/// <summary>
/// Starts calibration target picking mode (user is expected to place the target with the mouse, then change the radius so the calibration can take place)
/// </summary>
/// <param name="_Notify"></param>
public void StartCalibrationTargetPicking(CalibrationDone _Notify)
{
m_CalibrationDelegate = _Notify;
m_CalibrationRadius = 0.0f;
ManipulationState = MANIPULATION_STATE.CALIBRATION_TARGET;
m_CalibrationStage = CALIBRATION_STAGE.PICK_CENTER;
}
private void btnCalib_Click(object sender, System.EventArgs e)
{
ThreadManager.CreateThread(link =>
{
link.Name = "Calibration";
Recalibration.Calibration();
picCalibration.InvokeAuto(() => picCalibration.Image = Properties.Resources.ValidOk96);
CalibrationDone?.Invoke();
}).StartThread();
btnTrap.Focus();
}
private void ZeroCalibrationHandler(object sender, EventArgs eventArgs)
{
if (_adcList.Count < _zeroCalibrationCount)
{
_adcList.Add((double[])CurrAdcVals.Clone());
}
else
{
ParseDone -= ZeroCalibrationHandler;
var zeroVals = new double[4];
for (int i = 0; i < zeroVals.Count(); i++)
{
zeroVals[i] = _adcList.Average(doubles => doubles[i]);
if (_startupCalib)
{
var w = 0.1;
var koef_new = w / zeroVals[i];
var koef_old = w / MainConfig.ZeroAdcVals[i];
var offset_percent = (100 * koef_new) / koef_old;
offset_percent = (100 - offset_percent) * 10;
WeightKoefs[i] += (WeightKoefs[i] * offset_percent) / 100;
}
}
if (!_startupCalib)
{
MainConfig.Update(null, zeroVals);
}
zeroAdcVals = zeroVals;
if (CalibrationDone != null)
{
CalibrationDone.Invoke(null, null);
}
_zeroCorrection = true;
_startupCalib = false;
_adcList.Clear();
}
//------------
}
private void WeightCalibrationHandler(object o, EventArgs eventArgs)
{
if (_adcList.Count < _calibrationParams.EntryCount)
{
_adcList.Add((double[])CurrAdcVals.Clone());
}
else
{
ParseDone -= WeightCalibrationHandler;
var aver = _adcList.Average(val => val[_calibrationParams.TenzNumber]);
double koef = _calibrationParams.Weight / aver;
WeightKoefs[_calibrationParams.TenzNumber] = koef;
if (CalibrationDone != null)
{
CalibrationDone.Invoke(null, null);
}
_adcList.Clear();
_calibrationParams = null;
ExchangeConfig.Period = _periodBuf;
}
}
void Calibration()
{
Int32 speedX = CalibrateAxis(ref calStateX, moveToZeroSpeedX, moveFromZeroSpeedX, !lx);
Int32 speedY = CalibrateAxis(ref calStateY, moveToZeroSpeedY, moveFromZeroSpeedY, !ly);
Int32 speedZ = CalibrateAxis(ref calStateZ, moveToZeroSpeedZ, moveFromZeroSpeedZ, !lz);
Int32 speedA = CalibrateAxis(ref calStateA, moveToZeroSpeedA, moveFromZeroSpeedA, !la);
if (calStateX == AxisCalStates.calIdle && calStateY == AxisCalStates.calIdle && calStateZ == AxisCalStates.calIdle && calStateA == AxisCalStates.calIdle)
{
Stop();
state = States.Idle;
SetCoordinates(0, 0, 0, 0);
if (CalibrationDone != null)
{
CalibrationDone.Invoke(this, null);
}
}
else
{
Move(speedX, speedY, -speedZ, speedA);
}
}
private void FastWeightCalibrationHandler(object o, EventArgs eventArgs)
{
if (_adcList.Count < _calibrationParams.EntryCount)
{
_adcList.Add((double[])CurrAdcVals.Clone());
}
else
{
ParseDone -= FastWeightCalibrationHandler;
for (int i = 0; i < 4; i++)
{
var aver = _adcList.Average(val => val[i]);
double koef = _calibrationParams.Weight / aver;
WeightKoefs[i] = koef;
}
if (CalibrationDone != null)
{
CalibrationDone.Invoke(null, null);
}
_adcList.Clear();
_calibrationParams = null;
}
}
public static extern void StartCalibration(IntPtr apiHandle, CalibrationDone doneCallback);
/// <summary>
/// Starts calibration target picking mode (user is expected to place the target with the mouse, then change the radius so the calibration can take place)
/// </summary>
/// <param name="_Notify"></param>
public void StartCalibrationTargetPicking( CalibrationDone _Notify )
{
m_CalibrationDelegate = _Notify;
m_CalibrationRadius = 0.0f;
ManipulationState = MANIPULATION_STATE.CALIBRATION_TARGET;
m_CalibrationStage = CALIBRATION_STAGE.PICK_CENTER;
}
