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mainForm.cpp
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mainForm.cpp
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// ---------------------- Doxygen info ----------------------
//! \file mainForm.cpp
//!
//! \brief
//! Implementation file for the graphical user interface (GUI)
//!
//! \details
//! Implementation file for all definitions related to the graphical user interface,
//! initialization, and events method.
//!
//! \date July 2017
//!
//! \version 0.1
//!
//! \author Mahyar Abdeetedal, <mahyar.etedal@icloud.com> \n
//!
//! \copyright Copyright (C) 2016 - 2017 Mahyar Abdeetedal
//! \n
//! \n
//! <b>GNU General Public License</b>
//! \n
//! \n
//! This file is part of the KUKA-UI.
//! \n\n
//! The KUKA-UI is free software: you can redistribute it and/or modify it
//! under the terms of the GNU General Public License as published
//! by the Free Software Foundation, either version 3 of the License,
//! or (at your option) any later version.
//! \n\n
//! The KUKA-UI is distributed in the hope that it will be useful,
//! but WITHOUT ANY WARRANTY; without even the implied warranty of
//! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See
//! the GNU General Public License for more details.
//! \n\n
//! You should have received a copy of the GNU General Public License
//! along with the KUKA-UI. If not, see
//! <http://www.gnu.org/licenses/>.
/* For more info and how to use this software, visit: http://www.etedal.net/p/kuka.html */
#pragma once
#include <string>
#include <defs.h>
#include "stdafx.h"
#include <FRIRemote.h>
#include <FRIUdp.cpp>
#include <FRIRemote.cpp>
#include <ReflexxesAPI.h>
#include <RMLPositionFlags.h>
#include <RMLPositionInputParameters.h>
#include <RMLPositionOutputParameters.h>
#include <NIDAQmx.h>
#include <functionsNi.h>
#include <phidget21.h>
#include <functionsPhidgets.h>
#include <functionsAti.h>
#include <functionsSimulink.h>
#include <functions.h>
namespace GuiCartTrajGrp {
tFriMsrData msr;
tFriCmdData cmd;
friRemote friInst;
TaskHandle tsk = 0;
niVec recVec, command;
CPhidgetBridgeHandle bridge;
phidgetsVec phiVec;
atiVec atiVector;
int comPort = 3;
float NiPID[PID_PARAM];
float calMatrix[CALMAT];
float calibratedPhidgets[LOADCELLS];
float ee[CART_COMP], eeRot[FRI_CART_FRM_DIM], toolRot[FRI_CART_FRM_DIM];
bool trajFlag = false, phidgetsFlag = false;
char kukaWriteCommand[80];
float trg[CART_COMP], tool[CART_COMP], speed, stiff[CART_COMP], simulinkTrg[LBR_MNJ];
unsigned int i = 0, j = 0, poseNum = 0;
unsigned char cyclecounter = 3;
using namespace std;
using namespace System;
using namespace System::ComponentModel;
using namespace System::Collections;
using namespace System::Windows::Forms;
using namespace System::Data;
using namespace System::Drawing;
using namespace System::Runtime::InteropServices;
/// <summary>
/// Summary for mainForm
///
/// WARNING: If you change the name of this class, you will need to change the
/// 'Resource File Name' property for the managed resource compiler tool
/// associated with all .resx files this class depends on. Otherwise,
/// the designers will not be able to interact properly with localized
/// resources associated with this form.
