public CalibrationBase(ServoOffset offsetInfo, stRobotIOStatus io, bool hiragana = false)
: this()
{
this.offsetInfo = offsetInfo;
this.io = io;
if (hiragana)
{
this.Load += new EventHandler(CalibrationBase_Load);
}
// DCモーター校正メニュー初期化
byte m1Rate = offsetInfo.getDCCalibInfo().calibM1Rate;
byte m2Rate = offsetInfo.getDCCalibInfo().calibM2Rate;
Debug.Write("Pin: " + m1Rate);
tbM1.Value = (int)(255 * m1Rate / 100.0);
lbDCM1Value.Text = tbM1.Value.ToString();
tbM2.Value = (int)(255 * m2Rate / 100.0);
lbDCM2Value.Text = tbM2.Value.ToString();
// 初期化完了後にイベント登録
this.tbM1.ValueChanged += new EventHandler(tb_ValueChanged);
this.tbM2.ValueChanged += new EventHandler(tb_ValueChanged);
// M1/M2どちらかが未使用の場合は機能をオフにする
if (!(io.fDCMotor1Used && io.fDCMotor2Used))
{
gbDC.Enabled = false;
}
}
public CalibrationLP(ServoOffset svoff, stRobotIOStatus io, TestModeCommunication tcom, bool hiragana = false)
: base(svoff, io, hiragana)
{
InitializeComponent();
this.tcom = tcom;
saD5.nudAngle.Value = svoff.getValue(0);
saD6.nudAngle.Value = svoff.getValue(1);
saD9.nudAngle.Value = svoff.getValue(2);
saD10.nudAngle.Value = svoff.getValue(3);
saD11.nudAngle.Value = svoff.getValue(4);
saD5.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD6.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD9.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD10.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD11.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD5.Enabled = io.fSvMotor1Used;
saD6.Enabled = io.fSvMotor2Used;
saD9.Enabled = io.fSvMotor3Used;
saD10.Enabled = io.fSvMotor4Used;
saD11.Enabled = io.fSvMotor5Used;
// サーボモーターの初期設定
if (saD5.Enabled)
{
setServoMotor(PinID.D5, svoff.getValue(0));
}
if (saD6.Enabled)
{
setServoMotor(PinID.D6, svoff.getValue(1));
}
if (saD9.Enabled)
{
setServoMotor(PinID.D9, svoff.getValue(2));
}
if (saD10.Enabled)
{
setServoMotor(PinID.D10, svoff.getValue(3));
}
if (saD11.Enabled)
{
setServoMotor(PinID.D11, svoff.getValue(4));
}
// DCモーター速度設定(DCモーター2つが有効な時のみ)
if (io.fDCMotor1Used && io.fDCMotor2Used)
{
setDCMotorPower(0, (byte)tbM1.Value);
setDCMotorPower(1, (byte)tbM2.Value);
}
}
public CalibrationST(ServoOffset offset, stRobotIOStatus io, ICommandSender com, bool hiragana = false)
: base(offset, io, hiragana)
{
InitializeComponent();
this.com = com;
comgen = new TestModeCommand();
saD9.nudAngle.Value = offset.getValue(0);
saD10.nudAngle.Value = offset.getValue(1);
saD11.nudAngle.Value = offset.getValue(2);
saD12.nudAngle.Value = offset.getValue(3);
saD2.nudAngle.Value = offset.getValue(4);
saD4.nudAngle.Value = offset.getValue(5);
saD7.nudAngle.Value = offset.getValue(6);
saD8.nudAngle.Value = offset.getValue(7);
saD9.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD10.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD11.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD12.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD2.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD4.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD7.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD8.nudAngle.ValueChanged += new EventHandler(nudAngle_ValueChanged);
saD9.Enabled = io.fSvMotor1Used;
saD10.Enabled = io.fSvMotor2Used;
saD11.Enabled = io.fSvMotor3Used;
saD12.Enabled = io.fSvMotor4Used;
saD2.Enabled = io.fSvMotor5Used;
saD4.Enabled = io.fSvMotor6Used;
saD7.Enabled = io.fSvMotor7Used;
saD8.Enabled = io.fSvMotor8Used;
com.Disconnected += new EventHandler(com_Disconnected);
}
