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CalibratePIDParameters.h
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CalibratePIDParameters.h
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#pragma once
#include <comdef.h>
#include <windows.h>
#pragma managed(push,off)
#include <cv.h>
#pragma managed(pop)
#include <msclr/marshal.h>
#include <msclr/marshal_cppstd.h>
#include "Stimulus.h"
#include "STM_Communicator.h"
namespace BehaviorRig20 {
using namespace System;
using namespace System::ComponentModel;
using namespace System::Collections;
using namespace System::Windows::Forms;
using namespace System::Data;
using namespace msclr::interop;
/// <summary>
/// Summary for CalibratePIDParameters
/// </summary>
public ref class CalibratePIDParameters : public System::Windows::Forms::Form
{
public:
CalibratePIDParameters(STM_Communicator* comm)
{
InitializeComponent();
//
//TODO: Add the constructor code here
//
this->comm = comm;
}
protected:
/// <summary>
/// Clean up any resources being used.
/// </summary>
~CalibratePIDParameters()
{
if (components)
{
delete components;
}
}
private: STM_Communicator* comm;
private: System::Windows::Forms::GroupBox^ clampModeGroupBox;
private: System::Windows::Forms::RadioButton^ forceClampRadioButton;
private: System::Windows::Forms::RadioButton^ displacementClampRadioButton;
private: System::Windows::Forms::NumericUpDown^ kuNumericUpDown;
private: System::Windows::Forms::NumericUpDown^ tuNumericUpDown;
private: System::Windows::Forms::Label^ pParameterLabel;
private: System::Windows::Forms::Label^ periodLabel;
private: System::Windows::Forms::Button^ startCalibrationButton;
private: System::Windows::Forms::Button^ calculateParametersButton;
private: System::Windows::Forms::Label^ pEquationLabel;
private: System::Windows::Forms::Label^ iEquationLabel;
private: System::Windows::Forms::Label^ dEquationLabel;
private: System::Windows::Forms::GroupBox^ calculatedParametersGroupBox;
private: System::Windows::Forms::Button^ cancelCalibrationButton;
private: System::Windows::Forms::Button^ finishCalibrationButton;
private: System::Windows::Forms::NumericUpDown^ dParameterNumericUpDown;
private: System::Windows::Forms::NumericUpDown^ iParameterNumericUpDown;
private: System::Windows::Forms::NumericUpDown^ pParameterNumericUpDown;
private: System::Windows::Forms::Button^ testParametersButton;
private: System::Windows::Forms::DataVisualization::Charting::Chart^ signalChart;
private: System::Windows::Forms::Button^ getDataButton;
private: System::Windows::Forms::PictureBox^ pictureBox1;
private: System::Windows::Forms::TextBox^ cantileverIDTextBox;
private: System::Windows::Forms::Label^ cantileverIDLabel;
private: System::Windows::Forms::CheckBox^ recordDataCheckBox;
private: System::Windows::Forms::TextBox^ dataCommentsTextBox;
private: System::Windows::Forms::Label^ label1;
private: System::Windows::Forms::NumericUpDown^ voltageNumericUpDown;
private: System::Windows::Forms::NumericUpDown^ durationNumericUpDown;
private: System::Windows::Forms::Label^ voltageLabel;
private: System::Windows::Forms::Label^ durationLabel;
private: System::Windows::Forms::Label^ voltageUnitLabel;
private: System::Windows::Forms::Label^ durationUnitLabel;
private:
/// <summary>
/// Required designer variable.
