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Artificial_Horizon.vb
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Artificial_Horizon.vb
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Imports NationalInstruments.DAQmx
Imports System.Windows.Forms.DataVisualization.Charting
Public Class Form1
Inherits System.Windows.Forms.Form
Public n As Long = 0
Public x, t, y, z As Double
Public file As System.IO.StreamWriter
Private myTask As Task
Private reader As AnalogMultiChannelReader
Private dataColumn As DataColumn()
Private dataTable As DataTable = New DataTable
Const dv = "Dev2"
Private xf As Double = 0
Private yf As Double = 0
Private zf As Double = 0
Private xk, yk, zk, xk1, yk1, zk1 As Double
Private A As Double = 0
Private fi, theta, fis, thetas, fi1, theta1, q, qq As Double
Private xffir, yffir, zffir As Double
Const ile = 7
Dim aa() As Double = {0.015252383666206, 0.091687857545886, 0.17120775094111, 0.221852007846798, 0.221852007846798,
0.17120775094111, 0.091687857545886, 0.015252383666206}
Dim xt(ile), yt(ile), zt(ile) As Double
Dim id As Integer = 0
Private k As Integer = 0
Private kk As Integer = 0
Private gx As Double = 0
Private gy As Double = 0
Private gz As Double = 0
Private ax As Double = 1
Private bx As Double = 1
Private ay As Double = 1
Private by As Double = 1
Private az As Double = 1
Private bz As Double = 1
Private srx As Double
Private sry As Double
Private srz As Double
Private start_time As DateTime
Private dane() As Double = New Double() {0, 0, 0}
Dim file1 As System.IO.StreamWriter
Dim file2 As System.IO.StreamWriter
Dim kal1 As Double = 1.2419
Dim kal2 As Double = 1.2213
Dim kal3 As Double = 1.2657
Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick
n += 1
t = n / 5
Dim data() As Double = reader.ReadSingleSample()
x = data(0)
y = data(1)
z = data(2)
'iir filter
If n = 1 Then
xf = x
yf = y
zf = z
End If
xf += A * (x - xf)
yf += A * (y - yf)
zf += A * (z - zf)
'fir filter
xt(id) = x
yt(id) = y
zt(id) = z
xffir = 0
yffir = 0
zffir = 0
Dim idk As Integer = id
For k As Integer = 0 To ile
idk = k + 1
If idk > ile Then
idk -= ile
End If
xffir += aa(k) * xt(idk)
yffir += aa(k) * yt(idk)
zffir += aa(k) * zt(idk)
Next
id += 1
If (id > ile) Then
id = 0
End If
file.WriteLine(" " & t.ToString("0.00") & " " & x.ToString("0.00000") & " " & xf.ToString("0.00000") & " " & y.ToString("0.00000") & " " & yf.ToString("0.00000") & " " & z.ToString("0.00000") & " " & zf.ToString("0.00000"))
Label1.Text = x.ToString("0.00000")
Label7.Text = xf.ToString("0.00000")
Label2.Text = y.ToString("0.00000")
Label8.Text = yf.ToString("0.00000")
Label3.Text = z.ToString("0.00000")
Label9.Text = zf.ToString("0.00000")
Label17.Text = xffir.ToString("0.00000")
Label18.Text = yffir.ToString("0.00000")
Label19.Text = zffir.ToString("0.00000")
theta1 = Math.Atan2(x, Math.Sqrt((y * y) + (z * z)))
fi1 = Math.Atan2(y, z)
xk = xffir - kal1
yk = yffir - kal2
zk = zffir - kal3
xk1 = xf - kal1
yk1 = yf - kal2
zk1 = zf - kal3
'angles calculation
If n < 8 Then
theta = Math.Atan2(xk1, Math.Sqrt((yk1 * yk1) + (zk1 * zk1)))
fi = Math.Atan2(yk1, zk1)
Else
