// ###########################################################################
//
// P U B L I C
//
// ###########################################################################
// ===========================================================================
/// \brief Constructor
// ===========================================================================
public FormMain()
{
// Instantiate the application components
pendulumInterface = new PendulumInterface();
pendulum = new Pendulum(pendulumInterface);
// Instantiate HMI components
ctrlPendulum = new CtrlPendulum(pendulum);
ctrlParamDisplay = new CtrlParamDisplay(pendulum);
// Designer
InitializeComponent( );
// HMI disposal
splitMain.Panel2.Controls.Add(ctrlPendulum);
splitMain.Panel1.Controls.Add(ctrlParamDisplay);
ctrlPendulum.Width = splitMain.Panel2.Width;
ctrlPendulum.Height = splitMain.Panel2.Height;
ctrlPendulum.Enabled = false;
ctrlParamDisplay.Dock = DockStyle.Top;
// Linking
ctrlLog.StartLoggingEvent += EvLog_StartLogging;
ctrlLog.StopLoggingEvent += EvLog_StopLogging;
pendulumInterface.ConnectionChangedEvent += EvInterface_ConnectionChanged;
ctrlScopes.AttachPendulum(pendulum);
UpdateMenuState( );
}
// ###########################################################################
//
// P R I V A TE
//
// ###########################################################################
#region PRIVATE
// ===========================================================================
/// \brief Handle pendulum update event
///
/// Refresh motor speed
// ===========================================================================
private void EvPendulum_Update(Pendulum pendulum)
{
if (pendulum == null)
{
return;
}
// Get the speed activate synchronous update
rpm = pendulum.StateWheelSpeed * 60.0f / (2.0f * (float)Math.PI);
BeginInvoke(dlgtUpdateForm);
}
// ===========================================================================
/// \brief Constructor
///
/// \param pendulum Pendulum to calibrate
// ===========================================================================
public FormCalibBattery(Pendulum pendulum)
{
InitializeComponent( );
this.pendulum = pendulum;
// Timer for update
timer = new Timer( );
timer.Interval = 1000;
timer.Tick += EvTimer_Tick;
timer.Start( );
}
// ###########################################################################
//
// P U B L I C
//
// ###########################################################################
#region PUBLIC
// ===========================================================================
/// \brief Constructor
// ===========================================================================
public FormMotorManual(Pendulum pendulum)
{
InitializeComponent( );
// Delegates in order to support asynchronously form update
dlgtUpdateForm = new DlgtUpdateForm(UpdateForm);
// Initial state
torque = 0;
enabled = false;
brake = false;
forward = true;
lblTorque.Text = "0 %";
txtRPM.Enabled = true;
// Get events from the pendulum
pendulum.UpdatedEvent += EvPendulum_Update;
this.pendulum = pendulum;
}
// ###########################################################################
//
// P U B L I C
//
// ###########################################################################
#region PUBLIC
// ===========================================================================
/// \brief Constructor
///
/// \param pendulum Pendulum to calibrate
// ===========================================================================
public FormCalibIMU(Pendulum pendulum)
{
InitializeComponent( );
this.pendulum = pendulum;
// Regsiter to pendulum events
pendulum.UpdatedEvent += EvPendulum_Update;
// Delegates in order to support asynchronously form update
dlgtUpdateControl = new DlgtUpdateControl(UpdateControl);
// Reset calibration values
pendulum.pendulumInterface.CalibrateIMU(new float [2] {
1f, 1f
}, new float [3] {
0f, 0f, 0f
}, 0f);
step = 1;
barProgress.Minimum = 0;
barProgress.Maximum = N_SAMPLES;
}
// ###########################################################################
//
// P R I V A T E
//
// ###########################################################################
#region PRIVATE
// ===========================================================================
/// \brief Pendulum state changed event
///
/// Process the new sensor values for the current calibration step
// ===========================================================================
private void EvPendulum_Update(Pendulum pendulum)
{
bool r = false;
// Nothing to do until the next step
if (status == Status.Done)
{
return;
}
// Validate the conditions are met to make this calibration step
if (step <= 2)
{
r = CheckStepFaceDown( );
}
else
{
r = CheckStepRightSide( );
}
// Not in position ?
if (r == false)
{
timestampRef = pendulum.Timestamp;
status = Status.Wait;
RestartStep( );
}
// Processin ongoing ?
else if (status == Status.Busy)
{
if (step <= 2)
{
r = ProcessStepFaceDown( );
}
else
{
r = ProcessStepRightSide( );
}
if (r == true)
{
status = Status.Done;
// Peform the final calibration at the end of the last step
if (step == 4)
{
Calibrate( );
step = 5;
}
}
}
// 1 second stability ? We are ready to process this step
else if (pendulum.Timestamp - timestampRef >= 1000)
{
status = Status.Ready;
}
// Update the control to reflect changes
BeginInvoke(dlgtUpdateControl);
}