/// </summary>
public ref class mainForm : public System::Windows::Forms::Form
{
protected:
private: System::ComponentModel::BackgroundWorker^ FRIThread;
private: System::Windows::Forms::Button^ startStop;
private: System::Windows::Forms::Label^ Quality;
private: System::Windows::Forms::Label^ Motor;
private: System::Windows::Forms::Label^ FRIState;
private: System::Windows::Forms::GroupBox^ groupBox1;
private: System::Windows::Forms::TextBox^ testBoxStatistics;
private: System::Windows::Forms::Label^ FRICtrlModeLabel;
private: System::Windows::Forms::ProgressBar^ FRI_Life;
private: System::Windows::Forms::SaveFileDialog^ saveLogFile;
private: System::Windows::Forms::Button^ btnLogging;
private: System::Windows::Forms::TextBox^ txtAdr;
private: System::Windows::Forms::Button^ btnLog;
private: System::Windows::Forms::GroupBox^ groupBox3;
private: System::Windows::Forms::Label^ lblTrackC;
private: System::Windows::Forms::Label^ lblTrackB;
private: System::Windows::Forms::Label^ lblTrackA;
private: System::Windows::Forms::Label^ lblTrackZ;
private: System::Windows::Forms::Label^ lblTrackY;
private: System::Windows::Forms::Label^ lblTrackX;
private: System::Windows::Forms::DataGridView^ msrCartPosDataView;
private: System::Windows::Forms::Button^ btnGo;
private: System::Windows::Forms::Label^ lblX;
private: System::Windows::Forms::Label^ lblY;
private: System::Windows::Forms::Label^ lblZ;
private: System::Windows::Forms::Label^ lblA;
private: System::Windows::Forms::Label^ lblB;
private: System::Windows::Forms::Label^ lblC;
private: System::Windows::Forms::Label^ lblSpeed;
private: System::Windows::Forms::TrackBar^ trackBarSpeed;
private: System::Windows::Forms::Button^ btnAdd;
private: System::Windows::Forms::Button^ btnSub;
private: System::Windows::Forms::Button^ btnSave;
private: System::Windows::Forms::Button^ btnAbout;
private: System::Windows::Forms::GroupBox^ groupBox2;
private: System::Windows::Forms::Label^ lblToolCMon;
private: System::Windows::Forms::Label^ lblToolCm;
private: System::Windows::Forms::Label^ lblToolBMon;
private: System::Windows::Forms::Label^ lblToolBm;
private: System::Windows::Forms::Label^ lblToolAMon;
private: System::Windows::Forms::Label^ lblToolAm;
private: System::Windows::Forms::Label^ lblToolZMon;
private: System::Windows::Forms::Label^ lblToolZm;
private: System::Windows::Forms::Label^ lblToolYMon;
private: System::Windows::Forms::Label^ lblToolYm;
private: System::Windows::Forms::Label^ lblToolXMon;
private: System::Windows::Forms::Label^ lblToolXm;
private: System::Windows::Forms::Button^ btnSaveTool;
private: System::Windows::Forms::DataGridView^ toolDataView;
private: System::Windows::Forms::Button^ btnRst;
private: System::Windows::Forms::Button^ btnStartStopNi;
private: System::Windows::Forms::Button^ btnOpenGripper;
private: System::Windows::Forms::Button^ btnCloseGripper;
private: System::Windows::Forms::Label^ lblPosition;
private: System::ComponentModel::BackgroundWorker^ FRILogging;
private: System::Windows::Forms::Button^ btnStartStopPhidgets;
private: System::ComponentModel::BackgroundWorker^ phidgets;
private: System::ComponentModel::BackgroundWorker^ atiSensor;
private: System::ComponentModel::BackgroundWorker^ simulink;
private: System::Windows::Forms::GroupBox^ grpNi;
private: System::Windows::Forms::Label^ lblPositionLabel;
private: System::Windows::Forms::GroupBox^ grpFri;
private: System::Windows::Forms::GroupBox^ grpLoadCells;
private: System::Windows::Forms::Label^ lblCh3;
private: System::Windows::Forms::Label^ lblCh3Label;
private: System::Windows::Forms::Label^ lblCh2;
private: System::Windows::Forms::Label^ lblCh2Label;
private: System::Windows::Forms::Label^ lblCh1;
protected: System::Windows::Forms::Label^ lblCh1Label;
private:
private: System::Windows::Forms::Label^ lblCh0;
protected:
private: System::Windows::Forms::Label^ lblCh0Label;
private: System::Windows::Forms::Label^ lblFreq;
private: System::Windows::Forms::Label^ lblFreqLabel;
private: System::Windows::Forms::Label^ lblFreqNi;
private: System::Windows::Forms::Label^ lblFreqNiLabel;
private: System::Windows::Forms::Button^ btnSaveClibration;
private: System::Windows::Forms::DataGridView^ calDataView;
private: System::Windows::Forms::GroupBox^ grpATI;
private: System::Windows::Forms::Label^ lblTz;
private: System::Windows::Forms::Label^ lblTy;
