?? motordriver.frm
字號:
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 255
Left = 0
TabIndex = 2
Top = 0
Width = 855
End
Begin VB.Label Label31
BackColor = &H80000018&
Caption = "桔色:羅盤值"
BeginProperty Font
Name = "宋體"
Size = 7.5
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 255
Left = 0
TabIndex = 1
Top = 240
Width = 855
End
Begin VB.Shape Shape1
BorderColor = &H80000018&
DrawMode = 14 'Copy Pen
FillColor = &H00004080&
FillStyle = 0 'Solid
Height = 255
Left = 720
Shape = 3 'Circle
Top = 720
Width = 255
End
End
Begin VB.Label Label26
Caption = "Angle of given roll:"
Height = 375
Left = 3960
TabIndex = 61
Top = 1680
Width = 2175
End
Begin VB.Label Label1
BackColor = &H80000004&
Caption = "Yaw:"
Height = 255
Left = 120
TabIndex = 59
Top = 840
Width = 1455
End
Begin VB.Label Label2
Caption = "Roll:"
Height = 255
Left = 3600
TabIndex = 58
Top = 840
Width = 1455
End
Begin VB.Label Label3
Caption = "Pitch:"
Height = 255
Left = 7560
TabIndex = 57
Top = 840
Width = 1455
End
Begin VB.Label Label4
Caption = "單位:度"
Height = 495
Left = 7680
TabIndex = 56
Top = 360
Width = 855
End
Begin VB.Label Label5
Caption = "Time:"
Height = 255
Left = 120
TabIndex = 55
Top = 0
Width = 735
End
Begin VB.Label Label6
Caption = "Angle of given yaw:"
Height = 255
Left = 120
TabIndex = 54
Top = 1680
Width = 2535
End
Begin VB.Label Label10
Caption = "controlU"
Height = 375
Left = 3000
TabIndex = 53
Top = 0
Width = 1335
End
Begin VB.Label Label7
Caption = "PP:"
Height = 375
Left = 7320
TabIndex = 52
Top = 2760
Width = 615
End
Begin VB.Label Label8
Caption = "PI"
Height = 375
Left = 7320
TabIndex = 51
Top = 3120
Width = 495
End
Begin VB.Label Label9
Caption = "PD"
Height = 495
Left = 7320
TabIndex = 50
Top = 3480
Width = 615
End
Begin VB.Label Label11
Caption = "VP:"
Height = 375
Left = 7320
TabIndex = 49
Top = 4080
Width = 615
End
Begin VB.Label Label12
Caption = "VI:"
Height = 375
Left = 7320
TabIndex = 48
Top = 4440
Width = 615
End
Begin VB.Label Label13
Caption = "VD"
Height = 375
Left = 7320
TabIndex = 47
Top = 4800
Width = 495
End
Begin VB.Shape Shape3
Height = 495
Left = 1080
Top = 3360
Width = 1215
End
Begin VB.Label Label27
Caption = "0"
Height = 255
Left = 2640
TabIndex = 46
Top = 3600
Width = 375
End
Begin VB.Label Label28
Caption = "270"
Height = 255
Left = 1440
TabIndex = 45
Top = 4800
Width = 375
End
Begin VB.Label Label29
Caption = "180"
Height = 255
Left = 240
TabIndex = 44
Top = 3600
Width = 375
End
Begin VB.Label Label30
Caption = "90"
Height = 255
Left = 1440
TabIndex = 43
Top = 2640
Width = 495
End
End
Attribute VB_Name = "form1"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Option Explicit
Private Declare Function timeGetTime Lib "winmm.dll" () As Long
