//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();
}
