private void sliderKd_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
Kd = sliderKd.Value;
if (boxKd != null)
{
boxKd.Text = Kd.ToString(FORMAT);
}
}
void UpdateConfig()
{
try
{
if (this.TxtBoxKp.InvokeRequired)
{
this.Invoke(new UpdateConfigCallback(UpdateConfig));
}
else
{
TxtBoxKp.Text = Kp.ToString();
TxtBoxKi.Text = Ki.ToString();
TxtBoxKd.Text = Kd.ToString();
TxtBoxErrorMax.Text = ErrorMax.ToString();
TxtBoxPWMPeriod.Text = PWMPeriod.ToString();
TxtBoxIntMax.Text = IntMax.ToString();
}
}
catch (Exception ex)
{
return;
}
}
public void Save(ConfigNode node)
{
node.SetValue("Kp", Kp.ToString());
node.SetValue("Ki", Ki.ToString());
node.SetValue("Kd", Kd.ToString());
}
private void derivativeSlider_Scroll(object sender, EventArgs e)
{
Kd = (float)derivativeSlider.Value / 20.0f;
dLabel.Text = Kd.ToString();
}