public CWorkSwitch(FormGPS _f)
{
mf = _f;
}
//constructor
public CModuleComm(FormGPS _f)
{
mf = _f;
serialRecvAutoSteerStr = " ** Steer Module Not Connected";
serialRecvMachineStr = " ** Machine Module Not Connected";
//WorkSwitch logic
isWorkSwitchEnabled = false;
//does a low, grounded out, mean on
isWorkSwitchActiveLow = true;
isMachineDataSentToAutoSteer = Properties.Vehicle.Default.setVehicle_isMachineControlToAutoSteer;
//autosteer constant data
autoSteerData[sdHeaderHi] = 127; // PGN - 32766
autoSteerData[sdHeaderLo] = 254;
autoSteerData[sd2] = 0;
autoSteerData[sdSpeed] = 0;
autoSteerData[sdDistanceHi] = 125; // PGN - 32020
autoSteerData[sdDistanceLo] = 20;
autoSteerData[sdSteerAngleHi] = 125; // PGN - 32020
autoSteerData[sdSteerAngleLo] = 20;
autoSteerData[sd8] = 0;
autoSteerData[sd9] = 0;
//autosteer steer settings
autoSteerSettings[ssHeaderHi] = 127;// PGN - 32764 as header
autoSteerSettings[ssHeaderLo] = 252;
autoSteerSettings[ssKp] = Properties.Settings.Default.setAS_Kp;
autoSteerSettings[ssLowPWM] = Properties.Settings.Default.setAS_lowSteerPWM;
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[ssHighPWM] = Properties.Settings.Default.setAS_highSteerPWM;
autoSteerSettings[ssCountsPerDegree] = Properties.Settings.Default.setAS_countsPerDegree;
//arduino basic steer settings
ardSteerConfig[arHeaderHi] = 127; //PGN - 32763
ardSteerConfig[arHeaderLo] = 251;
ardSteerConfig[arSet0] = Properties.Vehicle.Default.setArdSteer_setting0;
ardSteerConfig[arSet1] = Properties.Vehicle.Default.setArdSteer_setting1;
ardSteerConfig[arMaxSpd] = Properties.Vehicle.Default.setArdSteer_maxSpeed;
ardSteerConfig[arMinSpd] = Properties.Vehicle.Default.setArdSteer_minSpeed;
byte inc = (byte)(Properties.Vehicle.Default.setArdSteer_inclinometer << 6);
ardSteerConfig[arIncMaxPulse] = (byte)(inc + (byte)Properties.Vehicle.Default.setArdSteer_maxPulseCounts);
ardSteerConfig[arAckermanFix] = Properties.Vehicle.Default.setArdSteer_ackermanFix;
ardSteerConfig[arSet2] = Properties.Vehicle.Default.setArdSteer_setting2;
ardSteerConfig[ar9] = 0;
//machine, sections data array
machineData[mdHeaderHi] = 127; // PGN - 32762
machineData[mdHeaderLo] = 250;
machineData[mdSectionControlByteHi] = 0;
machineData[mdSectionControlByteLo] = 0;
machineData[mdSpeedXFour] = 0;
machineData[mdUTurn] = 0;
machineData[mdTree] = 0;
machineData[mdHydLift] = 0;
machineData[md8] = 0;
machineData[md9] = 0;
//arduino machine configuration
ardMachineConfig[amHeaderHi] = 127; //PGN - 32760
ardMachineConfig[amHeaderLo] = 248;
ardMachineConfig[amRaiseTime] = Properties.Vehicle.Default.setArdMac_hydRaiseTime;
ardMachineConfig[amLowerTime] = Properties.Vehicle.Default.setArdMac_hydLowerTime;
ardMachineConfig[amEnableHyd] = Properties.Vehicle.Default.setArdMac_isHydEnabled;
ardMachineConfig[amSet0] = Properties.Vehicle.Default.setArdMac_setting0;
ardMachineConfig[am6] = 0;
ardMachineConfig[am7] = 0;
ardMachineConfig[am8] = 0;
ardMachineConfig[am9] = 0;
//Section control: switches
ss[swHeaderHi] = 0; //PGN - 32609
ss[swHeaderLo] = 0; //0xE0
ss[sw2] = 0;
ss[sw3] = 0;
ss[sw4] = 0;
ss[swONHi] = 0;
ss[swONLo] = 0;
ss[swOFFHi] = 0;
ss[swOFFLo] = 0;
ss[swMain] = 0;
ssP[swHeaderHi] = 0; //PGN - 32609
ssP[swHeaderLo] = 0; //0xE0
ssP[sw2] = 0;
ssP[sw3] = 0;
ssP[sw4] = 0;
ssP[swONHi] = 0;
ssP[swONLo] = 0;
ssP[swOFFHi] = 0;
ssP[swOFFLo] = 0;
ssP[swMain] = 0;
}
public CWorldGrid(FormGPS _f)
{
mf = _f;
}
public FormGPSData(Form callingForm)
{
mf = callingForm as FormGPS;
InitializeComponent();
}
//constructor
public CContour(FormGPS _f)
{
mf = _f;
}
public CFont(FormGPS _f)
{
//constructor
mf = _f;
isFontOn = true;
}