private void btnStep3Start_Click(object sender, EventArgs e)
{
lblChooseDisplay.Visible = true;
cbIsPosition.Visible = true;
cbIsTorque.Visible = true;
//vSti = new Stimulations(v.pictureBox1.Width, v.pictureBox1.Height, 1);
timeBeginPeriod(1);
uint start = timeGetTime();
uint newStart;
int count = 0;
int i = 0, j = 0;
ifStop = false;
dp1 = new drawProcess(this.pbPosition.Width, this.pbPosition.Height, Color.DarkCyan);
dp2 = new drawProcess(this.pbCommunitive.Width, this.pbCommunitive.Height, Color.DarkCyan);
lpf3.Clear();
lpf4.Clear();
positionForEverySequence.Clear();
torqueForEverySequence.Clear();
RightOrLeftForEverySequence.Clear();
sequenceIndexForExperiment = 0;
this.flpTopForLabel.Controls.Clear();
this.flpBottomForImageList.Controls.Clear();
int controlsLength;
if (cbSetSeqChoosed_1.Checked)
{
controlsLength = trainOrTest_1.Count;
trainOrTestUsed = trainOrTest_1;
experimentTimeUsed = experimentTime_1;
}
else if (cbSetSeqChoosed_2.Checked)
{
controlsLength = trainOrTest_2.Count;
trainOrTestUsed = trainOrTest_2;
experimentTimeUsed = experimentTime_2;
}
else
{
controlsLength = trainOrTest_3.Count;
trainOrTestUsed = trainOrTest_3;
experimentTimeUsed = experimentTime_3;
}
dp1.getTrainOrTestSequence(trainOrTestUsed);
dp2.getTrainOrTestSequence(trainOrTestUsed);
controls = new List <Control>();
for (int ii = 0; ii < controlsLength; ii++)
{
Label l = new Label();
l.Name = "lblDForSequence" + i.ToString();
l.AutoSize = true;
l.BorderStyle = BorderStyle.FixedSingle;
l.Margin = new System.Windows.Forms.Padding(3);
l.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
if (trainOrTestUsed[i] == true)
{
l.Text = "Tr: " + experimentTimeUsed[i].ToString();
}
else
{
l.Text = "Te: " + experimentTimeUsed[i].ToString();
}
controls.Add(l);
this.flpTopForLabel.Controls.Add(l);
}
controls[0].BackColor = Color.DarkCyan;
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
RightOrLeftForEverySequence.Add(new List <int>());
this.btnStep3Start.Enabled = false;
while (!ifStop)
{
Application.DoEvents();
newStart = timeGetTime();
if (newStart - start >= 100)
{
float torqueVoltageValue;
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
//troque = troque / 100;
troque_trans = (troque - 2048) / 2048 * 80;
//debug mode
//troque_trans = 10;
count++;
start = newStart;
//Wert = p1_c1 * p1_c2 * trq + p1_c3 * p1_c4 * p1_bias_ 'p1_c1=0/1 (open closed); p1_c2=+1/-1 (norm/inverted); p1_c3=0/1 (p1_bias on/off); p1_c4=+1/-1 (cw/ccw)
//dPsi1 = p1_k * Wert * dt_
//ArenaPos1 = ArenaPos1 + dPsi1
degree = v.getDegree();
this.lblEXPStateP.Text = degree.ToString();
this.lblEXPStateTRaw.Text = troque.ToString();
this.lblEXPSTateT.Text = troque_trans.ToString();
//debug mode
//degree += 1;
if (degree > 180)
{
degree = degree - 360;
}
if (degree < -180)
{
degree = degree + 360;
}
lpf3.Add(degree);
lpf4.Add(troque_trans);
//Console.WriteLine(degree);
positionForEverySequence[sequenceIndexForExperiment].Add(degree);
torqueForEverySequence[sequenceIndexForExperiment].Add(troque_trans);
if (v.getRightOrLeft())
{
RightOrLeftForEverySequence[sequenceIndexForExperiment].Add(1);
}
else
{
RightOrLeftForEverySequence[sequenceIndexForExperiment].Add(0);
}
if (trainOrTestUsed[sequenceIndexForExperiment])
{
if (rbUpT.Checked)
{
if ((degree > -45 & degree < 45) || (degree < -135 & degree > 135))
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
}
else
{
if ((degree <-45 & degree> -135) || (degree > 45 || degree < 135))
