private void drawRobotWay(float x, float y)//draw robot way
{
Pen Line = new Pen(Color.Blue, 2);
Graphics plot = CarPosition.CreateGraphics();
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
plot.DrawLine(Line, previousX, previousY, (CarPosition.Width / 2 + (x / 10 * LenghX)), (CarPosition.Height / 2 - (y / 10 * LenghY)));
previousX = (CarPosition.Width / 2 + (x / 10 * LenghX));
previousY = (CarPosition.Height / 2 - (y / 10 * LenghY));
}
private void DrawingLine(int _x, int _y) //drawing line betweem center and rectangle
{
Pen DrawLine = new Pen(Color.Yellow, 3);
Graphics plot = CarPosition.CreateGraphics();
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
if (_x >= 0)
{
plot.DrawLine(DrawLine, CarPosition.Width / 2, CarPosition.Height / 2, (CarPosition.Width / 2 + _x * (int)LenghX), (CarPosition.Height / 2 - _y * (int)LenghY));
}
else
{
plot.DrawLine(DrawLine, CarPosition.Width / 2, CarPosition.Height / 2, (CarPosition.Width / 2 + _x * (int)LenghX) + (int)LenghX, (CarPosition.Height / 2 - _y * (int)LenghY));
}
plot.Dispose();
}
private void DrawingRectangle(int _x, int _y) //painting the rectangle acording to coordinats
{
Pen DrawRec = new Pen(Color.Green);
SolidBrush FillRec = new SolidBrush(Color.Green);
Graphics plot = CarPosition.CreateGraphics();
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
if (_y >= 0)
{
Rectangle rect = new Rectangle((CarPosition.Width / 2 + _x * (int)LenghX), (CarPosition.Height / 2 - _y * (int)LenghY) - (int)LenghY, CarPosition.Width / 20 - 1, CarPosition.Height / 20 - 1);
plot.DrawRectangle(DrawRec, rect);
plot.FillRectangle(FillRec, rect);
}
else
{
Rectangle rect = new Rectangle((CarPosition.Width / 2 + _x * (int)LenghX), (CarPosition.Height / 2 - _y * (int)LenghY), CarPosition.Width / 20 - 1, CarPosition.Height / 20 - 1);
plot.DrawRectangle(DrawRec, rect);
plot.FillRectangle(FillRec, rect);
}
plot.Dispose();
}
private void DrawingPlot()
{
Pen PlotLine, ExtraPlotLine;
PlotLine = new Pen(Color.Black, 2);
ExtraPlotLine = new Pen(Color.Black);
Graphics plot = CarPosition.CreateGraphics();
//drawing plot axis
plot.DrawLine(PlotLine, 0, CarPosition.Height / 2, CarPosition.Width, CarPosition.Height / 2);
plot.DrawLine(PlotLine, CarPosition.Width / 2, 0, CarPosition.Width / 2, CarPosition.Height);
//drawing Oy arrow
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - 7), 10, (CarPosition.Width / 2), 0);
plot.DrawLine(PlotLine, (CarPosition.Width / 2), 0, ((CarPosition.Width / 2) + 7), 10);
//drawimg OX arrow
plot.DrawLine(PlotLine, (CarPosition.Width - 10), ((CarPosition.Height / 2) - 7), CarPosition.Width, (CarPosition.Height / 2));
plot.DrawLine(PlotLine, CarPosition.Width, (CarPosition.Height / 2), (CarPosition.Width - 10), ((CarPosition.Height / 2) + 7));
float LenghX = ((CarPosition.Width / 2) - 7) / 10;
float LenghY = ((CarPosition.Height / 2) - 7) / 10;
Font drawFont = new Font("Arial", 9);
SolidBrush drawBrush = new SolidBrush(Color.Black);
plot.DrawString("0", drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + 2), (CarPosition.Height / 2) + 2));
plot.DrawString("Y", new Font("Arial", 11), drawBrush, new PointF(((CarPosition.Width / 2) - 22), 2));
plot.DrawString("X", new Font("Arial", 11), drawBrush, new PointF(CarPosition.Width - 15, ((CarPosition.Height / 2) - 22)));
float sum = 0;
for (int i = 1; i <= 10; i++)
{
sum = sum + LenghX;
//splitting Ox in 10 sections
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) + sum), ((CarPosition.Height / 2) + 5), ((CarPosition.Width / 2) + sum), ((CarPosition.Height / 2) - 5));
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - sum), ((CarPosition.Height / 2) + 5), ((CarPosition.Width / 2) - sum), ((CarPosition.Height / 2) - 5));
//putting the section number
plot.DrawString(Convert.ToString(i * 10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + sum - 5), ((CarPosition.Height / 2) + 6)));
plot.DrawString(Convert.ToString(i * -10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) - sum - 7), ((CarPosition.Height / 2) + 6)));
//drawing extra lines Ox
plot.DrawLine(ExtraPlotLine, ((CarPosition.Width / 2) + sum), 0, ((CarPosition.Width / 2) + sum), CarPosition.Height);
plot.DrawLine(ExtraPlotLine, ((CarPosition.Width / 2) - sum), 0, ((CarPosition.Width / 2) - sum), CarPosition.Height);
}
sum = 0;
for (int i = 1; i <= 10; i++)
{
sum = sum + LenghY;
//splitting Oy in 10 sections
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - 5), ((CarPosition.Height / 2) + sum), ((CarPosition.Width / 2) + 5), ((CarPosition.Height / 2) + sum));
plot.DrawLine(PlotLine, ((CarPosition.Width / 2) - 5), ((CarPosition.Height / 2) - sum), ((CarPosition.Width / 2) + 5), ((CarPosition.Height / 2) - sum));
//putting the section number
plot.DrawString(Convert.ToString(i * 10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + 6), ((CarPosition.Height / 2) - sum - 5)));
plot.DrawString(Convert.ToString(i * -10), drawFont, drawBrush, new PointF(((CarPosition.Width / 2) + 6), ((CarPosition.Height / 2) + sum - 7)));
//drawing extra lines Oy
plot.DrawLine(ExtraPlotLine, 0, ((CarPosition.Height / 2) + sum), CarPosition.Width, ((CarPosition.Height / 2) + sum));
plot.DrawLine(ExtraPlotLine, 0, ((CarPosition.Height / 2) - sum), CarPosition.Width, ((CarPosition.Height / 2) - sum));
}
plot.Dispose();
}
