private void ArmReady()
{
cYaw = 0.5;
state = ERAState.ThrottleUp;
joystick.SetBtn(false, id, 1);
allownoise = true;
}
private void processStickMovement()
{
count += ((double)timer1.Interval) / 1000.0;
double wf = generateStickWaveform(count * 2);
cPitch -= (cPitch - 0.5) * 0.05;
cRoll -= (cRoll - 0.5) * 0.05;
cThr -= (cThr - centerThrottle * conv_mul) * 0.05;
cYaw -= (cYaw - 0.5) * 0.05;
switch (state)
{
case ERAState.PitchUp:
label2.Text = "ТАНГАЖ+";
cPitch = 0.5 + wf * 0.25;
break;
case ERAState.PitchDown:
label2.Text = "ТАНГАЖ-";
cPitch = 0.5 - wf * 0.25;
break;
case ERAState.RollUp:
label2.Text = "КРЕН+";
cRoll = 0.5 + wf * 0.25;
break;
case ERAState.RollDown:
label2.Text = "КРЕН-";
cRoll = 0.5 - wf * 0.25;
break;
case ERAState.YawRight:
label2.Text = "РЫСК+";
if (!checkBox1.Checked)
{
cYaw = 0.5 + wf * 0.25;
}
break;
case ERAState.YawLeft:
label2.Text = "РЫСК-";
if (!checkBox1.Checked)
{
cYaw = 0.5 - wf * 0.25;
}
break;
default:
break;
}
if (count > 1.5)
{
cPitch = cRoll = cYaw = 0.5;
cThr = centerThrottle * conv_mul;
state = ERAState.Idle;
}
}
private void Arm()
{
cPitch = cRoll = 0.5;
cThr = 0;
cYaw = 0.5;
joystick.SetBtn(true, id, 1);
count = 1.0f;
state = ERAState.Arming;
}
private void button3_Click(object sender, EventArgs e)
{
if (timer1.Enabled == true)
{
state = ERAState.StopProcess;
conv_mul = 1;
cThr = centerThrottle * conv_mul;
}
}
private void button2_Click(object sender, EventArgs e)
{
cPitch = cRoll = cYaw = 0.5;
cThr = 0;
setAxes();
allownoise = false;
state = ERAState.Disarmed;
timer1.Enabled = false;
label2.Text = "СТОП";
}
private void StartupThrottle()
{
cThr = cThr + pParam * (centerThrottle - cThr) / 2.0 * ((double)timer1.Interval) / 1000.0;
if (Math.Abs(cThr - centerThrottle) < 0.01)
{
count = 0;
cThr = centerThrottle;
desThr = centerThrottle * conv_mul;
state = ERAState.Idle;
}
}
private void performConversion()
{
count += ((double)timer1.Interval) / 1000.0;
if (copter)
{
cConv = count;
}
else
{
cConv = 1 - count;
}
conv_mul = 1 - cConv * 0.3;
if (count > 1)
{
state = ERAState.Idle;
copter = !copter;
count = 0;
}
}
//EditorTabItem TextBox_InvariantTab = new EditorTabItem(LTSTabItem);
public ERAStateEditingForm(ERAState stateItem)
{
InitializeComponent();
StateItem = stateItem;
TextBox_Name.Text = stateItem.Name;
////
//// TextBox_Guard
////
//TextBox_InvariantTab.Controls.Clear();
//this.TextBox_InvariantTab.CodeEditor.Dock = DockStyle.None;
//this.TextBox_InvariantTab.CodeEditor.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
// | System.Windows.Forms.AnchorStyles.Right)));
//this.TextBox_InvariantTab.CodeEditor.Location = new System.Drawing.Point(61, 58);
//this.TextBox_InvariantTab.CodeEditor.Name = "TextBox_Guard";
//this.TextBox_InvariantTab.CodeEditor.Size = new System.Drawing.Size(317, 91);
//this.TextBox_InvariantTab.CodeEditor.TabIndex = 2;
//this.Controls.Add(TextBox_InvariantTab.CodeEditor);
TextBox_Invariant.Text = stateItem.Invariant;
CheckBox_Error.Checked = stateItem.IsError;
CheckBox_IsAcceptance.Checked = stateItem.IsAcceptance;
}
private void FeederForm_Load(object sender, EventArgs e)
{
r = new Random(DateTime.Now.Millisecond);
DiscPovNumber = joystick.GetVJDDiscPovNumber(id);
ContPovNumber = joystick.GetVJDContPovNumber(id);
joystick.GetVJDAxisMax(id, HID_USAGES.HID_USAGE_X, ref maxval);
// Reset this device to default values
joystick.ResetVJD(id);
X = 20;
Y = 30;
Z = 40;
XR = 60;
ZR = 80;
cPitch = cRoll = cYaw = 0.5;
desPitch = desRoll = desYaw = 0.5;
cThr = 0;
desThr = 0;
cConv = 0;
state = ERAState.Disarmed;
label2.Text = "НЕ ВЗВЕДЕНО";
joystick.SetBtn(false, id, 1);
pParam = 2;
waitTime = 1.5;
}
private void WhatsNext()
{
count += ((double)timer1.Interval) / 1000.0;
cPitch -= (cPitch - desPitch) * 0.05 * pParam;
cRoll -= (cRoll - desRoll) * 0.05 * pParam;
cThr -= (cThr - desThr) * 0.05 * pParam;
cYaw -= (cYaw - desYaw) * 0.05 * pParam;
if (count > waitTime)
{
count = 0;
int rnd_num = (int)Math.Floor(r.NextDouble() * 10);
switch (rnd_num)
{
case 8:
state = ERAState.Conversion;
break;
default:
state = ERAState.Idle;
makeNewRandomSticks();
break;
}
}
}
