conrobotdlg.h

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// ConRobotDlg.h : header file
//

#if !defined(AFX_CONROBOTDLG_H__E7AF34D4_A50A_4B62_B5F8_86D3D6A5B4F8__INCLUDED_)
#define AFX_CONROBOTDLG_H__E7AF34D4_A50A_4B62_B5F8_86D3D6A5B4F8__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000



#define WM_RECVDATA WM_USER+1


#include "WBButton.h" //位图按钮类
#include "CreditStatic.h"
#include "MatrixStatic.h"


/////////////////////////////////////////////////////////////////////////////
// CConRobotDlg dialog


class CConRobotDlg : public CDialog
{
// Construction

	enum { nMinTheta1 = -694 };
	enum { nMaxTheta1 = 550 };
	enum { nMinTheta2 = 114 };
	enum { nMaxTheta2 = 520 };
	enum { nMinTheta3 = 2140 };
	enum { nMaxTheta3 = 3180 };
	enum { nMinTheta4 = -210};
	enum { nMaxTheta4 = 650};


	enum { nSampleMin = 5};
	enum { nSampleMax = 50 };

	enum{nMinBasePCoffi=0};
	enum{nMaxBasePCoffi=2000};
	enum{nMinBArmPCoffi=0};
	enum{nMaxBArmPCoffi=2000};
	enum{nMinSArmPCoffi=0};
	enum{nMaxSArmPCoffi=2000};
	enum{nMinFinPCoffi=0};
	enum{nMaxFinPCoffi=2000};

	enum{nMinBaseICoffi=0};
	enum{nMaxBaseICoffi=10};
	enum{nMinBArmICoffi=0};
	enum{nMaxBArmICoffi=10};
	enum{nMinSArmICoffi=0};
	enum{nMaxSArmICoffi=10};
	enum{nMinFinICoffi=0};
	enum{nMaxFinICoffi=10};

	enum{nMinBaseDCoffi=0};
	enum{nMaxBaseDCoffi=10};
	enum{nMinBArmDCoffi=0};
	enum{nMaxBArmDCoffi=10};
	enum{nMinSArmDCoffi=0};
	enum{nMaxSArmDCoffi=10};
	enum{nMinFinDCoffi=0};
	enum{nMaxFinDCoffi=10};


public:
	void PID_Fin_OUT();
	void PID_SArm_OUT();
	void PID_BArm_OUT();
	void PID_Base_OUT();
	void AutoCalFinPosi();
	void AutoCalSArmPosi();
	void AutoCalBArmPosi();
	void AutoCalBasePosi();


  	CString string,m_str,str1;
	UINT TIMER;


	CString credit;
	void YundongxueZJ();
	void YundongxueFJ();
	void MannulCalPosi();
	void ReadAD();
	void PID_OUT();
	void Initparam();

	CConRobotDlg(CWnd* pParent = NULL);	// standard constructor

	CMatrixStatic	m_Range[6];
	CMatrixStatic   m_ParameterP[6];
	CMatrixStatic   m_ParameterI[6];
	CMatrixStatic   m_ParameterD[6];
	CMatrixStatic	m_lcdtimer;
	CMatrixStatic	m_state;
	char RangeText[6][10];
	char PParameterText[6][10];
	char IParameterText[6][10];
	char DParameterText[6][10];
	char TimerText[10];
 
	float m_FinPID[3],m_BasePID[3],m_BArmPID[3],m_SArmPID[3];

	int Basecy,BArmcy,SArmcy,Fincy;
      
// Dialog Data
	//{{AFX_DATA(CConRobotDlg)
	enum { IDD = IDD_CONROBOT_DIALOG };
	CWBButton	m_Matlab;
	CWBButton	m_NetLink;
	CWBButton	m_Calculation;
	CWBButton	m_Quit;
	CWBButton	m_Stop;
	CWBButton	m_Start;
	CWBButton	m_SArmButton;
	CWBButton	m_FinButton;
	CWBButton	m_BArmButton;
	CWBButton	m_BaseButton;
	CCreditStatic	m_credit;
	float	m_CurrentX;
	float	m_CurrentY;
	float	m_BArmBackPess;
	float	m_BArmPrePess;
	float	m_BaseBackPess;
	float	m_BasePrePess;
	float	m_CurrentZ;
	float	m_FinBackPess;
	float	m_FinPrePess;
	float	m_GBArmPosi;
	float	m_GBArmTheta;
	float	m_GBasePosi;
	float	m_GBaseTheta;
	float	m_GFinPosi;
	float	m_GFinTheta;
	float	m_GSArmPosi;
	float	m_GSArmTheta;
	float	m_ObjectX;
	float	m_ObjectY;
	float	m_ObjectZ;
	float	m_RBArmPosi;
	float	m_RBArmTheta;
	float	m_RBasePosi;
	float	m_RBaseTheta;
	float	m_RFinPosi;
	float	m_RFinTheta;
	float	m_RSArmPosi;
	float	m_RSArmTheta;
	float	m_SArmBackPess;
	float	m_SArmPrePess;
	CString	m_strTime;
	float	m_OBArmTheta;
	float	m_OBaseTheta;
	float	m_OSArmTheta;
	float	m_RecX;
	float	m_RecY;
	float	m_RecZ;
	float	m_PingYiX;
	float	m_PingYiY;
	float	m_PingYiZ;
	float	m_A11;
	float	m_A12;
	float	m_A13;
	float	m_A21;
	float	m_A22;
	float	m_A23;
	float	m_A31;
	float	m_A32;
	float	m_A33;
	float	m_BasePessCha;
	float	m_BArmPessCha;
	float	m_SArmPessCha;
	float	m_FinPessCha;
//	float	m_a5;
//	int		m_a6;
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CConRobotDlg)
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);	// DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	HICON m_hIcon;

	// Generated message map functions
	//{{AFX_MSG(CConRobotDlg)
	virtual BOOL OnInitDialog();
	afx_msg void OnSysCommand(UINT nID, LPARAM lParam);
	afx_msg void OnPaint();
	afx_msg HCURSOR OnQueryDragIcon();
	afx_msg void OnStart();
	afx_msg void OnStop();
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg void OnCalculation();
	afx_msg void OnDestroy();
	afx_msg void OnVScroll(UINT nSBCode, UINT nPos, CScrollBar* pScrollBar);
	afx_msg void OnDisplayStatic();
	afx_msg void OnNetLink();
	virtual void OnOK();
	afx_msg void OnButtonMatLab();
	afx_msg void OnAutoManual();
	//}}AFX_MSG
	

	afx_msg void OnRecvData(WPARAM wParam,LPARAM lParam);
	DECLARE_MESSAGE_MAP()
};

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_CONROBOTDLG_H__E7AF34D4_A50A_4B62_B5F8_86D3D6A5B4F8__INCLUDED_)