/// <summary>
/// Calculates the fourier transforms and updates the axis scales.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BackgroundWorker_CalculateFourierTransforms(object sender, DoWorkEventArgs e)
{
BackgroundWorker worker = (BackgroundWorker)sender;
float[] pidFFTW = FourierTransform.CalculateFFTW(PIDOutput.ToArray());
float[] adrcFFTW = FourierTransform.CalculateFFTW(ADRCOutput.ToArray());
float[] pidAngleFFTW = FourierTransform.CalculateFFTW(PIDAngle.ToArray());
float[] adrcAngleFFTW = FourierTransform.CalculateFFTW(ADRCAngle.ToArray());
this.BeginInvoke((Action)(() =>
{
double pidMax, adrcMax;
pidMax = pidMaxValue.Filter((pidFFTW.Max() + Math.Abs(pidFFTW.Min())) / 2);
adrcMax = adrcMaxValue.Filter((adrcFFTW.Max() + Math.Abs(adrcFFTW.Min())) / 2);
pidScale.Text = "PID Scale: " + pidMax;
adrcScale.Text = "ADRC Scale: " + adrcMax;
chart3.ChartAreas[0].AxisY.Maximum = pidMax;
chart3.ChartAreas[0].AxisY.Minimum = -pidMax;
chart4.ChartAreas[0].AxisY.Maximum = adrcMax;
chart4.ChartAreas[0].AxisY.Minimum = -adrcMax;
}));
e.Result = new float[4][] { pidFFTW, adrcFFTW, pidAngleFFTW, adrcAngleFFTW };
}
/// <summary>
/// Calculates the fourier transforms and updates the axis scales.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void CalculateFourierTransforms(object sender, DoWorkEventArgs e)
{
BackgroundWorker worker = (BackgroundWorker)sender;
float[] FFTW = FourierTransform.CalculateFFTW(PreviousOutputs.ToArray());
float[] AngleFFTW = FourierTransform.CalculateFFTW(PreviousAngles.ToArray());
this.BeginInvoke((Action)(() =>
{
double fourierMaxOutput = feedbackMaxKalman.Filter((FFTW.Max() + Math.Abs(FFTW.Min())) / 2);
pidScale.Text = "Scale: " + fourierMaxOutput;
chart3.ChartAreas[0].AxisY.Maximum = fourierMaxOutput;
chart3.ChartAreas[0].AxisY.Minimum = -fourierMaxOutput;
}));
e.Result = new float[2][] { FFTW, AngleFFTW };
}
