0].start, arduino.motors[1].start };
}
else
{
this.Text = "CONTROLLING - NORMAL";
setpoints = new long[] { trackBar1.Value, trackBar2.Value };
}
}
arduino.command(arduino_command.CONTROLLING, setpoints);
}
break;
case _command_request.SETHOME:
{
long[] sethomepoints = { trackBar1.Value, trackBar2.Value };
arduino.command(arduino_command.SETHOME, sethomepoints);
command_request = _command_request.SETPOINT;
}
break;
case _command_request.SETBRAKE:
{
long[] setbrakevalues = { trackBar3.Value, trackBar3.Value };
arduino.command(arduino_command.SETBRAKE, setbrakevalues);
command_request = _command_request.SETPOINT;
}
break;
}
break;
case _state.HOMMING_LOCK:
this.Text = "HOMMING_LOCK";
break;
}
}
