private void tBoxK3_KeyDown(object sender, KeyEventArgs e)
{
try
{
if (e.KeyCode == Keys.Enter)
{
byte[] setPointBuffer = UARTCom.headerEncapsulation(UARTCom.controlHeader.Parak3, tBoxK3.Text);
sPort.Write(setPointBuffer, 0, 5);
}
}
catch (Exception err)
{
MessageBox.Show(err.Message, "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
//throw;
}
}
private void btnRequest_Click(object sender, EventArgs e)
{
try
{
//byte[] temp = new byte[1];
//temp[0] = (byte)UARTCom.controlHeader.Stop;
//sPort.Write(temp, 0, 1);
byte[] setPointBuffer = UARTCom.headerEncapsulation(UARTCom.controlHeader.Request, "0");
sPort.Write(setPointBuffer, 0, 5);
}
catch (Exception err)
{
MessageBox.Show(err.Message, "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
//throw;
}
}
/*Radio Button methods*/
private void rBtnVP_CheckedChanged(object sender, EventArgs e)
{
try
{
clearGraph();
if (rBtnVelocity.Checked)
{
lbVelocity.Text = "Velocity";
tbCalib.Text = "4.8";
GraphPane myPane = zGrphPlotData.GraphPane;
myPane.YAxis.Scale.Min = 0; //Tương tự cho trục y
myPane.YAxis.Scale.Max = 2500;
myPane.AxisChange();
//byte[] temp = new byte[1];
//temp[0] = (byte)UARTCom.controlHeader.Velocity;
//sPort.Write(temp, 0, 1);
byte[] setPointBuffer = UARTCom.headerEncapsulation(UARTCom.controlHeader.Velocity, "0");
sPort.Write(setPointBuffer, 0, 5);
}
else
{
lbVelocity.Text = "Position";
tbCalib.Text = "40";
GraphPane myPane = zGrphPlotData.GraphPane;
myPane.YAxis.Scale.Min = 0; //Tương tự cho trục y
myPane.YAxis.Scale.Max = 600;
myPane.AxisChange();
//byte[] temp = new byte[1];
//temp[0] = (byte)UARTCom.controlHeader.Position;
//sPort.Write(temp, 0, 1);
byte[] setPointBuffer = UARTCom.headerEncapsulation(UARTCom.controlHeader.Position, "0");
sPort.Write(setPointBuffer, 0, 5);
}
}
catch (Exception err)
{
MessageBox.Show(err.Message, "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
//throw;
}
}
private void btnMotorRun_Click(object sender, EventArgs e)
{
try
{
clearGraph();
byte[] setPointBuffer = UARTCom.headerEncapsulation(UARTCom.controlHeader.Run, "0");
sPort.Write(setPointBuffer, 0, 5);
//btnMotorRun.Enabled = false;
//btnMotorStop.Enabled = true;
//gBoxWhatToMeasure.Enabled = false;
//gBoxPID.Enabled = false;
//tBoxSetPoint.Enabled = false;
}
catch (Exception err)
{
MessageBox.Show(err.Message, "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
//throw;
}
}
private void showAndSaveData(object sender, EventArgs e)
{
int[] dataWithoutHeader;
UARTCom.dataHeader header = UARTCom.classifyData(inBuffer, out dataWithoutHeader);
float displayValue = UARTCom.uARTtoFloat(dataWithoutHeader);
if (header != UARTCom.dataHeader.Message)
{
switch (header)
{
case UARTCom.dataHeader.Realtime:
realtime = displayValue;
break;
case UARTCom.dataHeader.Setpoint:
setpoint = displayValue;
break;
case UARTCom.dataHeader.Measure:
measure = displayValue;
break;
default:
break;
}
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
tBoxTime.Text = realtime.ToString();
tBoxMeasure.Text = measure.ToString();
}
else
{
tBoxDisplayGet.Text += dataWithoutHeader.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
}
realtime += 0.25;
}
private void showAndSaveData(object sender, EventArgs e)
{
/*int[]*/ byte[] dataWithoutHeader;
//UARTCom.dataHeader header = UARTCom.classifyData(inBuffer, out dataWithoutHeader);
//float displayValue = UARTCom.uARTtoFloat(dataWithoutHeader);
UARTCom.dataHeader header = UARTCom.classifyByte(inByte, out dataWithoutHeader);
float displayValue = UARTCom.uARTBytetoFloat(dataWithoutHeader);
switch (header)
{
case UARTCom.dataHeader.Realtime:
//realtimestep = displayValue;
break;
case UARTCom.dataHeader.Setpoint:
setpoint = displayValue;
tBoxDisplayGet.Text += UARTCom.motorMessage[4];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Measure:
measure = displayValue;
realtime += realtimestep;
break;
case UARTCom.dataHeader.Run:
tBoxDisplayGet.Text += UARTCom.motorMessage[0];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Stop:
tBoxDisplayGet.Text += UARTCom.motorMessage[1];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Velocity:
tBoxDisplayGet.Text += UARTCom.motorMessage[2];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Position:
tBoxDisplayGet.Text += UARTCom.motorMessage[3];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Kp:
tBoxDisplayGet.Text += UARTCom.motorMessage[5];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Ki:
tBoxDisplayGet.Text += UARTCom.motorMessage[6];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Kd:
tBoxDisplayGet.Text += UARTCom.motorMessage[7];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Message:
char transChar = (char)displayValue;
tBoxDisplayGet.Text += Convert.ToString(transChar);
break;
case UARTCom.dataHeader.Floattype:
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Calib:
tBoxDisplayGet.Text += UARTCom.motorMessage[8];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Parak0:
tBoxDisplayGet.Text += UARTCom.motorMessage[9];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Parak1:
tBoxDisplayGet.Text += UARTCom.motorMessage[10];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Parak2:
tBoxDisplayGet.Text += UARTCom.motorMessage[11];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.Parak3:
tBoxDisplayGet.Text += UARTCom.motorMessage[12];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UARTCom.dataHeader.ParaThetaa1:
Thetaa1 = displayValue;
break;
case UARTCom.dataHeader.ParaThetaa2:
Thetaa2 = displayValue;
break;
case UARTCom.dataHeader.ParaThetab1:
Thetab1 = displayValue;
break;
case UARTCom.dataHeader.ParaThetab2:
Thetab2 = displayValue;
break;
case UARTCom.dataHeader.Null:
sPort.ReadExisting();
break;
default:
break;
}
textupdate--;
if (textupdate == 0)
{
tBoxTime.Text = realtime.ToString();
tBoxMeasure.Text = measure.ToString();
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
textupdate = 50;
}
if (status == graphStatus.GraphRun)
{
Draw();
}
if (cBoxLog.Checked == true)
{
logTable.Rows.Add(setpoint, measure);
}
}
