/// <summary>
/// Updates the diplay of the inverted pendulums and the charts.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
public void SetInvertedPendulumAngle(object sender, ElapsedEventArgs e)
{
if (!(DateTime.Now.Subtract(dateTime).TotalSeconds > RunTime))
{
this.BeginInvoke((Action)(() =>
{
label1.Text = "Correction State: " + correctionState.ToString();
chart1.Series[0].Points.Add(anglePID);
chart1.Series[1].Points.Add(angleADRC);
chart1.Series[2].Points.Add(SetPoint);
chart1.Series[3].Points.Add(SetPoint + 360);
chart2.Series[0].Points.Add(outputPID);
chart2.Series[1].Points.Add(outputADRC);
chart1.Series[0].Color = Color.DarkGreen;
chart1.Series[1].Color = Color.Red;
chart1.Series[2].Color = Color.Magenta;
chart2.Series[0].Color = Color.DarkGreen;
chart2.Series[1].Color = Color.Red;
Bitmap PID = BitmapModifier.RotateImage(new Bitmap(Path.GetFullPath(@"..\..\PID.png")), (float)anglePID + 180f);
Bitmap ADRC = BitmapModifier.RotateImage(new Bitmap(Path.GetFullPath(@"..\..\ADRC.png")), (float)angleADRC + 180f);
pictureBox1.Image = BitmapModifier.CombineImages(PID, ADRC);
}));
}
}
/// <summary>
/// Updates the diplay of the inverted pendulums and the charts.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
public void SetInvertedPendulumAngle(object sender, ElapsedEventArgs e)
{
if (!(DateTime.Now.Subtract(dateTime).TotalSeconds > RunTime))
{
Bitmap rotatedFeedbackBMP = BitmapModifier.RotateImage(feedbackBitmap, (float)currentAngle + 180f);
this.BeginInvoke((Action)(() =>
{
chart1.Series[0].Points.Add(currentAngle);
chart1.Series[1].Points.Add(SetPoint);
chart2.Series[0].Points.Add(currentOutput);
chart1.Series[0].Color = Color.DarkGreen;
chart1.Series[1].Color = Color.Red;
chart2.Series[0].Color = Color.Red;
pictureBox1.Image = rotatedFeedbackBMP;
}));
}
}
