/// <summary>
/// Устанавливает положение манипулятора в исходное состояние
/// </summary>
public void Home()
{
try
{
if (checkAlgoritm.Checked)
{
if ((string)comboHomeMode.SelectedItem == "work")
{
Point homePoint = new Point(0, 0, 8, 0, 245, 0);
Point.tempPoint = homePoint;
serialPort.Write(homePoint);
trackBarSet(homePoint);
}
else if ((string)comboHomeMode.SelectedItem == "steady")
{
Point homePoint = new Point(0, 45, 87, 0, 240, 0);
Point.tempPoint = homePoint;
serialPort.Write(homePoint);
trackBarSet(homePoint);
}
}
else
{
if ((string)comboHomeMode.SelectedItem == "work")
{
//Dec homeDec = new Dec(0, 85, 135, 120, 0);
//trackBarSet(homeDec);
//trackBar_A_Scroll(new object(), new EventArgs());
Point homePoint = new Point(0, 53, 95, 0, 245, 0);
Dec homeDec = DecPointTransform.PointToDec(homePoint);
trackBarSet(homeDec);
trackBar_D_Scroll(new object(), new EventArgs());
}
else if ((string)comboHomeMode.SelectedItem == "steady")
{
Point homePoint = new Point(0, 150, 54, 120, 0, 155);
Dec homeDec = DecPointTransform.PointToDec(homePoint);
trackBarSet(homeDec);
trackBar_D_Scroll(new object(), new EventArgs());
}
}
}
catch (Exception ce)
{
MessageBox.Show(ce.ToString(),
"Ошибка!",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
}
}
private void checkAlgoritm_CheckedChanged(object sender, EventArgs e)
{
if (checkAlgoritm.Checked)
{
valueCoordX.Enabled = false;
valueCoordY.Enabled = false;
valueCoordZ.Enabled = false;
valueCoordA.Enabled = false;
valueCoordB.Enabled = false;
label1.Text = "канал А";
label2.Text = "канал B";
label3.Text = "канал C";
label4.Text = "канал D";
label5.Text = "канал E";
Dec dec = getDec();
Point point = DecPointTransform.DecToPoint(dec, trackBar_F.Value, 0);
trackBar_A.Maximum = 90;
trackBar_A.Minimum = -90;
trackBar_B.Maximum = 180;
trackBar_B.Minimum = 0;
trackBar_C.Maximum = 220;
trackBar_C.Minimum = 40;
trackBar_D.Maximum = 280;
trackBar_D.Minimum = 100;
trackBar_E.Maximum = 90;
trackBar_E.Minimum = -90;
trackBar_A.Value = (int)point.CanA;
trackBar_B.Value = (int)point.CanB;
trackBar_C.Value = (int)point.CanC;
trackBar_D.Value = (int)point.CanD;
trackBar_E.Value = (int)point.CanE;
}
else
{
valueCoordX.Enabled = true;
valueCoordY.Enabled = true;
valueCoordZ.Enabled = true;
valueCoordA.Enabled = true;
valueCoordB.Enabled = true;
label1.Text = "Ось X";
label2.Text = "Ось Y";
label3.Text = "Ось Z";
label4.Text = "Наклон";
label5.Text = "Горизонт";
Point point = getPoint();
Dec dec = DecPointTransform.PointToDec(point);
trackBar_A.Maximum = DecPointTransform.Lmax;
trackBar_A.Minimum = -DecPointTransform.Lmax;
trackBar_B.Maximum = DecPointTransform.Lmax;
trackBar_B.Minimum = 0;
trackBar_C.Maximum = DecPointTransform.Lmax;
trackBar_C.Minimum = -100;
trackBar_D.Maximum = 180;
trackBar_D.Minimum = 0;
trackBar_E.Maximum = 90;
trackBar_E.Minimum = -90;
trackBar_A.Value = (int)dec.decX;
trackBar_B.Value = (int)dec.decY;
trackBar_C.Value = (int)dec.decZ;
trackBar_D.Value = (int)dec.decB;
trackBar_E.Value = (int)dec.decA;
valueCoordX.Text = trackBar_A.Value.ToString();
valueCoordY.Text = trackBar_B.Value.ToString();
valueCoordZ.Text = trackBar_C.Value.ToString();
valueCoordA.Text = trackBar_E.Value.ToString();
valueCoordB.Text = trackBar_D.Value.ToString();
}
}