/// </summary>
System::ComponentModel::Container ^components;
#pragma region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
void InitializeComponent(void)
{
System::Windows::Forms::DataVisualization::Charting::ChartArea^ chartArea1 = (gcnew System::Windows::Forms::DataVisualization::Charting::ChartArea());
System::Windows::Forms::DataVisualization::Charting::Series^ series1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
System::ComponentModel::ComponentResourceManager^ resources = (gcnew System::ComponentModel::ComponentResourceManager(CalibratePIDParameters::typeid));
this->clampModeGroupBox = (gcnew System::Windows::Forms::GroupBox());
this->forceClampRadioButton = (gcnew System::Windows::Forms::RadioButton());
this->displacementClampRadioButton = (gcnew System::Windows::Forms::RadioButton());
this->kuNumericUpDown = (gcnew System::Windows::Forms::NumericUpDown());
this->tuNumericUpDown = (gcnew System::Windows::Forms::NumericUpDown());
this->pParameterLabel = (gcnew System::Windows::Forms::Label());
this->periodLabel = (gcnew System::Windows::Forms::Label());
this->startCalibrationButton = (gcnew System::Windows::Forms::Button());
this->calculateParametersButton = (gcnew System::Windows::Forms::Button());
this->pEquationLabel = (gcnew System::Windows::Forms::Label());
this->iEquationLabel = (gcnew System::Windows::Forms::Label());
this->dEquationLabel = (gcnew System::Windows::Forms::Label());
this->calculatedParametersGroupBox = (gcnew System::Windows::Forms::GroupBox());
this->dParameterNumericUpDown = (gcnew System::Windows::Forms::NumericUpDown());
this->iParameterNumericUpDown = (gcnew System::Windows::Forms::NumericUpDown());
this->pParameterNumericUpDown = (gcnew System::Windows::Forms::NumericUpDown());
this->cancelCalibrationButton = (gcnew System::Windows::Forms::Button());
this->finishCalibrationButton = (gcnew System::Windows::Forms::Button());
this->testParametersButton = (gcnew System::Windows::Forms::Button());
this->signalChart = (gcnew System::Windows::Forms::DataVisualization::Charting::Chart());
this->getDataButton = (gcnew System::Windows::Forms::Button());
this->pictureBox1 = (gcnew System::Windows::Forms::PictureBox());
this->cantileverIDTextBox = (gcnew System::Windows::Forms::TextBox());
this->cantileverIDLabel = (gcnew System::Windows::Forms::Label());
this->recordDataCheckBox = (gcnew System::Windows::Forms::CheckBox());
this->dataCommentsTextBox = (gcnew System::Windows::Forms::TextBox());
this->label1 = (gcnew System::Windows::Forms::Label());
this->voltageNumericUpDown = (gcnew System::Windows::Forms::NumericUpDown());
this->durationNumericUpDown = (gcnew System::Windows::Forms::NumericUpDown());
this->voltageLabel = (gcnew System::Windows::Forms::Label());
this->durationLabel = (gcnew System::Windows::Forms::Label());
this->voltageUnitLabel = (gcnew System::Windows::Forms::Label());
this->durationUnitLabel = (gcnew System::Windows::Forms::Label());
this->clampModeGroupBox->SuspendLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->kuNumericUpDown))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->tuNumericUpDown))->BeginInit();
this->calculatedParametersGroupBox->SuspendLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->dParameterNumericUpDown))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->iParameterNumericUpDown))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->pParameterNumericUpDown))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->signalChart))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->pictureBox1))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->voltageNumericUpDown))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->durationNumericUpDown))->BeginInit();
this->SuspendLayout();
//
// clampModeGroupBox
//
this->clampModeGroupBox->Controls->Add(this->forceClampRadioButton);
this->clampModeGroupBox->Controls->Add(this->displacementClampRadioButton);
this->clampModeGroupBox->Location = System::Drawing::Point(13, 13);
this->clampModeGroupBox->Name = L"clampModeGroupBox";
this->clampModeGroupBox->Size = System::Drawing::Size(135, 70);
this->clampModeGroupBox->TabIndex = 0;