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
else
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
}
}
if (count == experimentTimeUsed[sequenceIndexForExperiment] * 10)
{
count = 0;
sequenceIndexForExperiment++;
dp2.clearCommunitivePosition();
lpf3.Clear();
lpf4.Clear();
if (sequenceIndexForExperiment == experimentTimeUsed.Count)
{
ifStop = true;
this.btnStep3Start.Enabled = true;
pc.ClearALLDigitalPort();
//OpenLoop();
cbOpenOrClosed.Checked = false;
cbOpenOrClosed.Text = "Open";
DataSave();
}
else
{
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
RightOrLeftForEverySequence.Add(new List <int>());
controls[sequenceIndexForExperiment].BackColor = Color.DarkCyan;
}
Bitmap imageHere = new Bitmap(imageNow);
Graphics g1 = Graphics.FromImage(imageHere);
PICalc piC = new PICalc(positionForEverySequence[sequenceIndexForExperiment - 1], torqueForEverySequence[sequenceIndexForExperiment - 1], rbUpT.Checked ? true : false);
float PIValueNow = piC.getSinglePIValue();
g1.DrawString("PI: " + (PIValueNow).ToString("0.00"), new Font("Arial", 15), new SolidBrush(Color.LightGray), 30, 50);
PictureBox pb = new PictureBox();
float width = this.flpBottomForImageList.Size.Width - 30;
float height = (int)(((float)this.pbCommunitive.Size.Height / (float)this.pbCommunitive.Size.Width) * width);
pb.Size = new Size((int)width, (int)height);
pb.Image = imageHere;
pb.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.flpBottomForImageList.Controls.Add(pb);
}
//this.pictureBox2.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
if (lpf3.Count == 400)
{
lpf3.Remove(lpf3[0]);
}
if (lpf4.Count == 400)
{
lpf4.Remove(lpf4[0]);
}
this.pbPosition.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
imageNow = dp2.drawCommunitivePoint(degree, false, sequenceIndexForExperiment);
this.pbCommunitive.CreateGraphics().DrawImage(imageNow, 0, 0);
}
}
}
private void Form1_Load(object sender, EventArgs e)
{
pc = new PortControl(0);
pc.AnalogPortConfigurationIn();
pc.AnalogPortConfigurationOut();
pc.DigitalConfigurationOut();
pc.ClearALLDigitalPort();
positionForEverySequence = new List <List <float> >();
torqueForEverySequence = new List <List <float> >();
RightOrLeftForEverySequence = new List <List <int> >();
cc = new CoreControl();
SetStyle(ControlStyles.UserPaint, true);
SetStyle(ControlStyles.AllPaintingInWmPaint, true); // 禁止擦除背景.
SetStyle(ControlStyles.DoubleBuffer, true); // 双缓冲
StreamReader sR = File.OpenText(Application.StartupPath + "\\set-1.txt");
int length = int.Parse(sR.ReadLine());
for (int i = 0; i != length; i++)
{
string temp = sR.ReadLine();
if (temp == "Train")
{
trainOrTest_1.Add(true);
experimentTime_1.Add(int.Parse(sR.ReadLine()));
lbExpSequence_1.Items.Add(trainOrTest_1.Count.ToString("00") + " " + "Train " + experimentTime_1[i] + "s");
}
else
{
trainOrTest_1.Add(false);
experimentTime_1.Add(int.Parse(sR.ReadLine()));
lbExpSequence_1.Items.Add(trainOrTest_1.Count.ToString("00") + " " + "Test " + experimentTime_1[i] + "s");
}
}
sR.Close();
StreamReader sR2 = File.OpenText(Application.StartupPath + "\\set-2.txt");
int length2 = int.Parse(sR2.ReadLine());
for (int i = 0; i != length2; i++)
{
string temp = sR2.ReadLine();
if (temp == "Train")
{
trainOrTest_2.Add(true);
experimentTime_2.Add(int.Parse(sR2.ReadLine()));
lbExpSequence_2.Items.Add(trainOrTest_2.Count.ToString("00") + " " + "Train " + experimentTime_2[i] + "s");
}
else
{
trainOrTest_2.Add(false);