Public Yaw, Pitch, Roll As Integer
Public singleEP As Single, singleSumEP As Single, singleLastEP As Single, singleLastEPP As Single
Public singleU As Single, lastV As Single, lastVV As Single
Public flag As Boolean
Private strReceiveBuff As String
Private Sub Form_Load()
If MSComm2.PortOpen = False Then
MSComm2.PortOpen = True
End If
If MSComm1.PortOpen = False Then
MSComm1.PortOpen = True
End If
strReceiveBuff = ""
singleLastEP = 0
singleEP = 0
singleSumEP = 0
singleU = 0
lastV = 0
lastVV = 0
singleLastEPP = 0
flag = False
brake1 = False
brake2 = False
End Sub
Private Sub Form_Unload(Cancel As Integer)
If MSComm1.PortOpen = True Then MSComm1.PortOpen = False
If MSComm2.PortOpen = True Then MSComm2.PortOpen = False
End Sub
Private Sub HScroll1_change()
'singleEP = HScroll1.Value - Val(txtYaw.Text)
'If singleEP > 180 Then singleEP = singleEP - 360
'If singleEP < -180 Then singleEP = singleEP + 360
Text1.Text = CStr(HScroll1.Value)
Text2.Text = CStr(CInt(Yaw))
Text3.Text = CStr(CInt(singleEP))
Label6.Caption = "Angle to Rotate:" & CStr(HScroll1.Value)
Line1.X2 = 840 * Cos(-HScroll1.Value * 6.283 / 360) + 840
Line1.Y2 = 840 * Sin(-HScroll1.Value * 6.283 / 360) + 840
End Sub
Private Sub HScroll1_Scroll()
'singleEP = HScroll1.Value - Val(txtYaw.Text)
'If singleEP > 180 Then singleEP = singleEP - 360
'If singleEP < -180 Then singleEP = singleEP + 360
Text1.Text = CStr(HScroll1.Value)
Text2.Text = CStr(CInt(Yaw))
Text3.Text = CStr(CInt(singleEP))
Label6.Caption = "Angle to Rotate:" & CStr(HScroll1.Value)
Line1.X2 = 840 * Cos(-HScroll1.Value * 6.283 / 360) + 840
Line1.Y2 = 840 * Sin(-HScroll1.Value * 6.283 / 360) + 840
End Sub
Private Sub HScroll2_Change()
singleEP = HScroll2.Value - Val(txtRoll.Text)
Text1.Text = CStr(HScroll2.Value)
Text2.Text = CStr(CInt(Roll))
Text3.Text = CStr(CInt(singleEP))
Label26.Caption = "Angle of given roll:" & CStr(HScroll2.Value)
Line1.X2 = 840 * Cos(HScroll2.Value * 6.283 / 360) + 840
Line1.Y2 = 840 * Sin(-HScroll2.Value * 6.283 / 360) + 840
End Sub
Private Sub HScroll2_Scroll()
singleEP = HScroll2.Value - Val(txtRoll.Text)
Text1.Text = CStr(HScroll2.Value)
Text2.Text = CStr(CInt(Roll))
Text3.Text = CStr(CInt(singleEP))
Label26.Caption = "Angle of given roll:" & CStr(HScroll2.Value)
Line1.X2 = 840 * Cos(HScroll2.Value * 6.283 / 360) + 840
Line1.Y2 = 840 * Sin(-HScroll2.Value * 6.283 / 360) + 840
End Sub
Private Sub HScrollPD_Change()
Text9.Text = CStr(HScrollPD.Value / 10)
End Sub
Private Sub HScrollPI_Change()
Text8.Text = CStr(HScrollPI.Value)
End Sub
Private Sub HScrollpp_Change()
Text7.Text = CStr(HScrollpp.Value / 50)
End Sub
Private Sub HScrollVP_Change()
Text10.Text = HScrollVP.Value
If HScrollVP < 16 Then
MSComm1.Output = "^11 0" & Hex(HScrollVP.Value) & Chr(13)