this->clampModeGroupBox->TabStop = false;
this->clampModeGroupBox->Text = L"Select Clamp Mode:";
//
// forceClampRadioButton
//
this->forceClampRadioButton->AutoSize = true;
this->forceClampRadioButton->Location = System::Drawing::Point(7, 44);
this->forceClampRadioButton->Name = L"forceClampRadioButton";
this->forceClampRadioButton->Size = System::Drawing::Size(84, 17);
this->forceClampRadioButton->TabIndex = 1;
this->forceClampRadioButton->TabStop = true;
this->forceClampRadioButton->Text = L"Force Clamp";
this->forceClampRadioButton->UseVisualStyleBackColor = true;
//
// displacementClampRadioButton
//
this->displacementClampRadioButton->AutoSize = true;
this->displacementClampRadioButton->Location = System::Drawing::Point(7, 20);
this->displacementClampRadioButton->Name = L"displacementClampRadioButton";
this->displacementClampRadioButton->Size = System::Drawing::Size(121, 17);
this->displacementClampRadioButton->TabIndex = 0;
this->displacementClampRadioButton->TabStop = true;
this->displacementClampRadioButton->Text = L"Displacement Clamp";
this->displacementClampRadioButton->UseVisualStyleBackColor = true;
//
// kuNumericUpDown
//
this->kuNumericUpDown->DecimalPlaces = 2;
this->kuNumericUpDown->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, 131072});
this->kuNumericUpDown->Location = System::Drawing::Point(183, 26);
this->kuNumericUpDown->Name = L"kuNumericUpDown";
this->kuNumericUpDown->Size = System::Drawing::Size(120, 20);
this->kuNumericUpDown->TabIndex = 1;
//
// tuNumericUpDown
//
this->tuNumericUpDown->DecimalPlaces = 5;
this->tuNumericUpDown->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, 131072});
this->tuNumericUpDown->Location = System::Drawing::Point(183, 52);
this->tuNumericUpDown->Name = L"tuNumericUpDown";
this->tuNumericUpDown->Size = System::Drawing::Size(120, 20);
this->tuNumericUpDown->TabIndex = 2;
//
// pParameterLabel
//
this->pParameterLabel->AutoSize = true;
this->pParameterLabel->Location = System::Drawing::Point(159, 28);
this->pParameterLabel->Name = L"pParameterLabel";
this->pParameterLabel->Size = System::Drawing::Size(23, 13);
this->pParameterLabel->TabIndex = 3;
this->pParameterLabel->Text = L"Ku:";
//
// periodLabel
//
this->periodLabel->AutoSize = true;
this->periodLabel->Location = System::Drawing::Point(159, 55);
this->periodLabel->Name = L"periodLabel";
this->periodLabel->Size = System::Drawing::Size(23, 13);
this->periodLabel->TabIndex = 4;
this->periodLabel->Text = L"Tu:";
//
// startCalibrationButton
//
this->startCalibrationButton->Location = System::Drawing::Point(316, 19);
this->startCalibrationButton->Name = L"startCalibrationButton";
this->startCalibrationButton->Size = System::Drawing::Size(132, 23);
this->startCalibrationButton->TabIndex = 5;
this->startCalibrationButton->Text = L"Start Calibration";
this->startCalibrationButton->UseVisualStyleBackColor = true;
this->startCalibrationButton->Click += gcnew System::EventHandler(this, &CalibratePIDParameters::startCalibrationButton_Click);
//
// calculateParametersButton
//
this->calculateParametersButton->Location = System::Drawing::Point(316, 49);
this->calculateParametersButton->Name = L"calculateParametersButton";
this->calculateParametersButton->Size = System::Drawing::Size(132, 23);
this->calculateParametersButton->TabIndex = 6;
this->calculateParametersButton->Text = L"Calculate Parameters";
this->calculateParametersButton->UseVisualStyleBackColor = true;
this->calculateParametersButton->Click += gcnew System::EventHandler(this, &CalibratePIDParameters::calculateParametersButton_Click);
//
// pEquationLabel
//
this->pEquationLabel->AutoSize = true;
this->pEquationLabel->Location = System::Drawing::Point(18, 15);
this->pEquationLabel->Name = L"pEquationLabel";
this->pEquationLabel->Size = System::Drawing::Size(70, 13);
this->pEquationLabel->TabIndex = 7;
this->pEquationLabel->Text = L"P = 0.6*Ku = ";
//
// iEquationLabel
//
this->iEquationLabel->AutoSize = true;
this->iEquationLabel->Location = System::Drawing::Point(18, 40);
this->iEquationLabel->Name = L"iEquationLabel";
this->iEquationLabel->Size = System::Drawing::Size(75, 13);
this->iEquationLabel->TabIndex = 8;
