private void linkLabelRunHardware_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
double m = double.Parse(textBoxMsM.Text);
double m1 = double.Parse(textBoxMsM1.Text);
double l1 = double.Parse(textBoxMsL1.Text);
double m2 = double.Parse(textBoxMsM2.Text);
double l2 = double.Parse(textBoxMsL2.Text);
double ss = double.Parse(textBoxMsSS.Text);
double theta = double.Parse(textBoxMsTheta.Text);
double theta1 = double.Parse(textBoxMsTheta1.Text);
double theta2 = double.Parse(textBoxMsTheta2.Text);
double theta3 = double.Parse(textBoxMsTheta3.Text);
double theta4 = double.Parse(textBoxMsTheta4.Text);
Bipedal5Link.Bipedal5LinkHardware b = new Bipedal5Link.Bipedal5LinkHardware(m, m1, m2, l1, l2, new Bipedal5Link.PointD(0.92, 0.32), new double[] { theta, theta1, theta2, theta3, theta4 }, ss, Hardware);
NewCentralPatternGenerator();
timerUnstable.Stop();
panelUnstable.Hide();
int steps = int.Parse(textBoxSteps.Text);
double deltatime = double.Parse(textBoxDeltaTime.Text);
double u0 = double.Parse(textBoxCpgU0.Text);
StatusBufferG.Clear(Color.Black);
StatusBufferG.DrawString(B.Parameters(), F1, Brushes.DarkOrange, 0, 10);
StatusBufferG.DrawString(CPG.Parameters(), F1, Brushes.DarkOrange, 440, 10);
double[] joints;
double[] feedback = new double[9];
for (int s = 0 ; s < 100000 ; s++)
joints = CPG.RunStep(u0, feedback, deltatime);
Abort = false;
labelHardwareStatus.Text = "starting..";
System.Windows.Forms.Application.DoEvents();
Hardware.Start();
labelHardwareStatus.Text = "running..";
// time coupling
double simulationtime = 0;
DateTime realtimestart = DateTime.Now;
TimeSpan realtime;
for (int s = 0 ; (s < steps) & !Abort ; s++)
{
// Run CPG step
joints = CPG.RunStep(u0, new double[] { 0, feedback[1], -feedback[1], feedback[2], -feedback[2], 0, 0, 0, 0 }, deltatime);
// Run Musculo-Skeletal system step
feedback = b.RunStep(joints, deltatime);
simulationtime = s * deltatime;
realtime = DateTime.Now.Subtract(realtimestart);
if (simulationtime > realtime.TotalSeconds)
{
b.UpdateHardware();
DisplayBufferG.Clear(C1);
b.Draw(DisplayBufferG, new PointF(10, 240), 500);
DisplayBufferG.DrawString("running on hardware...", F1, Brushes.Orange, 550, 170);
LabelDisplayG.DrawImage(DisplayBuffer, 0, 0);
StatusBufferG.FillRectangle(Brushes.Black, 240, 0, 200, 160);
StatusBufferG.DrawString(b.Status(), F1, Brushes.DarkOrange, 240, 10);
StatusBufferG.FillRectangle(Brushes.Black, 640, 0, 200, 160);
StatusBufferG.DrawString(CPG.Status(), F1, Brushes.DarkOrange, 640, 10);
LabelStatusG.DrawImage(StatusBuffer, 0, 0);
CPGBufferG.Clear(Color.Black);
CPG.Draw(CPGBufferG);
LabelCPGG.DrawImage(CPGBuffer, 0, 0);
System.Windows.Forms.Application.DoEvents();
}
}
labelHardwareStatus.Text = "stopping..";
System.Windows.Forms.Application.DoEvents();
Hardware.Stop();
labelHardwareStatus.Text = "stopped";
}
private void linkLabelRunHardware_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
double m = double.Parse(textBoxMsM.Text);
double m1 = double.Parse(textBoxMsM1.Text);
double l1 = double.Parse(textBoxMsL1.Text);
double m2 = double.Parse(textBoxMsM2.Text);
double l2 = double.Parse(textBoxMsL2.Text);
double ss = double.Parse(textBoxMsSS.Text);
double theta = double.Parse(textBoxMsTheta.Text);
double theta1 = double.Parse(textBoxMsTheta1.Text);
double theta2 = double.Parse(textBoxMsTheta2.Text);
double theta3 = double.Parse(textBoxMsTheta3.Text);
double theta4 = double.Parse(textBoxMsTheta4.Text);
Bipedal5Link.Bipedal5LinkHardware b = new Bipedal5Link.Bipedal5LinkHardware(m, m1, m2, l1, l2, new Bipedal5Link.PointD(0.92, 0.32), new double[] { theta, theta1, theta2, theta3, theta4 }, ss, Hardware);
NewCentralPatternGenerator();
timerUnstable.Stop();
panelUnstable.Hide();
int steps = int.Parse(textBoxSteps.Text);
double deltatime = double.Parse(textBoxDeltaTime.Text);
double u0 = double.Parse(textBoxCpgU0.Text);
StatusBufferG.Clear(Color.Black);
StatusBufferG.DrawString(B.Parameters(), F1, Brushes.DarkOrange, 0, 10);
StatusBufferG.DrawString(CPG.Parameters(), F1, Brushes.DarkOrange, 440, 10);
double[] joints;
double[] feedback = new double[9];
for (int s = 0; s < 100000; s++)
{
joints = CPG.RunStep(u0, feedback, deltatime);
}
Abort = false;
labelHardwareStatus.Text = "starting..";
System.Windows.Forms.Application.DoEvents();
Hardware.Start();
labelHardwareStatus.Text = "running..";
// time coupling
double simulationtime = 0;
DateTime realtimestart = DateTime.Now;
TimeSpan realtime;
for (int s = 0; (s < steps) & !Abort; s++)
{
// Run CPG step
joints = CPG.RunStep(u0, new double[] { 0, feedback[1], -feedback[1], feedback[2], -feedback[2], 0, 0, 0, 0 }, deltatime);
// Run Musculo-Skeletal system step
feedback = b.RunStep(joints, deltatime);
simulationtime = s * deltatime;
realtime = DateTime.Now.Subtract(realtimestart);
if (simulationtime > realtime.TotalSeconds)
{
b.UpdateHardware();
DisplayBufferG.Clear(C1);
b.Draw(DisplayBufferG, new PointF(10, 240), 500);
DisplayBufferG.DrawString("running on hardware...", F1, Brushes.Orange, 550, 170);
LabelDisplayG.DrawImage(DisplayBuffer, 0, 0);
StatusBufferG.FillRectangle(Brushes.Black, 240, 0, 200, 160);
StatusBufferG.DrawString(b.Status(), F1, Brushes.DarkOrange, 240, 10);
StatusBufferG.FillRectangle(Brushes.Black, 640, 0, 200, 160);
StatusBufferG.DrawString(CPG.Status(), F1, Brushes.DarkOrange, 640, 10);
LabelStatusG.DrawImage(StatusBuffer, 0, 0);
CPGBufferG.Clear(Color.Black);
CPG.Draw(CPGBufferG);
LabelCPGG.DrawImage(CPGBuffer, 0, 0);
System.Windows.Forms.Application.DoEvents();
}
}
labelHardwareStatus.Text = "stopping..";
System.Windows.Forms.Application.DoEvents();
Hardware.Stop();
labelHardwareStatus.Text = "stopped";
}