experimentTime_2.Add(int.Parse(sR2.ReadLine()));
lbExpSequence_2.Items.Add(trainOrTest_2.Count.ToString("00") + " " + "Test " + experimentTime_2[i] + "s");
}
}
sR2.Close();
StreamReader sR3 = File.OpenText(Application.StartupPath + "\\set-2.txt");
int length3 = int.Parse(sR3.ReadLine());
for (int i = 0; i != length3; i++)
{
string temp = sR3.ReadLine();
if (temp == "Train")
{
trainOrTest_3.Add(true);
experimentTime_3.Add(int.Parse(sR3.ReadLine()));
lbExpSequence_3.Items.Add(trainOrTest_3.Count.ToString("00") + " " + "Train " + experimentTime_3[i] + "s");
}
else
{
trainOrTest_3.Add(false);
experimentTime_3.Add(int.Parse(sR3.ReadLine()));
lbExpSequence_3.Items.Add(trainOrTest_3.Count.ToString("00") + " " + "Test " + experimentTime_3[i] + "s");
}
}
sR3.Close();
v = new visionStimulation();
v.Show();
timer1.Interval = 10;
timer2.Interval = 100;
}
private void btnStep3Start_Click(object sender, EventArgs e)
{
lblChooseDisplay.Visible = true;
cbIsPosition.Visible = true;
cbIsTorque.Visible = true;
//vSti = new Stimulations(v.pictureBox1.Width, v.pictureBox1.Height, 1);
timeBeginPeriod(1);
uint start = timeGetTime();
uint newStart;
int count = 0;
int i = 0, j = 0;
ifStop = false;
dp1 = new drawProcess(this.pbPosition.Width, this.pbPosition.Height, Color.DarkCyan);
//dp2 = new drawProcess(this.pbCommunitive.Width, this.pbCommunitive.Height, Color.DarkCyan);
lpf3.Clear();
lpf4.Clear();
positionForEverySequence.Clear();
torqueForEverySequence.Clear();
sequenceIndexForExperiment = 0;
//this.flpTopForLabel.Controls.Clear();
//this.flpBottomForImageList.Controls.Clear();
int controlsLength;
if (cbSetSeqChoosed_1.Checked)
{
controlsLength = trainOrTest_1.Count;
trainOrTestUsed = trainOrTest_1;
experimentTimeUsed = experimentTime_1;
}
else if (cbSetSeqChoosed_2.Checked)
{
controlsLength = trainOrTest_2.Count;
trainOrTestUsed = trainOrTest_2;
experimentTimeUsed = experimentTime_2;
}
else
{
controlsLength = trainOrTest_3.Count;
trainOrTestUsed = trainOrTest_3;
experimentTimeUsed = experimentTime_3;
}
dp1.getTrainOrTestSequence(trainOrTestUsed);
//dp2.getTrainOrTestSequence(trainOrTestUsed);
//controls = new List<Control>();
//for (int ii = 0; ii < controlsLength; ii++)
//{
// Label l = new Label();
// l.Name = "lblDForSequence" + i.ToString();
// l.AutoSize = true;
// l.BorderStyle = BorderStyle.FixedSingle;
// l.Margin = new System.Windows.Forms.Padding(3);
// l.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
// if (trainOrTestUsed[i] == true)
// {
// l.Text = "Tr: " + experimentTimeUsed[i].ToString();
// }
// else
// {
// l.Text = "Te: " + experimentTimeUsed[i].ToString();
// }
// controls.Add(l);
// this.flpTopForLabel.Controls.Add(l);
//}
//controls[0].BackColor = Color.DarkCyan;
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
this.btnStep3Start.Enabled = false;
float settingDegree = -135;
oritation = 1;
vf.SetRandomPoint();
while (!ifStop)
{
Application.DoEvents();
newStart = timeGetTime();
if (newStart - start >= 50)
{
sw = new System.Diagnostics.Stopwatch();
sw.Start();
float torqueVoltageValue;
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
//troque = troque / 100;
troque_trans = (troque - 2048) / 2048 * 80;
//debug mode
//troque_trans = 10;
count++;
start = newStart;
//Wert = p1_c1 * p1_c2 * trq + p1_c3 * p1_c4 * p1_bias_ 'p1_c1=0/1 (open closed); p1_c2=+1/-1 (norm/inverted); p1_c3=0/1 (p1_bias on/off); p1_c4=+1/-1 (cw/ccw)
//dPsi1 = p1_k * Wert * dt_
