private void GetAndSaveAngleCoords()
{
//Save the coordinates of the pan and the tilt axis after an image was taken - either Sensor data or expected positions
//If UseAngleSensor=true acquire pan and tilt-angle from the angle sensors
if (Params.UseAngleSensor == true)
{
//Read pan axis position
muControllerInterface.panAvailable = false; //Clear position data available flag
muControllerInterface.myPort.Write(new byte[] { 0xFD }, 0, 1);
while (!(muControllerInterface.panAvailable == true))
{
Thread.Sleep(100);
muControllerInterface.myPort.Write(new byte[] { 0xFD }, 0, 1);
}
; //Wait with reading until position data is available
Params.panAngle = Params.PanAngleSensorOffset - muControllerInterface.InputValAbs_x;
muControllerInterface.InputValAbs_x = 0;
//Read Tilt axis position
muControllerInterface.tiltAvailable = false;
muControllerInterface.myPort.Write(new byte[] { 0xFC }, 0, 1); //Wait with reading until position data is available
while (!(muControllerInterface.tiltAvailable == true))
{
}
;
Params.tiltAngle = Params.TiltAngleSensorOffset - muControllerInterface.InputValAbs_y;
muControllerInterface.InputValAbs_y = 0;
UpdateServoPosWithParams(Params.panAngle, Params.tiltAngle, _sender);
PapyWizardHelper.SaveCoords(-Params.panAngle, -Params.tiltAngle, Params.ImageNum, 1); //Save the coordinates where the image was taken!
//Output Positions: MeasurePos-TargetPos
var dx = Params.panAngle - Params.Target_x;
var dy = Params.tiltAngle - Params.Target_y;
ShowNewCommentInGUI("TargetPos X " + Params.Target_x.ToString() + " Pos X " + Params.panAngle.ToString() + " Delta_x " + dx.ToString() + "\n", _sender);
ShowNewCommentInGUI("TargetPos Y" + Params.Target_y.ToString() + " Pos y " + Params.tiltAngle.ToString() + " Delta_y " + dy.ToString() + "\n", _sender);
}
else //save the servo-coordinates
{
PapyWizardHelper.SaveCoords(Params.CurServoPosX, Params.CurServoPosY, Params.ImageNum, 0); //Save the coordinates where the image was taken!
}
}