this->iEquationLabel->Text = L"I = (2*P/Tu) = ";
//
// dEquationLabel
//
this->dEquationLabel->AutoSize = true;
this->dEquationLabel->Location = System::Drawing::Point(17, 63);
this->dEquationLabel->Name = L"dEquationLabel";
this->dEquationLabel->Size = System::Drawing::Size(74, 13);
this->dEquationLabel->TabIndex = 9;
this->dEquationLabel->Text = L"D = P*Tu/8 = ";
//
// calculatedParametersGroupBox
//
this->calculatedParametersGroupBox->Controls->Add(this->dParameterNumericUpDown);
this->calculatedParametersGroupBox->Controls->Add(this->iParameterNumericUpDown);
this->calculatedParametersGroupBox->Controls->Add(this->pParameterNumericUpDown);
this->calculatedParametersGroupBox->Controls->Add(this->pEquationLabel);
this->calculatedParametersGroupBox->Controls->Add(this->iEquationLabel);
this->calculatedParametersGroupBox->Controls->Add(this->dEquationLabel);
this->calculatedParametersGroupBox->Location = System::Drawing::Point(13, 89);
this->calculatedParametersGroupBox->Name = L"calculatedParametersGroupBox";
this->calculatedParametersGroupBox->Size = System::Drawing::Size(234, 88);
this->calculatedParametersGroupBox->TabIndex = 13;
this->calculatedParametersGroupBox->TabStop = false;
this->calculatedParametersGroupBox->Text = L"Calculated Parameters:";
//
// dParameterNumericUpDown
//
this->dParameterNumericUpDown->DecimalPlaces = 9;
this->dParameterNumericUpDown->Location = System::Drawing::Point(98, 60);
this->dParameterNumericUpDown->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {1000, 0, 0, 0});
this->dParameterNumericUpDown->Name = L"dParameterNumericUpDown";
this->dParameterNumericUpDown->Size = System::Drawing::Size(120, 20);
this->dParameterNumericUpDown->TabIndex = 12;
//
// iParameterNumericUpDown
//
this->iParameterNumericUpDown->DecimalPlaces = 9;
this->iParameterNumericUpDown->Location = System::Drawing::Point(98, 37);
this->iParameterNumericUpDown->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {10000, 0, 0, 0});
this->iParameterNumericUpDown->Name = L"iParameterNumericUpDown";
this->iParameterNumericUpDown->Size = System::Drawing::Size(120, 20);
this->iParameterNumericUpDown->TabIndex = 11;
//
// pParameterNumericUpDown
//
this->pParameterNumericUpDown->DecimalPlaces = 5;
this->pParameterNumericUpDown->Location = System::Drawing::Point(98, 13);
this->pParameterNumericUpDown->Name = L"pParameterNumericUpDown";
this->pParameterNumericUpDown->Size = System::Drawing::Size(120, 20);
this->pParameterNumericUpDown->TabIndex = 10;
//
// cancelCalibrationButton
//
this->cancelCalibrationButton->Location = System::Drawing::Point(611, 214);
this->cancelCalibrationButton->Name = L"cancelCalibrationButton";
this->cancelCalibrationButton->Size = System::Drawing::Size(75, 23);
this->cancelCalibrationButton->TabIndex = 14;
this->cancelCalibrationButton->Text = L"Cancel";
this->cancelCalibrationButton->UseVisualStyleBackColor = true;
this->cancelCalibrationButton->Click += gcnew System::EventHandler(this, &CalibratePIDParameters::cancelCalibrationButton_Click);
//
// finishCalibrationButton
//
this->finishCalibrationButton->Location = System::Drawing::Point(530, 214);
this->finishCalibrationButton->Name = L"finishCalibrationButton";
this->finishCalibrationButton->Size = System::Drawing::Size(75, 23);
this->finishCalibrationButton->TabIndex = 15;
this->finishCalibrationButton->Text = L"OK";
this->finishCalibrationButton->UseVisualStyleBackColor = true;
this->finishCalibrationButton->Click += gcnew System::EventHandler(this, &CalibratePIDParameters::finishCalibrationButton_Click);
//
// testParametersButton
//
this->testParametersButton->Location = System::Drawing::Point(434, 111);
this->testParametersButton->Name = L"testParametersButton";
this->testParametersButton->Size = System::Drawing::Size(130, 23);
this->testParametersButton->TabIndex = 16;
this->testParametersButton->Text = L"Apply Test Pulse";
this->testParametersButton->UseVisualStyleBackColor = true;
this->testParametersButton->Click += gcnew System::EventHandler(this, &CalibratePIDParameters::testParametersButton_Click);
//
// signalChart
//
chartArea1->AxisX->Title = L"Time (s)";