//ArenaPos1 = ArenaPos1 + dPsi1
settingDegree += 1.8f * oritation;
if (settingDegree >= 135)
{
oritation = -1;
}
if (settingDegree <= -135)
{
oritation = 1;
}
this.lblEXPStateP.Text = settingDegree.ToString();
this.lblEXPStateTRaw.Text = troque.ToString();
this.lblEXPSTateT.Text = troque_trans.ToString();
//debug mode
//degree += 1;
//v.pictureBox1.CreateGraphics().DrawImage(vSti.DrawV_Test(degree), 0, 0);
lpf3.Add(settingDegree);
lpf4.Add(troque_trans);
//Console.WriteLine(degree);
positionForEverySequence[sequenceIndexForExperiment].Add(settingDegree);
torqueForEverySequence[sequenceIndexForExperiment].Add(troque_trans);
if (count == experimentTimeUsed[sequenceIndexForExperiment] * 20)
{
count = 0;
sequenceIndexForExperiment++;
//dp2.clearCommunitivePosition();
lpf3.Clear();
lpf4.Clear();
settingDegree = -135;
oritation = 1;
if (sequenceIndexForExperiment == experimentTimeUsed.Count)
{
ifStop = true;
this.btnStep3Start.Enabled = true;
pc.ClearALLDigitalPort();
//OpenLoop();
cbOpenOrClosed.Checked = false;
cbOpenOrClosed.Text = "Open";
DataSave();
}
else
{
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
//controls[sequenceIndexForExperiment].BackColor = Color.DarkCyan;
}
}
//this.pictureBox2.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
if (lpf3.Count == 400)
{
lpf3.Remove(lpf3[0]);
}
if (lpf4.Count == 400)
{
lpf4.Remove(lpf4[0]);
}
this.pbPosition.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
//imageNow = dp2.drawCommunitivePoint(degree, false,sequenceIndexForExperiment);
//this.pbCommunitive.CreateGraphics().DrawImage(imageNow, 0, 0);
this.vf.pbCanvas.CreateGraphics().DrawImage(vf.getImage(settingDegree), 0, 0);
this.vf.simpleOpenGlControl1.Refresh();
sw.Stop();
TimeSpan ts = sw.Elapsed;
this.lblShowFrameTime.Text = ts.Milliseconds.ToString();
}
}
}
private void timer2_Tick(object sender, EventArgs e)
{
float positionVoltageValue;
float torqueVoltageValue;
float position = float.Parse(pc.AnalogInput10(0, out positionVoltageValue));
float troque = float.Parse(pc.AnalogInput10(1, out torqueVoltageValue));
if (ifStartDebugMode)
{
position = 1982;
troque = 1111;
}
positionForEverySequence[sequenceIndexForExperiment].Add(position);
torqueForEverySequence[sequenceIndexForExperiment].Add(troque);
lblShowPosStep3.Text = position.ToString("00.00");
lblShowTorStep3.Text = troque.ToString("00.00");
if (trainOrTestUsed[sequenceIndexForExperiment])
{
if (rbUpT.Checked)
{
if ((position > 1470 & position < 1982) || (position > 2494 || position < 976))
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
}
else
{
if ((position > 1470 & position < 1982) || (position > 2494 || position < 976))
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
else
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
}
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
timeIndex++;
if (timeIndex == experimentTimeUsed[sequenceIndexForExperiment] * 10)
{
timeIndex = 0;
sequenceIndexForExperiment++;
dp2.clearCommunitivePosition();
lpf3.Clear();
lpf4.Clear();
if (sequenceIndexForExperiment == experimentTimeUsed.Count)
{
timer2.Stop();
this.btnStep3Start.Enabled = true;
pc.ClearALLDigitalPort();
OpenLoop();
cbOpenOrClosed.Checked = false;
cbOpenOrClosed.Text = "Open";
DataSave();
}
else
{
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
controls[sequenceIndexForExperiment].BackColor = Color.DarkCyan;
}