Else
MSComm1.Output = "^11 " & Hex(HScrollVP.Value) & Chr(13)
End If
End Sub
Private Sub HScrollVI_Change()
Text11.Text = HScrollVI.Value
If HScrollVI < 16 Then
MSComm1.Output = "^0F 0" & Hex(HScrollVI.Value) & Chr(13)
Else
MSComm1.Output = "^0F " & Hex(HScrollVI.Value) & Chr(13)
End If
End Sub
Private Sub HScrollVD_Change()
Text12.Text = HScrollVD.Value
If HScrollVD < 16 Then
MSComm1.Output = "^10 0" & Hex(HScrollVD.Value) & Chr(13)
Else
MSComm1.Output = "^10 " & Hex(HScrollVD.Value) & Chr(13)
End If
End Sub
Private Sub Speed_Change()
If Speed.Value > 0 Then
If Speed.Value < 16 Then
MSComm1.Output = "!A0" & Hex(Abs(Speed.Value)) & Chr(13)
Else
MSComm1.Output = "!A" & Hex(Abs(Speed.Value)) & Chr(13)
End If
Else
If Speed.Value > -16 Then
MSComm1.Output = "!a0" & Hex(Abs(Speed.Value)) & Chr(13)
Else
MSComm1.Output = "!a" & Hex(Abs(Speed.Value)) & Chr(13)
End If
End If
End Sub
Private Sub MSComm2_OnComm()
Dim strBuff, strBuff1 As String
Dim i, j, k As Integer
strBuff = MSComm2.Input
k = Len(strBuff)
For i = 1 To k
strBuff1 = Mid(strBuff, i, 1)
Select Case strBuff1
Case Chr(13)
Case Chr(10)
'********** receive one Chr **************
Doevent
'***************** **********
strReceiveBuff = ""
Case Else
strReceiveBuff = strReceiveBuff & strBuff1
End Select
Next
End Sub
Private Sub Doevent()
Dim i, j, k, ilen As Integer
Dim str1 As String
Dim lngT As Long
ilen = Len(Trim(strReceiveBuff))
i = InStr(1, strReceiveBuff, ",")
j = InStr(i + 1, strReceiveBuff, ",")
If (i = 0 Or j = 0) Then Exit Sub
str1 = Mid(strReceiveBuff, 1, i - 1)
Yaw = CInt(360 - Val(str1))
'Line2.X2 = 840 * Cos(-Yaw * 6.283 / 360) + 840
'Line2.Y2 = 840 * Sin(-Yaw * 6.283 / 360) + 840
str1 = Mid(strReceiveBuff, i + 1, j - i - 1)
Pitch = Val(str1)
str1 = Mid(strReceiveBuff, j + 1, ilen)
Roll = Val(str1)
Line2.X2 = 840 * Cos(Roll * 6.283 / 360) + 840
Line2.Y2 = 840 * Sin(-Roll * 6.283 / 360) + 840
txtYaw.Text = Format(Yaw, "0.0")
'txtPitch.Text = Format(Pitch, "0.0")
txtRoll.Text = Format(Roll, "0.0")
lngT = timeGetTime
txtTimeBox.Text = CStr(lngT)
End Sub
Private Sub Timer2_Timer()
Call getU
'Call improvedPID
Label10.Caption = CInt(singleU)
Speed.Value = CInt(singleU)
End Sub
Private Sub txtRoll_Change()
singleEP = HScroll2.Value - Val(txtRoll.Text)
Text1.Text = CStr(HScroll2.Value)
Text2.Text = CStr(CInt(Roll))
Text3.Text = CStr(CInt(singleEP))
End Sub
Private Sub txtYaw_Change()
'singleEP = HScroll1.Value - Val(txtYaw.Text)
'If singleEP > 180 Then singleEP = singleEP - 360
'If singleEP < -180 Then singleEP = singleEP + 360
'Text1.Text = CStr(HScroll1.Value)
'Text2.Text = CStr(CInt(Yaw))
'Text3.Text = CStr(CInt(singleEP))
End Sub
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