public CVehicle(FormGPS _f)
{
//constructor
mf = _f;
ast = new CAutoSteer();
isPivotBehindAntenna = Properties.Vehicle.Default.setVehicle_isPivotBehindAntenna;
antennaHeight = Properties.Vehicle.Default.setVehicle_antennaHeight;
antennaPivot = Properties.Vehicle.Default.setVehicle_antennaPivot;
antennaOffset = Properties.Vehicle.Default.setVehicle_antennaOffset;
wheelbase = Properties.Vehicle.Default.setVehicle_wheelbase;
minTurningRadius = Properties.Vehicle.Default.setVehicle_minTurningRadius;
isSteerAxleAhead = Properties.Vehicle.Default.setVehicle_isSteerAxleAhead;
slowSpeedCutoff = Properties.Vehicle.Default.setVehicle_slowSpeedCutoff;
goalPointLookAheadSeconds = Properties.Vehicle.Default.setVehicle_goalPointLookAhead;
goalPointLookAheadMinimumDistance = Properties.Vehicle.Default.setVehicle_lookAheadMinimum;
goalPointDistanceMultiplier = Properties.Vehicle.Default.setVehicle_lookAheadDistanceFromLine;
goalPointLookAheadUturnMult = Properties.Vehicle.Default.setVehicle_goalPointLookAheadUturnMult;
stanleyDistanceErrorGain = Properties.Vehicle.Default.stanleyDistanceErrorGain;
stanleyHeadingErrorGain = Properties.Vehicle.Default.stanleyHeadingErrorGain;
maxAngularVelocity = Properties.Vehicle.Default.setVehicle_maxAngularVelocity;
maxSteerAngle = Properties.Vehicle.Default.setVehicle_maxSteerAngle;
isHydLiftOn = false;
trackWidth = Properties.Vehicle.Default.setVehicle_trackWidth;
stanleyIntegralGainAB = Properties.Vehicle.Default.stanleyIntegralGainAB;
stanleyIntegralDistanceAwayTriggerAB = Properties.Vehicle.Default.stanleyIntegralDistanceAwayTriggerAB;
purePursuitIntegralGain = Properties.Vehicle.Default.purePursuitIntegralGainAB;
vehicleType = Properties.Vehicle.Default.setVehicle_vehicleType;
hydLiftLookAheadTime = Properties.Vehicle.Default.setVehicle_hydraulicLiftLookAhead;
}
// Constructor, Initializes a new instance of the "FormGPS" class.
public FormGPS()
{
//winform initialization
InitializeComponent();
//build the gesture structures
SetupStructSizes();
//create a new section and set left and right positions
//created whether used or not, saves restarting program
for (int j = 0; j < MAXSECTIONS; j++)
{
section[j] = new CSection(this);
}
// Get the OpenGL object.
OpenGL gl = openGLControl.OpenGL;
OpenGL glBack = openGLControlBack.OpenGL;
//create the world grid
worldGrid = new CWorldGrid(gl, this);
//our vehicle made with gl object and pointer of mainform
vehicle = new CVehicle(gl, this);
//our NMEA parser
pn = new CNMEA(this);
//create the ABLine instance
ABLine = new CABLine(gl, this);
//new instance of contour mode
ct = new CContour(gl, this);
//new instance of contour mode
curve = new CABCurve(gl, this);
//new instance of auto headland turn
yt = new CYouTurn(gl, glBack, this);
//module communication
mc = new CModuleComm(this);
//perimeter list object
periArea = new CPerimeter(gl);
//boundary object
bnd = new CBoundary(gl, glBack, this);
//boundaries array
for (int j = 0; j < MAXBOUNDARIES; j++)
{
bndArr[j] = new CBoundaryLines(gl, glBack, this);
}
//headland object
hl = new CHeadland(gl, this);
//headlands array
for (int j = 0; j < MAXHEADS; j++)
{
hlArr[j] = new CHeadlandLines(gl, this);
}
//rate object for dual flowmeters
rcd = new CDualRate(this);
//headland entry/exit sequences
seq = new CSequence(this);
//nmea simulator built in.
sim = new CSim(this);
//all the autosteer objects
ast = new CAutoSteer(this);
//all the attitude, heading, roll, pitch reference system
ahrs = new CAHRS(this);
//A recorded path
recPath = new CRecordedPath(gl, this);
//A generated Path
genPath = new CGenPath(gl, this);
//start the stopwatch
swFrame.Start();
//resource for gloabal language strings
_rm = new ResourceManager("AgOpenGPS.gStr", Assembly.GetExecutingAssembly());
}