chartArea1->Name = L"ChartArea1";
this->signalChart->ChartAreas->Add(chartArea1);
this->signalChart->Location = System::Drawing::Point(13, 243);
this->signalChart->Name = L"signalChart";
series1->ChartArea = L"ChartArea1";
series1->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::Line;
series1->Name = L"Signal";
this->signalChart->Series->Add(series1);
this->signalChart->Size = System::Drawing::Size(673, 148);
this->signalChart->TabIndex = 17;
this->signalChart->Text = L"signalChart";
//
// getDataButton
//
this->getDataButton->Location = System::Drawing::Point(434, 146);
this->getDataButton->Name = L"getDataButton";
this->getDataButton->Size = System::Drawing::Size(130, 23);
this->getDataButton->TabIndex = 18;
this->getDataButton->Text = L"Get Data";
this->getDataButton->UseVisualStyleBackColor = true;
this->getDataButton->Click += gcnew System::EventHandler(this, &CalibratePIDParameters::getDataButton_Click);
//
// pictureBox1
//
this->pictureBox1->Image = (cli::safe_cast<System::Drawing::Image^ >(resources->GetObject(L"pictureBox1.Image")));
this->pictureBox1->Location = System::Drawing::Point(13, 397);
this->pictureBox1->Name = L"pictureBox1";
this->pictureBox1->Size = System::Drawing::Size(623, 143);
this->pictureBox1->TabIndex = 19;
this->pictureBox1->TabStop = false;
//
// cantileverIDTextBox
//
this->cantileverIDTextBox->Location = System::Drawing::Point(467, 52);
this->cantileverIDTextBox->Name = L"cantileverIDTextBox";
this->cantileverIDTextBox->Size = System::Drawing::Size(190, 20);
this->cantileverIDTextBox->TabIndex = 20;
//
// cantileverIDLabel
//
this->cantileverIDLabel->AutoSize = true;
this->cantileverIDLabel->Location = System::Drawing::Point(467, 32);
this->cantileverIDLabel->Name = L"cantileverIDLabel";
this->cantileverIDLabel->Size = System::Drawing::Size(71, 13);
this->cantileverIDLabel->TabIndex = 21;
this->cantileverIDLabel->Text = L"Cantilever ID:";
this->cantileverIDLabel->UseMnemonic = false;
//
// recordDataCheckBox
//
this->recordDataCheckBox->AutoSize = true;
this->recordDataCheckBox->Location = System::Drawing::Point(570, 148);
this->recordDataCheckBox->Name = L"recordDataCheckBox";
this->recordDataCheckBox->Size = System::Drawing::Size(87, 17);
this->recordDataCheckBox->TabIndex = 22;
this->recordDataCheckBox->Text = L"Record Data";
this->recordDataCheckBox->UseVisualStyleBackColor = true;
//
// dataCommentsTextBox
//
this->dataCommentsTextBox->Location = System::Drawing::Point(147, 180);
this->dataCommentsTextBox->Multiline = true;
this->dataCommentsTextBox->Name = L"dataCommentsTextBox";
this->dataCommentsTextBox->Size = System::Drawing::Size(245, 33);
this->dataCommentsTextBox->TabIndex = 23;
this->dataCommentsTextBox->TextChanged += gcnew System::EventHandler(this, &CalibratePIDParameters::dataCommentsTextBox_TextChanged);
//
// label1
//
this->label1->AutoSize = true;
this->label1->Location = System::Drawing::Point(22, 180);
this->label1->Name = L"label1";
this->label1->Size = System::Drawing::Size(119, 13);
this->label1->TabIndex = 24;
this->label1->Text = L"Comments for Data File:";
//
// voltageNumericUpDown
//
this->voltageNumericUpDown->DecimalPlaces = 3;
this->voltageNumericUpDown->Location = System::Drawing::Point(253, 111);
this->voltageNumericUpDown->Name = L"voltageNumericUpDown";
this->voltageNumericUpDown->Size = System::Drawing::Size(120, 20);
this->voltageNumericUpDown->TabIndex = 25;
//
// durationNumericUpDown
//
this->durationNumericUpDown->DecimalPlaces = 3;
this->durationNumericUpDown->Location = System::Drawing::Point(253, 150);
this->durationNumericUpDown->Name = L"durationNumericUpDown";
this->durationNumericUpDown->Size = System::Drawing::Size(120, 20);
this->durationNumericUpDown->TabIndex = 26;
//
// voltageLabel
//
this->voltageLabel->AutoSize = true;
this->voltageLabel->Location = System::Drawing::Point(253, 92);
this->voltageLabel->Name = L"voltageLabel";
this->voltageLabel->Size = System::Drawing::Size(46, 13);
this->voltageLabel->TabIndex = 27;
this->voltageLabel->Text = L"Voltage:";
//
// durationLabel
//
this->durationLabel->AutoSize = true;
this->durationLabel->Location = System::Drawing::Point(253, 134);
