public GyroCal(AHRS sensor)
{
int i = 0;
InitializeComponent();
this.sensor = sensor;
// Add DataReceived event handler.
sensor.DataReceivedEvent += new DataReceivedDelegate(DataReceivedEventHandler);
sensor.confReceivedEvent += new confReceivedDelegate(confReceivedEventHandler);
confReceivedEventHandler(i);
data_collection_enabled = false;
next_data_index = 0;
loggedData = new double[SAMPLES, 3];
threshold = 1.5 * 3.14159 / 180;
bias = new double[3];
calMat = new double[3, 3];
calMat[0, 0] = 1.0;
calMat[1, 1] = 1.0;
calMat[2, 2] = 1.0;
D = new GeneralMatrix(SAMPLES, 10);
for (i = 0; i < SAMPLES; i++)
{
loggedData[i,0] = 0;
loggedData[i, 1] = 0;
loggedData[i, 2] = 0;
}
}
public AHRSInterface()
{
InitializeComponent();
initializeSerialPort();
sensor = new AHRS();
// Set up event handlers
sensor.PacketTimeoutEvent += new StateDelegate(TimeoutEventHandler);
sensor.PacketReceivedEvent += new PacketDelegate(PacketReceivedEventHandler);
sensor.DataReceivedEvent += new DataReceivedDelegate(DataReceivedEventHandler);
sensor.PacketSentEvent += new PacketDelegate(PacketSentEventHandler);
sensor.COMFailedEvent += new COMFailedDelegate(COMFailedEventHandler);
renderTimer = new Timer();
renderTimer.Interval = 10;
renderTimer.Enabled = true;
renderTimer.Tick += new System.EventHandler(OnRenderTimerTick);
//Form_3Dcuboid form_3DcuboidA = new Form_3Dcuboid(new string[] { "RightInv.png", "LeftInv.png", "BackInv.png", "FrontInv.png", "TopInv.png", "BottomInv.png" });
form_3DcuboidA.Text += " A";
BackgroundWorker backgroundWorkerA = new BackgroundWorker();
backgroundWorkerA.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidA.ShowDialog(); });
backgroundWorkerA.RunWorkerAsync();
}
public AHRSInterface()
{
InitializeComponent();
initializeSerialPort();
sensor = new AHRS();
// Set up event handlers
sensor.PacketTimeoutEvent += new StateDelegate(TimeoutEventHandler);
sensor.PacketReceivedEvent += new PacketDelegate(PacketReceivedEventHandler);
sensor.DataReceivedEvent += new DataReceivedDelegate(DataReceivedEventHandler);
sensor.PacketSentEvent += new PacketDelegate(PacketSentEventHandler);
sensor.COMFailedEvent += new COMFailedDelegate(COMFailedEventHandler);
sensor.PacketLabelEvent += new PacketLabel(PacketLabelHandler);
renderTimer = new Timer();
renderTimer.Interval = 20;
renderTimer.Enabled = true;
renderTimer.Tick += new System.EventHandler(OnRenderTimerTick);
Pos_Pane = PosGraph.GraphPane;
Pos_Pane.Title.Text = "Position controller";
Pos_Pane.XAxis.Title.Text = "Time (s)";
Pos_Pane.YAxis.Title.Text = "Output";
Vel_Pane = VelGraph.GraphPane;
Vel_Pane.Title.Text = "Velocity controller";
Vel_Pane.XAxis.Title.Text = "Time (s)";
Vel_Pane.YAxis.Title.Text = "Output";
Cur_Pane = CurGraph.GraphPane;
Cur_Pane.Title.Text = "Current controller";
Cur_Pane.XAxis.Title.Text = "Time (s)";
Cur_Pane.YAxis.Title.Text = "Output";
Pos_Tar_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Pos_Motor_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Vel_Ext_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Vel_Int_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Vel_Motor_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Cur_Ext_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Cur_Int_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Cur_Motor_List = new RollingPointPairList(SENSOR_GRAPH_POINTS);
Pos_Tar_Line = Pos_Pane.AddCurve("Position Target", Pos_Tar_List, Color.Blue, SymbolType.None);
Pos_Motor_Line = Pos_Pane.AddCurve("Motor position", Pos_Motor_List, Color.Red, SymbolType.None);
Vel_Ext_Line = Vel_Pane.AddCurve("External Velocity", Vel_Ext_List, Color.Blue, SymbolType.None);
Vel_Int_Line = Vel_Pane.AddCurve("Internal Velocity", Vel_Int_List, Color.Red, SymbolType.None);
Vel_Motor_Line = Vel_Pane.AddCurve("Motor Velocity", Vel_Motor_List, Color.Green, SymbolType.None);
Cur_Ext_Line = Cur_Pane.AddCurve("External Current", Cur_Ext_List, Color.Blue, SymbolType.None);
Cur_Int_Line = Cur_Pane.AddCurve("Internal Current", Cur_Int_List, Color.Red, SymbolType.None);
Cur_Motor_Line = Cur_Pane.AddCurve("Motor Current", Cur_Motor_List, Color.Green, SymbolType.None);
}
public AHRSLog(AHRS sensor)
{
InitializeComponent();
//loggingEnabled = false;
loggingEnabled = true;
this.sensor = sensor;
sensor.DataReceivedEvent += new DataReceivedDelegate(DataReceivedEventHandler);
}
public ConfSet(AHRS sensor)
{
int i=0;
InitializeComponent();
this.sensor = sensor;
// Add DataReceived event handler.
sensor.confReceivedEvent += new confReceivedDelegate(confReceivedEventHandler);
confReceivedEventHandler(i);
}
public InfoDump( AHRS sensor )
{
InitializeComponent();
this.sensor = sensor;
// Add new event handlers
sensor.PacketReceivedEvent += new PacketDelegate(PacketReceivedEventHandler);
sensor.PacketTimeoutEvent += new StateDelegate(TimeoutEventHandler);
sensor.DataReceivedEvent += new DataReceivedDelegate(DataReceivedEventHandler);
displayAHRSStates();
initializeGraphs();
timer1.Interval = 50;
timer1.Start();
time = 0;
}
public calcVar(AHRS sensor)
{
int i = 0;
InitializeComponent();
this.sensor = sensor;
// Add DataReceived event handler.
sensor.DataReceivedEvent += new DataReceivedDelegate(DataReceivedEventHandler);
data_collection_enabled = false;
next_data_index = 0;
accxdata = new double[SAMPLES];
accydata = new double[SAMPLES];
acczdata = new double[SAMPLES];
magxdata = new double[SAMPLES];
magydata = new double[SAMPLES];
magzdata = new double[SAMPLES];
gyroxdata = new double[SAMPLES];
gyroydata = new double[SAMPLES];
gyrozdata = new double[SAMPLES];
calMat = new double[3, 3];
calMat[0, 0] = 1.0;
calMat[1, 1] = 1.0;
calMat[2, 2] = 1.0;
for (i = 0; i < SAMPLES; i++)
{
accydata[i]=0;
acczdata[i] = 0;
magxdata[i] = 0;
magydata[i] = 0;
magzdata[i] = 0;
gyroxdata[i] = 0;
gyroydata[i] = 0;
gyrozdata[i] = 0;
}
}
public AHRSupload(AHRS sensor)
{
InitializeComponent();
this.sensor = sensor;
}
public saveconfiguration(AHRS sensor)
{
InitializeComponent();
this.sensor = sensor;
}
