/// <summary>
/// 自律走行モード
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void cb_Autonomous_CheckedChanged(object sender, EventArgs e)
{
if (cb_StartAutonomous.Checked)
{
LocPreSumpSystem LocSys = BrainCtrl.LocSys;
// 現在座標から開始
// 開始時のリセット
LocSys.SetStartPostion((int)(LocSys.R1.X + 0.5),
(int)(LocSys.R1.Y + 0.5),
LocSys.R1.Theta);
// GPS情報があれば GPSの初期値をセット
if (CersioCt.bhwGPS)
{
// 起点情報をセット
LocPreSumpSystem.Set_GPSStart(CersioCt.hwGPS_LandX,
CersioCt.hwGPS_LandY,
(int)(LocSys.R1.X + 0.5),
(int)(LocSys.R1.Y + 0.5));
}
bRunAutonomous = true;
cb_StartAutonomous.BackColor = Color.LimeGreen;
}
else
{
// 停止
bRunAutonomous = false;
CersioCt.SendCommand_Stop();
cb_StartAutonomous.BackColor = SystemColors.Window;
}
}
/// <summary>
/// 自律走行モード
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void cb_Autonomous_CheckedChanged(object sender, EventArgs e)
{
if (cb_StartAutonomous.Checked)
{
LocationSystem LocSys = BrainCtrl.LocSys;
bRunAutonomous = true;
cb_StartAutonomous.BackColor = Color.LimeGreen;
}
else
{
// 停止
bRunAutonomous = false;
CersioCt.SendCommand_Stop();
cb_StartAutonomous.BackColor = SystemColors.Window;
}
}