public AttiPlot(Form1 owner)
{
a_page = owner.pages.a;
ahrs = owner.AHRS;
InitializeComponent();
gyroPane = zedGraphControl1.GraphPane;
gyroPane.Title.IsVisible = false;
gyroPane.XAxis.Title.Text = "time (sec)";
gyroPane.YAxis.Title.Text = "attitude (deg)";
// Save 1200 points. At 50 ms sample rate, this is one minute
// The RollingPointPairList is an efficient storage class that always
// keeps a rolling set of point data without needing to shift any data values
RollingPointPairList gxlist = new RollingPointPairList(2000);
RollingPointPairList gylist = new RollingPointPairList(2000);
RollingPointPairList gzlist = new RollingPointPairList(2000);
// Initially, a curve is added with no data points (list is empty)
// Color is blue, and there will be no symbols
LineItem curve = gyroPane.AddCurve("Pitch", gxlist, Color.Blue, SymbolType.None);
curve = gyroPane.AddCurve("Roll", gylist, Color.Red, SymbolType.None);
curve = gyroPane.AddCurve("Yaw", gzlist, Color.Green, SymbolType.None);
// Sample at 50ms intervals
timer1.Interval = 10;
timer1.Enabled = true;
timer1.Start();
// Just manually control the X axis range so it scrolls continuously
// instead of discrete step-sized jumps
gyroPane.XAxis.Scale.Min = 0;
gyroPane.XAxis.Scale.Max = (double)numericUpDown1.Value;
gyroPane.XAxis.Scale.MinorStep = 0.5;
gyroPane.XAxis.Scale.MajorStep = 1;
gyroPane.YAxis.Scale.Max = 180;
gyroPane.YAxis.Scale.Min = -180;
// Scale the axes
zedGraphControl1.AxisChange();
// Save the beginning time for reference
tickStart = Environment.TickCount;
}
public Cube3D(Form1 owner)
: base(600, 400, GraphicsMode.Default, "1-2:Camera")
{
ahrs = owner.AHRS;
VSync = VSyncMode.On;
Keyboard.KeyUp += (sender, e) =>
{
//Escapeキーで終了
if (e.Key == Key.Escape)
{
this.Exit();
}
};
RenderFrame += (sender, e) =>
{
GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
GL.MatrixMode(MatrixMode.Modelview);
Vector3 eyepoint = new Vector3(0, 0, -3);
Matrix4 modelview = Matrix4.LookAt(eyepoint, Vector3.UnitZ, Vector3.UnitY);
GL.LoadMatrix(ref modelview);
Quaternion q = new Quaternion(ahrs.Quaternion[1],
ahrs.Quaternion[2],
ahrs.Quaternion[3],
ahrs.Quaternion[0]);
float angle;
OpenTK.Vector3 vec3 = new Vector3();
q.ToAxisAngle(out vec3, out angle);
GL.Rotate((float)(angle * 180 / Math.PI), vec3);
//float deg = 0;
//GL.Rotate(deg, Vector3d.UnitY);
//deg += 1;
DrawCube();
SwapBuffers();
};
}