PICalc pic = new PICalc(positionForEverySequence[sequenceIndexForExperiment - 1], torqueForEverySequence[sequenceIndexForExperiment - 1], rbUpT.Checked);
float piValue = pic.getSiglePIValue();
Bitmap imageHere = new Bitmap(imageNow);
PictureBox pb = new PictureBox();
float width = this.flpBottomForImageList.Size.Width - 30;
float height = (int)(((float)this.pictureBox3.Size.Height / (float)this.pictureBox3.Size.Width) * width);
pb.Size = new Size((int)width, (int)height);
Graphics g = Graphics.FromImage(imageHere);
g.DrawString("PIValue: " + piValue.ToString(), new Font("Arial", 15), new SolidBrush(Color.LightGray), 130, 20);
pb.Image = imageHere;
pb.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.flpBottomForImageList.Controls.Add(pb);
}
////debug mode
// position = 721;
// troque = 100;
lpf3.Add(position);
lpf4.Add(troque);
if (lpf3.Count == 300)
{
lpf3.Remove(lpf3[0]);
}
if (lpf4.Count == 300)
{
lpf4.Remove(lpf4[0]);
}
this.pictureBox2.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
imageNow = dp2.drawCommunitivePoint(position, ifStartDebugMode, sequenceIndexForExperiment);
this.pictureBox3.CreateGraphics().DrawImage(imageNow, 0, 0);
if (sequenceIndexForExperiment == 7 & ifBreakTime)
{
timer2.Stop();
ifBreakTime = false;
btnReStart.Visible = true;
}
}
private void timer2_Tick(object sender, EventArgs e)
{
float positionVoltageValue;
float torqueVoltageValue;
float position = float.Parse(pc.AnalogInput10(0, out positionVoltageValue));
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
positionForEverySequence[sequenceIndexForExperiment].Add(position);
torqueForEverySequence[sequenceIndexForExperiment].Add(troque);
if (trainOrTestUsed[sequenceIndexForExperiment])
{
if (rbUpT.Checked)
{
if ((position > 1488 & position < 2000) || (position > 2516 || position < 976))
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
}
else
{
if ((position > 1488 & position < 2000) || (position > 2516 || position < 976))
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
else
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
}
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
timeIndex++;
if (timeIndex == experimentTimeUsed[sequenceIndexForExperiment] * 10)
{
timeIndex = 0;
sequenceIndexForExperiment++;
dp2.clearCommunitivePosition();
lpf3.Clear();
lpf4.Clear();
if (sequenceIndexForExperiment == experimentTimeUsed.Count)
{
timer2.Stop();
this.btnStep3Start.Enabled = true;
pc.ClearALLDigitalPort();
OpenLoop();
cbOpenOrClosed.Checked = false;
cbOpenOrClosed.Text = "Open";
DataSave();
}
else
{
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
controls[sequenceIndexForExperiment].BackColor = Color.DarkCyan;
}
Bitmap imageHere = new Bitmap(imageNow);
PictureBox pb = new PictureBox();
float width = this.flpBottomForImageList.Size.Width - 30;
float height = (int)(((float)this.pictureBox3.Size.Height / (float)this.pictureBox3.Size.Width) * width);
pb.Size = new Size((int)width, (int)height);
pb.Image = imageHere;
pb.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.flpBottomForImageList.Controls.Add(pb);
}
////debug mode
// position = 721;
// troque = 100;
lpf3.Add(position);
lpf4.Add(troque);
if (lpf3.Count == 150)
{
lpf3.Remove(lpf3[0]);
}
if (lpf4.Count == 150)
{
lpf4.Remove(lpf4[0]);
}
this.pictureBox2.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
imageNow = dp2.drawCommunitivePoint(position, ifStartDebugMode, sequenceIndexForExperiment);
this.pictureBox3.CreateGraphics().DrawImage(imageNow, 0, 0);
}