theta = Math.Atan2(xk, Math.Sqrt((yk * yk) + (zk * zk)))
fi = Math.Atan2(yk, zk)
End If
fis = -fi * 180 / Math.PI
thetas = theta * 180 / Math.PI
Label10.Text = fis.ToString("0.000") & Chr(176)
Label11.Text = thetas.ToString("0.000") & Chr(176)
PictureBox2.Invalidate()
End Sub
Private Sub Form1_FormClosing(ByVal sender As Object, ByVal e As System.Windows.Forms.FormClosingEventArgs) Handles Me.FormClosing
myTask.Dispose()
file.Close()
End Sub
Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load
Button2.Enabled = False
Button1.Enabled = True
Button3.Enabled = False
Label1.Visible = False
Label2.Visible = False
Label3.Visible = False
Label7.Visible = False
Label8.Visible = False
Label9.Visible = False
Label17.Visible = False
Label18.Visible = False
Label19.Visible = False
Label10.Visible = False
Label11.Visible = False
Label25.Visible = False
Label26.Visible = False
Label27.Visible = False
Label28.Visible = False
Label29.Visible = False
Label30.Visible = False
file = My.Computer.FileSystem.OpenTextFileWriter("~\text.txt", False)
file.WriteLine(" t x xf y yf z zf")
Label4.Text = "x"
Label5.Text = "y"
Label6.Text = "z"
A = 1 - Math.Exp(-0.5 / 1)
Try
myTask = New Task()
myTask.AIChannels.CreateVoltageChannel(dv & "/ai4", "", AITerminalConfiguration.Rse, 0, 5, AIVoltageUnits.Volts)
myTask.AIChannels.CreateVoltageChannel(dv & "/ai5", "", AITerminalConfiguration.Rse, 0, 5, AIVoltageUnits.Volts)
myTask.AIChannels.CreateVoltageChannel(dv & "/ai6", "", AITerminalConfiguration.Rse, 0, 5, AIVoltageUnits.Volts)
myTask.Control(TaskAction.Verify)
reader = New AnalogMultiChannelReader(myTask.Stream)
Catch ex As DaqException
MessageBox.Show(ex.Message)
End Try
End Sub
Private Sub PictureBox2_Paint(ByVal sender As Object, ByVal e As System.Windows.Forms.PaintEventArgs) Handles PictureBox2.Paint
Dim g As Graphics = e.Graphics
g.SmoothingMode = Drawing2D.SmoothingMode.HighQuality
g.ResetTransform()
'corners rounding graphics
Dim path As New Drawing2D.GraphicsPath()
Dim r As Single = 50
path.AddArc(0, 0, r, r, 180, 90)
path.AddArc(PictureBox2.Width - r, 0, r, r, 270, 90)
path.AddArc(PictureBox2.Width - r, PictureBox2.Height - r, r, r, 0, 90)
path.AddArc(0, PictureBox2.Height - r, r, r, 90, 90)
path.CloseFigure()
g.SetClip(path)
g.Clear(Color.DodgerBlue)
g.ResetTransform()
g.TranslateTransform(200, 180)
g.RotateTransform(fis)
g.TranslateTransform(0, thetas * 4.3)
g.FillRectangle(Brushes.Sienna, -300, 0, 600, 500)
g.ResetTransform()
Dim w2 As Single = PictureBox2.Width / 2.5
Dim w3 As Single = PictureBox2.Width / 1.8
Dim s As Single = PictureBox2.Width / 50
Dim www As Single = PictureBox2.Width / 38
g.TranslateTransform(PictureBox2.Width / 2, PictureBox2.Height / 2)
g.RotateTransform(0)
g.TranslateTransform(-w2 + s, 0)
g.DrawLine(New Pen(Color.White, 2), 0, 0, s * 2, 0)
g.TranslateTransform(+w2 - s, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 3, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
'g.DrawLine(New Pen(Color.Red, 2), -w2 + s, 0, -w2 + s * 3, 0)
path = New Drawing2D.GraphicsPath()
path.AddLine((-w3 / 2) - www * 3, 0, (-w3 / 2) - www * 4, www)
path.AddLine((-w3 / 2) - www * 4, -www, (-w3 / 2) - www * 4, www)
