/// <summary>
/// Loads a forcing function file.
/// </summary>
/// <param name="sender">Not used</param>
/// <param name="e">Not used</param>
private void loadButton_Click(object sender, EventArgs e)
{
OpenFileDialog dialog;
logger.Debug("Enter: loadButton_Click(object, EventArgs)");
dialog = new OpenFileDialog();
dialog.DefaultExt = "csv";
dialog.Filter = "Forcing function files (*.csv)|*.csv";
dialog.Multiselect = false;
dialog.InitialDirectory = Environment.CurrentDirectory;
ForcingFunctions.Clear();
if (dialog.ShowDialog() == DialogResult.OK)
{
try {
forcingFunctionsFilename = dialog.FileName;
ForcingFunctions.Read(Path.GetFileName(dialog.FileName));
} catch (Exception) {
MessageBox.Show("Error: Could not open file.");
}
}
goButton.Enabled = true;
}
/// <summary>
/// Called from the main control loop whenever the task is running.
/// DO NOT call this method directly from DelayMeasurementTask or DelayMeasurementPanel.
/// </summary>
public override void ContinueTask()
{
ControlInput controlInput;
FunctionTimepoint function;
MotionCommand command;
double elapsedTime;
elapsedTime = runningStopwatch.ElapsedMilliseconds * 1.0 / 1000;
function = ForcingFunctions.GetForcingFunction(elapsedTime);
controlInput = (Hulk.InnerAxis == Hulk.Axis.Roll) ?
new ControlInput(function.Input.roll, function.Input.pitch, false, false) :
new ControlInput(function.Input.yaw, function.Input.pitch, false, false);
command = new MotionCommand();
command.innerVelocity = controlInput.x * amplitude;
command.outerVelocity = controlInput.y * amplitude;
command.innerAcceleration = 300;
command.outerAcceleration = 300;
Hulk.SetCommand(command);
Hulk.ContinueTask();
LogData(elapsedTime, Hulk.CurrentMotion, command, controlInput);
if (elapsedTime >= ForcingFunctions.GetForcingFunctionMaxTime())
{
Hulk.StopTask();
return;
}
}