this->durationLabel->Name = L"durationLabel";
this->durationLabel->Size = System::Drawing::Size(50, 13);
this->durationLabel->TabIndex = 28;
this->durationLabel->Text = L"Duration:";
//
// voltageUnitLabel
//
this->voltageUnitLabel->AutoSize = true;
this->voltageUnitLabel->Location = System::Drawing::Point(379, 113);
this->voltageUnitLabel->Name = L"voltageUnitLabel";
this->voltageUnitLabel->Size = System::Drawing::Size(14, 13);
this->voltageUnitLabel->TabIndex = 29;
this->voltageUnitLabel->Text = L"V";
//
// durationUnitLabel
//
this->durationUnitLabel->AutoEllipsis = true;
this->durationUnitLabel->AutoSize = true;
this->durationUnitLabel->Location = System::Drawing::Point(379, 152);
this->durationUnitLabel->Name = L"durationUnitLabel";
this->durationUnitLabel->Size = System::Drawing::Size(12, 13);
this->durationUnitLabel->TabIndex = 30;
this->durationUnitLabel->Text = L"s";
//
// CalibratePIDParameters
//
this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
this->ClientSize = System::Drawing::Size(698, 552);
this->Controls->Add(this->durationUnitLabel);
this->Controls->Add(this->voltageUnitLabel);
this->Controls->Add(this->durationLabel);
this->Controls->Add(this->voltageLabel);
this->Controls->Add(this->durationNumericUpDown);
this->Controls->Add(this->voltageNumericUpDown);
this->Controls->Add(this->label1);
this->Controls->Add(this->dataCommentsTextBox);
this->Controls->Add(this->recordDataCheckBox);
this->Controls->Add(this->cantileverIDLabel);
this->Controls->Add(this->cantileverIDTextBox);
this->Controls->Add(this->pictureBox1);
this->Controls->Add(this->getDataButton);
this->Controls->Add(this->signalChart);
this->Controls->Add(this->testParametersButton);
this->Controls->Add(this->finishCalibrationButton);
this->Controls->Add(this->cancelCalibrationButton);
this->Controls->Add(this->calculateParametersButton);
this->Controls->Add(this->startCalibrationButton);
this->Controls->Add(this->periodLabel);
this->Controls->Add(this->pParameterLabel);
this->Controls->Add(this->tuNumericUpDown);
this->Controls->Add(this->kuNumericUpDown);
this->Controls->Add(this->clampModeGroupBox);
this->Controls->Add(this->calculatedParametersGroupBox);
this->Name = L"CalibratePIDParameters";
this->Text = L"Calibrate PID Parameters";
this->clampModeGroupBox->ResumeLayout(false);
this->clampModeGroupBox->PerformLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->kuNumericUpDown))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->tuNumericUpDown))->EndInit();
this->calculatedParametersGroupBox->ResumeLayout(false);
this->calculatedParametersGroupBox->PerformLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->dParameterNumericUpDown))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->iParameterNumericUpDown))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->pParameterNumericUpDown))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->signalChart))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->pictureBox1))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->voltageNumericUpDown))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->durationNumericUpDown))->EndInit();
this->ResumeLayout(false);
this->PerformLayout();
}
#pragma endregion
private: System::Void startCalibrationButton_Click(System::Object^ sender, System::EventArgs^ e) {
Stimulus stim = createStimulus();
//covert to an array of voltage doubles
int size = stim.waveTable.size();
double* stimVoltages = new double[size];
for (int i = 0; i < size; i++) {
double value = stim.voltages[i] ;
stimVoltages[i] = value;
}
comm->sendWaveTable(stimVoltages, size);
delete stimVoltages;
stim.totalPoints = stim.waveTable.size();
stim.totalTime = stim.totalPoints/DELTA_T;
// send all the data to the FPGA:
//Wave interval - spacing between points on wave table
comm->sendWaveInterval((int)(DELTA_T*1000000)); // need to convert from s to us for this
Threading::Thread::Sleep(500);
//Send PID parameters:
int numParams = 4;
double* parameters = new double[numParams];
parameters[0] = Decimal::ToDouble(kuNumericUpDown->Value);
parameters[1] = 0;
parameters[2] = 0;
parameters[3] = 5; //need to make sure this parameter is OK.