path.AddLine((-w3 / 2) - www * 4, -www, (-w3 / 2) - www * 3, 0)
g.FillRegion(Brushes.White, New Region(path))
g.DrawLine(New Pen(Color.White, 1), (-w3 / 2) - www * 3, 0, (-w3 / 2) - www * 4, www)
g.DrawLine(New Pen(Color.White, 1), (-w3 / 2) - www * 4, -www, (-w3 / 2) - www * 4, www)
g.DrawLine(New Pen(Color.White, 1), (-w3 / 2) - www * 4, -www, (-w3 / 2) - www * 3, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 3, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 2, 0)
g.RotateTransform(15)
g.DrawLine(New Pen(Color.White, 2), -w2 + s, 0, -w2 + s * 3, 0)
'silhouette
g.ResetTransform()
Dim length As Single = PictureBox2.Width / 4
Dim notch As Single = PictureBox2.Width / 30
g.TranslateTransform(PictureBox2.Width / 2, PictureBox2.Height / 2)
g.DrawLine(New Pen(Color.Yellow, 3), -length + notch * 2, 0, -notch, 0)
g.DrawLine(New Pen(Color.Yellow, 3), notch, 0, length - notch * 2, 0)
g.DrawArc(New Pen(Color.Yellow, 3), -notch, -notch, notch * 2, notch * 2, 180, -180)
'triangle
g.ResetTransform()
Dim ww As Single = PictureBox2.Width / 38
g.TranslateTransform(PictureBox2.Width / 2, PictureBox2.Height / 2)
g.RotateTransform(-90 + fis)
path = New Drawing2D.GraphicsPath()
path.AddLine(w2 - ww * 3, 0, w2 - ww * 4, ww)
path.AddLine(w2 - ww * 4, -ww, w2 - ww * 4, ww)
path.AddLine(w2 - ww * 4, -ww, w2 - ww * 3, 0)
g.FillRegion(Brushes.Yellow, New Region(path))
g.DrawLine(New Pen(Color.Yellow, 1), w2 - ww * 3, 0, w2 - ww * 4, ww)
g.DrawLine(New Pen(Color.Yellow, 1), w2 - ww * 4, -ww, w2 - ww * 4, ww)
g.DrawLine(New Pen(Color.Yellow, 1), w2 - ww * 4, -ww, w2 - ww * 3, 0)
g.ResetTransform()
g.ResetClip()
path = New Drawing2D.GraphicsPath()
path.AddPie(New Rectangle(ww * 3, ww * 3, PictureBox2.Width - ww * 6, PictureBox2.Height - ww * 6), 0, 360)
g.SetClip(path)
'vertical lines
g.TranslateTransform(PictureBox2.Width / 2, PictureBox2.Height / 2)
g.RotateTransform(fis)
g.TranslateTransform(0, thetas * 4.3)
For i As Integer = -80 To 80 Step 10
drawpitchline(g, i)
Next i
End Sub
Private Function pitch_to_pix(ByVal pitch As Double) As Integer
Return pitch / 40 * PictureBox2.Height / 2
End Function
Private Sub drawpitchline(ByVal g As Graphics, ByVal pitch As Double)
Dim w As Single = PictureBox2.Width / 10
g.DrawLine(Pens.White, -w, pitch_to_pix(-pitch + 5), w, pitch_to_pix(-pitch + 5))
g.DrawLine(Pens.White, -w * 5 / 3, pitch_to_pix(-pitch), w * 5 / 3, pitch_to_pix(-pitch))
g.DrawString(pitch, PictureBox2.Font, Brushes.White, -w * 75 / 30, pitch_to_pix(-pitch) - 5)
g.DrawString(pitch, PictureBox2.Font, Brushes.White, w * 2, pitch_to_pix(-pitch) - 5)
End Sub
Private Sub drawrollline(ByVal g As Graphics, ByVal a As Single)
Dim w2 As Single = PictureBox2.Width / 2
g.RotateTransform(a + 90)
g.TranslateTransform(-w2 + 10, 0)
g.DrawLine(Pens.White, 0, 0, 20, 0)
g.TranslateTransform(10, 5)
g.RotateTransform(-a - 90)
g.DrawString("" & (a) & "°", New System.Drawing.Font("sans-serif", 9), Brushes.White, 0, 0)
g.RotateTransform(+90 + a)
g.TranslateTransform(-10, -5)
g.TranslateTransform(+w2 - 10, 0)
g.RotateTransform(-a - 90)
End Sub
Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click
Dim start_t As DateTime = Now
Me.start_time = start_t
Button2.Enabled = True
Button1.Enabled = False
Button3.Enabled = True
Timer1.Start()
Timer1.Interval = 100
Label1.Visible = True
Label2.Visible = True
Label3.Visible = True
Label7.Visible = True
Label8.Visible = True
Label9.Visible = True
Label17.Visible = True
Label18.Visible = True
Label19.Visible = True
Label10.Visible = True
Label11.Visible = True
End Sub
Private Sub Button2_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button2.Click
Button1.Enabled = True
Button2.Enabled = False
Button3.Enabled = False
Timer1.Stop()
End Sub
Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.Click
Me.kk = 1
file1 = My.Computer.FileSystem.OpenTextFileWriter("~\kalibr.txt", False)
file1.WriteLine(" axis x " & " axis y " & " axis z " & vbCrLf)
Label25.Visible = True
Label26.Visible = True
Label27.Visible = True
Label28.Visible = True
Label29.Visible = True
Label30.Visible = True
'calibration
Dim dane_kalibracji()() As Double = New Double(60)() {}
For i As Integer = 0 To 5
MessageBox.Show("Sensor position " + (i + 1).ToString)
For j As Integer = 0 To 9
Dim data() As Double = reader.ReadSingleSample()
dane_kalibracji(i * 10 + j) = data
file1.WriteLine(data(0).ToString("0.0000000") & " " & data(1).ToString("0.0000000") & " " & data(2).ToString("0.0000000"))
System.Threading.Thread.Sleep(50)
Next
file1.WriteLine(" ")
Next
file1.Close()
Label25.Visible = False
Label26.Visible = False
Label27.Visible = False
Label28.Visible = False
Label29.Visible = False
Label30.Visible = False
'sorting
Dim p As Double
For i As Integer = 0 To 2
For j As Integer = 0 To 59
For k As Integer = 0 To 59
If dane_kalibracji(j)(i) > dane_kalibracji(k)(i) Then
p = dane_kalibracji(j)(i)
dane_kalibracji(j)(i) = dane_kalibracji(k)(i)
dane_kalibracji(k)(i) = p
End If
Next
Next
Next
'10 mix/min values
Dim max_x() As Double = New Double(10) {}
Dim max_y() As Double = New Double(10) {}
Dim max_z() As Double = New Double(10) {}
Dim min_x() As Double = New Double(10) {}
Dim min_y() As Double = New Double(10) {}
Dim min_z() As Double = New Double(10) {}
For i As Integer = 0 To 9
max_x(i) = dane_kalibracji(i)(0)
max_y(i) = dane_kalibracji(i)(1)
max_z(i) = dane_kalibracji(i)(2)
min_x(i) = dane_kalibracji(59 - i)(0)
min_y(i) = dane_kalibracji(59 - i)(1)
min_z(i) = dane_kalibracji(59 - i)(2)
Next
'average from 10 max/min values
Dim suma_max_x As Double = 0
Dim suma_max_y As Double = 0
Dim suma_max_z As Double = 0
Dim suma_min_x As Double = 0
Dim suma_min_y As Double = 0
Dim suma_min_z As Double = 0
For i As Integer = 0 To 9
suma_max_x += max_x(i)
suma_max_y += max_y(i)
suma_max_z += max_z(i)
suma_min_x += min_x(i)
suma_min_y += min_y(i)
suma_min_z += min_z(i)
Next
Dim max_x_sr As Double = suma_max_x / 10
Dim max_y_sr As Double = suma_max_y / 10
Dim max_z_sr As Double = suma_max_z / 10
Dim min_x_sr As Double = suma_min_x / 10
Dim min_y_sr As Double = suma_min_y / 10
Dim min_z_sr As Double = suma_min_z / 10
Me.kal1 = (max_x_sr + min_x_sr) / 2
Me.kal2 = (max_y_sr + min_y_sr) / 2
Me.kal3 = (max_z_sr + min_z_sr) / 2
End Sub
End Class