//Send to Autosteer to adjust PIDO values, LSB is up or down private void btnPPlus_Click(object sender, EventArgs e) { mf.modcom.autoSteerSettings[2] += 1; lblPValue.Text = mf.modcom.autoSteerSettings[2].ToString(); Properties.Settings.Default.setAS_Kp = mf.modcom.autoSteerSettings[2]; Properties.Settings.Default.Save(); mf.AutoSteerSettingsOutToPort(); }
//Scrollbars private void hsbarLookAhead_ValueChanged(object sender, EventArgs e) { //if (hsbarLookAheadMin.Value > hsbarLookAhead.Value) hsbarLookAheadMin.Value = hsbarLookAhead.Value; mf.vehicle.goalPointLookAheadSeconds = hsbarLookAhead.Value * 0.1; lblLookAhead.Text = mf.vehicle.goalPointLookAheadSeconds.ToString(); Properties.Vehicle.Default.setVehicle_goalPointLookAhead = mf.vehicle.goalPointLookAheadSeconds; Properties.Vehicle.Default.Save(); mf.AutoSteerSettingsOutToPort(); }
private void hsbarCountsPerDegree_ValueChanged(object sender, EventArgs e) { mf.mc.autoSteerSettings[mf.mc.ssCountsPerDegree] = (byte)hsbarCountsPerDegree.Value; lblCountsPerDegree.Text = (mf.mc.autoSteerSettings[mf.mc.ssCountsPerDegree]).ToString(); Properties.Settings.Default.setAS_countsPerDegree = mf.mc.autoSteerSettings[mf.mc.ssCountsPerDegree]; Properties.Settings.Default.Save(); mf.AutoSteerSettingsOutToPort(); }
private void FormWizardSteer_Load(object sender, EventArgs e) { //save a copy in case of cancel prevSteerCount = ((mf.mc.autoSteerSettings[mf.mc.ssCountsPerDegree])); mf.mc.autoSteerSettings[mf.mc.ssCountsPerDegree] = 1; mf.AutoSteerSettingsOutToPort(); btnSteerMinus.Text = mf.mc.autoSteerSettings[mf.mc.ssSteerOffset].ToString(); lblWheelbase.Text = Convert.ToString(Math.Round(mf.vehicle.wheelbase, 1)); btnSaveOK.Enabled = false; nudRadius.Enabled = false; btnCalculate.Enabled = false; }
//Reset all the byte arrays from modules public void ResetAllModuleCommValues() { relayData[rdHeaderHi] = 127; // PGN - 32762 relayData[rdHeaderLo] = 250; relayData[rdSectionControlByteHi] = 0; relayData[rdSectionControlByteLo] = 0; relayData[rdSpeedXFour] = 0; relayData[rdTramLine] = 0; relayData[rdTree] = 0; relayData[rdUTurn] = 0; relayData[rdHydLift] = 0; relayData[rd9] = 0; mf.RelayOutToPort(relayData, pgnSentenceLength); autoSteerData[sdHeaderHi] = 127; // PGN - 32766 autoSteerData[sdHeaderLo] = 254; autoSteerData[sdRelayLo] = 0; autoSteerData[sdSpeed] = 0; autoSteerData[sdDistanceHi] = 125; // PGN - 32020 autoSteerData[sdDistanceLo] = 20; autoSteerData[sdSteerAngleHi] = 125; // PGN - 32020 autoSteerData[sdSteerAngleLo] = 20; autoSteerData[sdYouTurnByte] = 0; mf.AutoSteerDataOutToPort(); autoSteerSettings[ssHeaderHi] = 127;// PGN - 32764 as header autoSteerSettings[ssHeaderLo] = 252; autoSteerSettings[ssKp] = Properties.Settings.Default.setAS_Kp; autoSteerSettings[ssKi] = Properties.Settings.Default.setAS_Ki; autoSteerSettings[ssKd] = Properties.Settings.Default.setAS_Kd; autoSteerSettings[ssKo] = Properties.Settings.Default.setAS_Ko; autoSteerSettings[ssSteerOffset] = Properties.Settings.Default.setAS_steerAngleOffset; autoSteerSettings[ssMinPWM] = Properties.Settings.Default.setAS_minSteerPWM; autoSteerSettings[ssMaxIntegral] = Properties.Settings.Default.setAS_maxIntegral; autoSteerSettings[ssCountsPerDegree] = Properties.Settings.Default.setAS_countsPerDegree; mf.AutoSteerSettingsOutToPort(); machineControlData[cnHeaderHi] = 127; // PGN - 32758 machineControlData[cnHeaderLo] = 246; machineControlData[cnPedalControl] = 0; machineControlData[cnSpeed] = 0; machineControlData[cnRelayLo] = 0; machineControlData[cnYouTurn] = 0; machineControlData[6] = 0; machineControlData[7] = 0; machineControlData[8] = 0; machineControlData[9] = 0; }
//Buttons private void btnPPlus_Click(object sender, EventArgs e) { mf.mc.autoSteerSettings[mf.mc.ssKp]++; btnPMinus.Text = mf.mc.autoSteerSettings[mf.mc.ssKp].ToString(); Properties.Settings.Default.setAS_Kp = mf.mc.autoSteerSettings[mf.mc.ssKp]; Properties.Settings.Default.Save(); mf.AutoSteerSettingsOutToPort(); }