comm->sendPIDParameters(parameters, numParams);
Threading::Thread::Sleep(500);
if (forceClampRadioButton->Checked){
comm->sendClampMode(2);
}
else if (displacementClampRadioButton->Checked){
//Send Clamp Mode: Displacement Clamp
comm->sendClampMode(1);
}
else {
MessageBox::Show("Please select a clamp mode");
return;
}
Threading::Thread::Sleep(500);
//Send all the data to FPGA, request info back
//Send trigger mode
comm->sendTriggerMode(1);
//Send data acquisition parameter
Threading::Thread::Sleep(500);
comm->sendAcquisitionInterval(1000); // number of us between two points "1000" = 1kHz sampling, min value this can be is 100 ("100" = 10 kHz)
Threading::Thread::Sleep(500);
comm->triggerStimulus();
}
private: System::Void calculateParametersButton_Click(System::Object^ sender, System::EventArgs^ e) {
double pParameter = Decimal::ToDouble(kuNumericUpDown->Value)*0.6;
double iParameter = 2*pParameter/Decimal::ToDouble(tuNumericUpDown->Value);
double dParameter = pParameter*Decimal::ToDouble(tuNumericUpDown->Value)/8;
pParameterNumericUpDown->Value = Decimal(pParameter);
iParameterNumericUpDown->Value = Decimal(iParameter);
dParameterNumericUpDown->Value = Decimal(dParameter);
}
private: System::Void finishCalibrationButton_Click(System::Object^ sender, System::EventArgs^ e) {
this->DialogResult = Windows::Forms::DialogResult::OK;
this->Close();
}
private: System::Void cancelCalibrationButton_Click(System::Object^ sender, System::EventArgs^ e) {
this->DialogResult = Windows::Forms::DialogResult::Cancel;
this->Close();
}
Stimulus createStimulus(void)
{
double maxSignal = 0;
double contactTime = 100;
double period = 5;
int noCycles = 1;
double scale = 0;
double magnitude = maxSignal;
int scaleType = 0;
double sineFreq = 0;
double sineBias = 0;
double zeroPulse = 2;
Stimulus stim(period, contactTime, noCycles, magnitude, scale, scaleType, sineFreq, sineBias, zeroPulse);
stim.createCalibrationWaveTable();
stim.appendZeroPulse(zeroPulse);
stim.convertToVoltages(1/ACTUATOR_SENSITIVITY);
return stim;
}
private: System::Void testParametersButton_Click(System::Object^ sender, System::EventArgs^ e) {
double magnitude;
if (forceClampRadioButton->Checked){
magnitude = Decimal::ToDouble(voltageNumericUpDown->Value); // this is the voltage we want to clamp onto, not the force.
}
else {
magnitude = 40; //
}
double duration = Decimal::ToDouble(durationNumericUpDown->Value);
Stimulus stim = createTestStimulus(magnitude,duration);
//covert to an array of voltage doubles
int size = stim.waveTable.size();
double* stimVoltages = new double[size];
for (int i = 0; i < size; i++) {
double value = stim.voltages[i] ;
stimVoltages[i] = value;
}
comm->sendWaveTable(stimVoltages, size);
delete stimVoltages;
stim.totalPoints = stim.waveTable.size();
stim.totalTime = stim.totalPoints/DELTA_T;
// send all the data to the FPGA:
//Wave interval - spacing between points on wave table
comm->sendWaveInterval((int)(DELTA_T*1000000)); // need to convert from s to us for this
Threading::Thread::Sleep(500);
//Send PID parameters:
int numParams = 4;
double* parameters = new double[numParams];
parameters[0] = Decimal::ToDouble(pParameterNumericUpDown->Value);
parameters[1] = Decimal::ToDouble(iParameterNumericUpDown->Value);
parameters[2] = Decimal::ToDouble(dParameterNumericUpDown->Value);
parameters[3] = 5; //need to make sure this parameter is OK.
comm->sendPIDParameters(parameters, numParams);
Threading::Thread::Sleep(500);
if (forceClampRadioButton->Checked){
comm->sendClampMode(2);
}
else if (displacementClampRadioButton->Checked){
//Send Clamp Mode: Displacement Clamp
comm->sendClampMode(1);
}
else {
MessageBox::Show("Please select a clamp mode");
return;
}
Threading::Thread::Sleep(500);
//Send all the data to FPGA, request info back
//Send trigger mode
comm->sendTriggerMode(1);
//Send data acquisition parameter
Threading::Thread::Sleep(500);
comm->sendAcquisitionInterval(1000); // number of us between two points "1000" = 1kHz sampling, min value this can be is 100 ("100" = 10 kHz)
Threading::Thread::Sleep(500);
comm->triggerStimulus();
}
private: System::Void getDataButton_Click(System::Object^ sender, System::EventArgs^ e) {
//gather data, write to plots:
signalChart->Series["Signal"]->Points->Clear();
vector<double> actuatorPositionSignal = comm->actuatorPositionData;
vector<double> cantileverSignal = comm->piezoSignalData;