private: System::Windows::Forms::Label^ lblTx;
private: System::Windows::Forms::Label^ lblLabelTz;
private: System::Windows::Forms::Label^ lblLabelTy;
private: System::Windows::Forms::Label^ lblLabelTx;
private: System::Windows::Forms::Label^ lblFreqATI;
private: System::Windows::Forms::Label^ lblFreqATIlabel;
private: System::Windows::Forms::Label^ lblFz;
private: System::Windows::Forms::Label^ lblFy;
private: System::Windows::Forms::Label^ lblFx;
private: System::Windows::Forms::Label^ lblLabelFz;
private: System::Windows::Forms::Label^ lblLabelFy;
private: System::Windows::Forms::Label^ lblLabelFx;
private: System::Windows::Forms::Button^ btnStartATI;
private: System::Windows::Forms::TextBox^ txtCom;
private: System::Windows::Forms::Label^ lblComLabel;
private: System::Windows::Forms::Button^ btnBias;
private: System::Windows::Forms::TextBox^ txtMaxForce;
private: System::Windows::Forms::Label^ lblMaxForceLabel;
private: System::Windows::Forms::TextBox^ txtMaxPos;
private: System::Windows::Forms::Label^ lblMaxPosLabel;
private: System::Windows::Forms::Button^ btnPose;
private: System::Windows::Forms::OpenFileDialog^ openPoseFile;
private: System::Windows::Forms::CheckBox^ chkManual;
private: System::Windows::Forms::Label^ lblCurrentLabel;
private: System::Windows::Forms::TrackBar^ trackBarCurrent;
private: System::Windows::Forms::GroupBox^ grpLog;
private: System::Windows::Forms::GroupBox^ grpSimulink;
private: System::Windows::Forms::Button^ btnSimulinkStart;
private: System::Windows::Forms::Button^ btnPIDSave;
private: System::Windows::Forms::DataGridView^ PIDDataView;
private: System::Windows::Forms::CheckBox^ chkLoop;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ msrCartPosDataViewX;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ msrCartPosDataViewY;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ msrCartPosDataViewZ;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ msrCartPosDataViewA;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ msrCartPosDataViewB;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ msrCartPosDataViewC;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ msrCartPosDataViewOpenClose;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ toolDataViewX;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ toolDataViewY;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ toolDataViewZ;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ toolDataViewA;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ toolDataViewB;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ toolDataViewC;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ calDataViewLoadCell0;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ calDataViewLoadCell1;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ calDataViewLoadCell2;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ calDataViewLoadCell3;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ calDataViewSerialNumber;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ PIDDataViewLoadCell;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ PIDDataViewKp;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ PIDDataViewKd;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ PIDDataViewKi;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ PIDDataViewQ;
private: System::Windows::Forms::DataGridViewTextBoxColumn^ PIDDataViewLoadCellErrorTolerance;
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)
{
this->FRIThread = (gcnew System::ComponentModel::BackgroundWorker());
this->startStop = (gcnew System::Windows::Forms::Button());
this->Quality = (gcnew System::Windows::Forms::Label());
this->Motor = (gcnew System::Windows::Forms::Label());
this->FRIState = (gcnew System::Windows::Forms::Label());
this->groupBox1 = (gcnew System::Windows::Forms::GroupBox());
this->FRICtrlModeLabel = (gcnew System::Windows::Forms::Label());
this->testBoxStatistics = (gcnew System::Windows::Forms::TextBox());
this->FRI_Life = (gcnew System::Windows::Forms::ProgressBar());
this->saveLogFile = (gcnew System::Windows::Forms::SaveFileDialog());
this->FRILogging = (gcnew System::ComponentModel::BackgroundWorker());
this->ni = (gcnew System::ComponentModel::BackgroundWorker());
this->phidgets = (gcnew System::ComponentModel::BackgroundWorker());
this->atiSensor = (gcnew System::ComponentModel::BackgroundWorker());
