private void timer1_Tick(object sender, EventArgs e)
{
float positionVoltageValue;
float torqueVoltageValue;
float position = float.Parse(pc.AnalogInput10(0, out positionVoltageValue));
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
//if (true)
//{
// position = 1744;
// troque = 2862;
//}
this.lblPositionValue.Text = positionRawData[ii].ToString();
this.lblTorqueValue.Text = torqueRawData[ii].ToString();
if (ii < positionRawData.Count)
{
lpf1.Add(positionRawData[ii]);
lpf2.Add(torqueRawData[ii]);
}
else
{
lpf1.Add(positionRawData[0]);
lpf2.Add(torqueRawData[0]);
}
if (lpf1.Count == 900)
{
lpf1.Remove(lpf1[0]);
}
if (lpf2.Count == 900)
{
lpf2.Remove(lpf2[0]);
}
ii++;
this.pictureBox1.CreateGraphics().DrawImage(dp.drawSignalCurve(lpf1, lpf2), 0, 0);
}
private void timer2_Tick(object sender, EventArgs e)
{
float positionVoltageValue;
float torqueVoltageValue;
float position = float.Parse(pc.AnalogInput10(0, out positionVoltageValue));
float troque = float.Parse(pc.AnalogInput10(1, out torqueVoltageValue));
if (ifStartDebugMode)
{
position = 1982;
troque = 1111;
}
positionForEverySequence[sequenceIndexForExperiment].Add(position);
torqueForEverySequence[sequenceIndexForExperiment].Add(troque);
lblShowPosStep3.Text = position.ToString("00.00");
lblShowTorStep3.Text = troque.ToString("00.00");
if (trainOrTestUsed[sequenceIndexForExperiment])
{
if (rbUpT.Checked)
{
if ((position > 1470 & position < 1982) || (position > 2494 || position < 976))
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
}
else
{
if ((position > 1470 & position < 1982) || (position > 2494 || position < 976))
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
else
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
}
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
timeIndex++;
if (timeIndex == experimentTimeUsed[sequenceIndexForExperiment] * 10)
{
timeIndex = 0;
sequenceIndexForExperiment++;
dp2.clearCommunitivePosition();
lpf3.Clear();
lpf4.Clear();
if (sequenceIndexForExperiment == experimentTimeUsed.Count)
{
timer2.Stop();
this.btnStep3Start.Enabled = true;
pc.ClearALLDigitalPort();
OpenLoop();
cbOpenOrClosed.Checked = false;
cbOpenOrClosed.Text = "Open";
DataSave();
}
else
{
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
controls[sequenceIndexForExperiment].BackColor = Color.DarkCyan;
}
PICalc pic = new PICalc(positionForEverySequence[sequenceIndexForExperiment - 1], torqueForEverySequence[sequenceIndexForExperiment - 1], rbUpT.Checked);
float piValue = pic.getSiglePIValue();
Bitmap imageHere = new Bitmap(imageNow);
PictureBox pb = new PictureBox();
float width = this.flpBottomForImageList.Size.Width - 30;
float height = (int)(((float)this.pictureBox3.Size.Height / (float)this.pictureBox3.Size.Width) * width);
pb.Size = new Size((int)width, (int)height);
Graphics g = Graphics.FromImage(imageHere);
g.DrawString("PIValue: " + piValue.ToString(), new Font("Arial", 15), new SolidBrush(Color.LightGray), 130, 20);
pb.Image = imageHere;
pb.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.flpBottomForImageList.Controls.Add(pb);
}
////debug mode
// position = 721;
// troque = 100;
lpf3.Add(position);
lpf4.Add(troque);
if (lpf3.Count == 300)
{
lpf3.Remove(lpf3[0]);
}
if (lpf4.Count == 300)
{
lpf4.Remove(lpf4[0]);
}
this.pictureBox2.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
imageNow = dp2.drawCommunitivePoint(position, ifStartDebugMode, sequenceIndexForExperiment);
this.pictureBox3.CreateGraphics().DrawImage(imageNow, 0, 0);
if (sequenceIndexForExperiment == 7 & ifBreakTime)
{
timer2.Stop();
ifBreakTime = false;
btnReStart.Visible = true;
}
}
private void timer2_Tick(object sender, EventArgs e)
{
float positionVoltageValue;
float torqueVoltageValue;
float position = float.Parse(pc.AnalogInput10(0, out positionVoltageValue));
float troque = float.Parse(pc.AnalogInput(1, out torqueVoltageValue));
positionForEverySequence[sequenceIndexForExperiment].Add(position);
torqueForEverySequence[sequenceIndexForExperiment].Add(troque);
if (trainOrTestUsed[sequenceIndexForExperiment])
{
if (rbUpT.Checked)
{
if ((position > 1488 & position < 2000) || (position > 2516 || position < 976))
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
}
else
{
if ((position > 1488 & position < 2000) || (position > 2516 || position < 976))
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
else
{
punishmentByHeat();
lblPunishmentStateValue.Text = "True";
}
}
}
else
{
unPunishmentByHeat();
lblPunishmentStateValue.Text = "False";
}
timeIndex++;
if (timeIndex == experimentTimeUsed[sequenceIndexForExperiment] * 10)
{
timeIndex = 0;
sequenceIndexForExperiment++;
dp2.clearCommunitivePosition();
lpf3.Clear();
lpf4.Clear();
if (sequenceIndexForExperiment == experimentTimeUsed.Count)
{
timer2.Stop();
this.btnStep3Start.Enabled = true;
pc.ClearALLDigitalPort();
OpenLoop();
cbOpenOrClosed.Checked = false;
cbOpenOrClosed.Text = "Open";
DataSave();
}
else
{
positionForEverySequence.Add(new List <float>());
torqueForEverySequence.Add(new List <float>());
controls[sequenceIndexForExperiment].BackColor = Color.DarkCyan;
}
Bitmap imageHere = new Bitmap(imageNow);
PictureBox pb = new PictureBox();
float width = this.flpBottomForImageList.Size.Width - 30;
float height = (int)(((float)this.pictureBox3.Size.Height / (float)this.pictureBox3.Size.Width) * width);
pb.Size = new Size((int)width, (int)height);
pb.Image = imageHere;
pb.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.flpBottomForImageList.Controls.Add(pb);
}
////debug mode
// position = 721;
// troque = 100;
lpf3.Add(position);
lpf4.Add(troque);
if (lpf3.Count == 150)
{
lpf3.Remove(lpf3[0]);
}
if (lpf4.Count == 150)
{
lpf4.Remove(lpf4[0]);
}
this.pictureBox2.CreateGraphics().DrawImage(dp1.drawSignalCurve(lpf3, lpf4), 0, 0);
imageNow = dp2.drawCommunitivePoint(position, ifStartDebugMode, sequenceIndexForExperiment);
this.pictureBox3.CreateGraphics().DrawImage(imageNow, 0, 0);
}