vector<double> actuatorCommandSignal = comm->actuatorCommandData;
vector<double> desiredSignal = comm->desiredSignalData;
if (recordDataCheckBox->Checked){
marshal_context^ context = gcnew marshal_context();
string cantileverID = context->marshal_as<string>(cantileverIDTextBox->Text);
string commentsForData = context->marshal_as<string>(dataCommentsTextBox->Text);
vector<double> PIDParameters;
PIDParameters.push_back(Decimal::ToDouble(pParameterNumericUpDown->Value));
PIDParameters.push_back(Decimal::ToDouble(iParameterNumericUpDown->Value));
PIDParameters.push_back(Decimal::ToDouble(dParameterNumericUpDown->Value));
writeCalibrationDataToDisk( actuatorPositionSignal, cantileverSignal, actuatorCommandSignal, desiredSignal, cantileverID, commentsForData, PIDParameters);
PIDParameters.clear();
}
vector<double> signal;
if (displacementClampRadioButton->Checked)
signal = comm->actuatorPositionData;
else
signal = comm->piezoSignalData;
int size = signal.size();
//plot on chart
for (int i = 0; i < size; i++) {
double value = signal[i];
signalChart->Series["Signal"]->Points->AddXY(i * DELTA_T, value);
}
}
Stimulus createTestStimulus(double magnitude, double duration)
{
double contactTime = 100;
//double period = 0.1;
int noCycles = 1;
double scale = 0;
int scaleType = 0;
double sineFreq = 0;
double sineBias = 0;
double zeroPulse = 1;
Stimulus stim(duration, contactTime, noCycles, magnitude, scale, scaleType, sineFreq, sineBias, zeroPulse);
//stim.prependZeroPulse(1000);
stim.createSquare();
stim.appendZeroPulse(zeroPulse);
if (forceClampRadioButton->Checked)
stim.convertToVoltages(1);
else
stim.convertToVoltages(1/ACTUATOR_SENSITIVITY);
return stim;
}
void writeCalibrationDataToDisk(vector<double> actuatorPositions, vector<double> cantileverSignal, vector<double> actuatorCommandSignal, vector<double> desiredSignal, string cantileverID, string commentsForData, vector<double> PIDParameters){
cv::FileStorage dataWriter;
SYSTEMTIME now;
GetLocalTime(&now);
string time;
char* cTime = new char[50];
sprintf(cTime, "%04d_%02d_%02d__%02d_%02d_%02d__", now.wYear, now.wMonth, now.wDay, now.wHour, now.wMinute, now.wSecond);
time = string(cTime);
delete cTime;
//string directory = string("C:\\\\Users\\\\HAWK\\\\Documents\\\\CantileverCalibrationData\\\\");
//string fileName = cantileverID + string("_") + time + string("_PIDData.yaml");
//string fullfile = directory + fileName;
string directory = string("C:\\\\Users\\\\HAWK\\\\Documents\\\\CantileverCalibrationData\\\\PIDParameterData\\\\");
CreateDirectoryA((directory + cantileverID + string("\\\\")).c_str(), NULL);
string fileName = time + string("_") + cantileverID + string("_PIDData.yaml");
string fullfile = directory + cantileverID + string("\\\\") + fileName;
dataWriter.open(fullfile, cv::FileStorage::WRITE);
dataWriter << string("Time") << time;
dataWriter << string("Cantilever") << cantileverID;
dataWriter << string("p Parameter") << PIDParameters[0];
dataWriter << string("i Parameter") << PIDParameters[1];
dataWriter << string("d Parameter") << PIDParameters[2];
dataWriter << string("Comments") << commentsForData;
string nodeTitle;
char* title = new char[50];
//Write actuator position:
dataWriter << "Actuator Position Signal" << "{";
//print rest of data
for (unsigned int i = 0; i < actuatorPositions.size(); i++) {
sprintf(title, "Point %d", i);
nodeTitle = string(title);
dataWriter << nodeTitle << actuatorPositions[i];
}
dataWriter << "}";
//Write cantilever signal:
dataWriter << "Cantilever Signal" << "{";
//print rest of data
for (unsigned int i = 0; i < cantileverSignal.size(); i++) {
sprintf(title, "Point %d", i);
nodeTitle = string(title);
dataWriter << nodeTitle << cantileverSignal[i];
}
dataWriter << "}";
//Write Actuator Commands:
dataWriter << "Actuator Command Signal" << "{";
//print rest of data
for (unsigned int i = 0; i < actuatorCommandSignal.size(); i++) {
sprintf(title, "Point %d", i);
nodeTitle = string(title);
dataWriter << nodeTitle << actuatorCommandSignal[i];
}
dataWriter << "}";
//Write desired signal
dataWriter << "Desired Signal" << "{";
//print rest of data
for (unsigned int i = 0; i < desiredSignal.size(); i++) {
sprintf(title, "Point %d", i);
nodeTitle = string(title);
dataWriter << nodeTitle << desiredSignal[i];
}
dataWriter << "}";
dataWriter.release();
}
private: System::Void dataCommentsTextBox_TextChanged(System::Object^ sender, System::EventArgs^ e) {
}
};
}