this->simulink = (gcnew System::ComponentModel::BackgroundWorker());
this->btnLogging = (gcnew System::Windows::Forms::Button());
this->txtAdr = (gcnew System::Windows::Forms::TextBox());
this->btnLog = (gcnew System::Windows::Forms::Button());
this->groupBox3 = (gcnew System::Windows::Forms::GroupBox());
this->lblC = (gcnew System::Windows::Forms::Label());
this->lblB = (gcnew System::Windows::Forms::Label());
this->lblA = (gcnew System::Windows::Forms::Label());
this->lblZ = (gcnew System::Windows::Forms::Label());
this->lblTrackC = (gcnew System::Windows::Forms::Label());
this->lblTrackZ = (gcnew System::Windows::Forms::Label());
this->lblY = (gcnew System::Windows::Forms::Label());
this->lblTrackY = (gcnew System::Windows::Forms::Label());
this->lblTrackB = (gcnew System::Windows::Forms::Label());
this->lblX = (gcnew System::Windows::Forms::Label());
this->lblTrackX = (gcnew System::Windows::Forms::Label());
this->lblTrackA = (gcnew System::Windows::Forms::Label());
this->msrCartPosDataView = (gcnew System::Windows::Forms::DataGridView());
this->msrCartPosDataViewX = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->msrCartPosDataViewY = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->msrCartPosDataViewZ = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->msrCartPosDataViewA = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->msrCartPosDataViewB = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->msrCartPosDataViewC = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->msrCartPosDataViewOpenClose = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->btnGo = (gcnew System::Windows::Forms::Button());
this->lblSpeed = (gcnew System::Windows::Forms::Label());
this->trackBarSpeed = (gcnew System::Windows::Forms::TrackBar());
this->btnAdd = (gcnew System::Windows::Forms::Button());
this->btnSub = (gcnew System::Windows::Forms::Button());
this->btnSave = (gcnew System::Windows::Forms::Button());
this->btnAbout = (gcnew System::Windows::Forms::Button());
this->groupBox2 = (gcnew System::Windows::Forms::GroupBox());
this->lblToolCMon = (gcnew System::Windows::Forms::Label());
this->lblToolCm = (gcnew System::Windows::Forms::Label());
this->lblToolBMon = (gcnew System::Windows::Forms::Label());
this->lblToolBm = (gcnew System::Windows::Forms::Label());
this->lblToolAMon = (gcnew System::Windows::Forms::Label());
this->lblToolAm = (gcnew System::Windows::Forms::Label());
this->lblToolZMon = (gcnew System::Windows::Forms::Label());
this->lblToolZm = (gcnew System::Windows::Forms::Label());
this->lblToolYMon = (gcnew System::Windows::Forms::Label());
this->lblToolYm = (gcnew System::Windows::Forms::Label());
this->lblToolXMon = (gcnew System::Windows::Forms::Label());
this->lblToolXm = (gcnew System::Windows::Forms::Label());
this->btnSaveTool = (gcnew System::Windows::Forms::Button());
this->toolDataView = (gcnew System::Windows::Forms::DataGridView());
this->toolDataViewX = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->toolDataViewY = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->toolDataViewZ = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->toolDataViewA = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->toolDataViewB = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->toolDataViewC = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->btnRst = (gcnew System::Windows::Forms::Button());
this->btnStartStopNi = (gcnew System::Windows::Forms::Button());
this->btnOpenGripper = (gcnew System::Windows::Forms::Button());
this->btnCloseGripper = (gcnew System::Windows::Forms::Button());
this->lblPosition = (gcnew System::Windows::Forms::Label());
this->btnStartStopPhidgets = (gcnew System::Windows::Forms::Button());
this->grpNi = (gcnew System::Windows::Forms::GroupBox());
this->PIDDataView = (gcnew System::Windows::Forms::DataGridView());
this->btnPIDSave = (gcnew System::Windows::Forms::Button());
this->lblCurrentLabel = (gcnew System::Windows::Forms::Label());
this->chkManual = (gcnew System::Windows::Forms::CheckBox());
this->trackBarCurrent = (gcnew System::Windows::Forms::TrackBar());
this->txtMaxPos = (gcnew System::Windows::Forms::TextBox());
this->lblMaxPosLabel = (gcnew System::Windows::Forms::Label());
this->txtMaxForce = (gcnew System::Windows::Forms::TextBox());
this->lblMaxForceLabel = (gcnew System::Windows::Forms::Label());
