public UnsureNetworkForm()
{
InitializeComponent();
NodeSavingReading reader = new NodeSavingReading();
net = new NeuralNet(7, 7, ANNfilename, KFoldFilename);
inputTrainingData = reader.GetStoredDataFromFile(Globals.inputDataStorage);
outputTrainingData = reader.GetStoredDataFromFile(Globals.outputDataStorage);
//inputTrainingData = new List<double[]>();
//outputTrainingData = new List<double[]>();
controls = new PatsControlScheme();
controls.Initialize();
controls.timeNeededForChange = 7000;
serial = new SerialReader();
serial.Read();
UnityCommunicationHub.InitializeUnityCommunication();
UnityCommunicationHub.TwoWayTransmission();
indexList = Globals.GetBasicValues();
reverseIndexList = Globals.GetBasicValuesReversed();
setPointList = Globals.GetBasicPositions();
foreach (KeyValuePair <string, int> position in indexList)
{
DefaultPositionsBox.Items.Add(position.Key);
}
}
public NeuralNetForm()
{
InitializeComponent();
NodeSavingReading reader = new NodeSavingReading();
net = new NeuralNet(8, 7, ANNfilename, KFoldFilename);
inputTrainingData = reader.GetStoredDataFromFile(Globals.inputDataStorage);
outputTrainingData = reader.GetStoredDataFromFile(Globals.outputDataStorage);
//inputTrainingData = new List<double[]>();
//outputTrainingData = new List<double[]>();
serial = new SerialReader();
serial.Read();
UnityCommunicationHub.InitializeUnityCommunication();
UnityCommunicationHub.TwoWayTransmission();
indexList = Globals.GetBasicValues();
setPointList = Globals.GetBasicPositions();
foreach (KeyValuePair <string, int> position in indexList)
{
DefaultPositionsBox.Items.Add(position.Key);
}
}
public ContinuousNeuralNetForm()
{
InitializeComponent();
net = new NeuralNet(8, 7, ANNfilename, KFoldFilename);
inputTrainingData = new List <double[]>();
outputTrainingData = new List <double[]>();
if (inputTrainingData.Count > expirationTimer)
{
inputTrainingData.RemoveAt(0);
outputTrainingData.RemoveAt(0);
}
serial = new SerialReader();
serial.Read();
UnityCommunicationHub.InitializeUnityCommunication();
UnityCommunicationHub.TwoWayTransmission();
Random rand = new Random(23);
setPointList = Globals.GetBasicPositions();
var firstPoint = setPointList[3];
Globals.A1DesiredPosition = firstPoint.A1Position;
Globals.A2DesiredPosition = firstPoint.A2Position;
Globals.A3DesiredPosition = firstPoint.A3Position;
Globals.B1DesiredPosition = firstPoint.B1Position;
Globals.B2DesiredPosition = firstPoint.B2Position;
Globals.B3DesiredPosition = firstPoint.B3Position;
Globals.C1DesiredPosition = firstPoint.C1Position;
Globals.C2DesiredPosition = firstPoint.C2Position;
Globals.C3DesiredPosition = firstPoint.C3Position;
Globals.D1DesiredPosition = firstPoint.D1Position;
Globals.D2DesiredPosition = firstPoint.D2Position;
Globals.D3DesiredPosition = firstPoint.D3Position;
Globals.T1DesiredPosition = firstPoint.T1Position;
Globals.T2DesiredPosition = firstPoint.T2Position;
//Globals.T1DesiredPosition = (float)rand.Next(0, 90);
//Globals.T2DesiredPosition = (float)rand.Next(0, 90);
//Globals.A1DesiredPosition = (float)rand.Next(0, 90);
//Globals.A2DesiredPosition = (float)rand.Next(0, 90);
//Globals.A3DesiredPosition = (float)rand.Next(0, 90);
//Globals.B1DesiredPosition = (float)rand.Next(0, 90);
//Globals.B2DesiredPosition = (float)rand.Next(0, 90);
//Globals.B3DesiredPosition = (float)rand.Next(0, 90);
//Globals.C1DesiredPosition = (float)rand.Next(0, 90);
//Globals.C2DesiredPosition = (float)rand.Next(0, 90);
//Globals.C3DesiredPosition = (float)rand.Next(0, 90);
//Globals.D1DesiredPosition = (float)rand.Next(0, 90);
//Globals.D2DesiredPosition = (float)rand.Next(0, 90);
//Globals.D3DesiredPosition = (float)rand.Next(0, 90);
lastSetPoint = firstPoint;
UnityCommunicationHub.WriteData(true);
}
private void DecreaseAngleButton_Click(object sender, EventArgs e)
{
float desiredAngle = (float)System.Convert.ToDouble(DesiredAngleInput.Text) - 1.0f;
DesiredAngleInput.Text = desiredAngle.ToString();
setDesiredAngle();
UnityCommunicationHub.TwoWayTransmission();
}
private void DesiredAngleInput_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Enter)
{
setDesiredAngle();
UnityCommunicationHub.TwoWayTransmission();
e.Handled = e.SuppressKeyPress = true;
}
}
private void loadPositions(Node thisNode)
{
Globals.A1DesiredPosition = thisNode.A1Position;
Globals.A2DesiredPosition = thisNode.A2Position;
Globals.A3DesiredPosition = thisNode.A3Position;
Globals.B1DesiredPosition = thisNode.B1Position;
Globals.B2DesiredPosition = thisNode.B2Position;
Globals.B3DesiredPosition = thisNode.B3Position;
Globals.C1DesiredPosition = thisNode.C1Position;
Globals.C2DesiredPosition = thisNode.C2Position;
Globals.C3DesiredPosition = thisNode.C3Position;
Globals.D1DesiredPosition = thisNode.D1Position;
Globals.D2DesiredPosition = thisNode.D2Position;
Globals.D3DesiredPosition = thisNode.D3Position;
Globals.T1DesiredPosition = thisNode.T1Position;
Globals.T2DesiredPosition = thisNode.T2Position;
UnityCommunicationHub.TwoWayTransmission();
}
private void button1_Click(object sender, EventArgs e)
{
if (UnityCommunicationHub.connected)
{
try
{
Globals.T1DesiredPosition = float.Parse(toSend);
}
catch (Exception error)
{
Console.WriteLine("ERROR WHEN PARSING FLOAT: " + error.ToString());
Globals.T1DesiredPosition = 0;
}
UnityCommunicationHub.TwoWayTransmission();
}
else
{
Console.WriteLine("ERROR: CONNECT TO UNITY FIRST");
textBox1.Text = "ERROR: CONNECT TO UNITY FIRST";
}
}