this->lblFreqNi = (gcnew System::Windows::Forms::Label());
this->lblFreqNiLabel = (gcnew System::Windows::Forms::Label());
this->lblPositionLabel = (gcnew System::Windows::Forms::Label());
this->grpFri = (gcnew System::Windows::Forms::GroupBox());
this->chkLoop = (gcnew System::Windows::Forms::CheckBox());
this->btnPose = (gcnew System::Windows::Forms::Button());
this->grpLoadCells = (gcnew System::Windows::Forms::GroupBox());
this->btnSaveClibration = (gcnew System::Windows::Forms::Button());
this->calDataView = (gcnew System::Windows::Forms::DataGridView());
this->calDataViewLoadCell0 = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->calDataViewLoadCell1 = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->calDataViewLoadCell2 = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->calDataViewLoadCell3 = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->calDataViewSerialNumber = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->lblFreq = (gcnew System::Windows::Forms::Label());
this->lblFreqLabel = (gcnew System::Windows::Forms::Label());
this->lblCh3 = (gcnew System::Windows::Forms::Label());
this->lblCh3Label = (gcnew System::Windows::Forms::Label());
this->lblCh2 = (gcnew System::Windows::Forms::Label());
this->lblCh2Label = (gcnew System::Windows::Forms::Label());
this->lblCh1 = (gcnew System::Windows::Forms::Label());
this->lblCh1Label = (gcnew System::Windows::Forms::Label());
this->lblCh0 = (gcnew System::Windows::Forms::Label());
this->lblCh0Label = (gcnew System::Windows::Forms::Label());
this->grpATI = (gcnew System::Windows::Forms::GroupBox());
this->btnBias = (gcnew System::Windows::Forms::Button());
this->txtCom = (gcnew System::Windows::Forms::TextBox());
this->lblComLabel = (gcnew System::Windows::Forms::Label());
this->lblTz = (gcnew System::Windows::Forms::Label());
this->lblTy = (gcnew System::Windows::Forms::Label());
this->lblTx = (gcnew System::Windows::Forms::Label());
this->lblLabelTz = (gcnew System::Windows::Forms::Label());
this->lblLabelTy = (gcnew System::Windows::Forms::Label());
this->lblLabelTx = (gcnew System::Windows::Forms::Label());
this->lblFreqATI = (gcnew System::Windows::Forms::Label());
this->lblFreqATIlabel = (gcnew System::Windows::Forms::Label());
this->lblFz = (gcnew System::Windows::Forms::Label());
this->lblFy = (gcnew System::Windows::Forms::Label());
this->lblFx = (gcnew System::Windows::Forms::Label());
this->lblLabelFz = (gcnew System::Windows::Forms::Label());
this->lblLabelFy = (gcnew System::Windows::Forms::Label());
this->lblLabelFx = (gcnew System::Windows::Forms::Label());
this->btnStartATI = (gcnew System::Windows::Forms::Button());
this->openPoseFile = (gcnew System::Windows::Forms::OpenFileDialog());
this->grpLog = (gcnew System::Windows::Forms::GroupBox());
this->grpSimulink = (gcnew System::Windows::Forms::GroupBox());
this->btnSimulinkStart = (gcnew System::Windows::Forms::Button());
this->PIDDataViewLoadCell = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->PIDDataViewKp = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->PIDDataViewKd = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->PIDDataViewKi = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->PIDDataViewQ = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->PIDDataViewLoadCellErrorTolerance = (gcnew System::Windows::Forms::DataGridViewTextBoxColumn());
this->groupBox1->SuspendLayout();
this->groupBox3->SuspendLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->msrCartPosDataView))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->trackBarSpeed))->BeginInit();
this->groupBox2->SuspendLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->toolDataView))->BeginInit();
this->grpNi->SuspendLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->PIDDataView))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->trackBarCurrent))->BeginInit();
this->grpFri->SuspendLayout();
this->grpLoadCells->SuspendLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->calDataView))->BeginInit();
this->grpATI->SuspendLayout();
this->grpLog->SuspendLayout();
this->grpSimulink->SuspendLayout();
this->SuspendLayout();
//
// FRIThread
//
this->FRIThread->WorkerReportsProgress = true;
this->FRIThread->WorkerSupportsCancellation = true;
this->FRIThread->DoWork += gcnew System::ComponentModel::DoWorkEventHandler(this, &mainForm::FRIThread_DoWork);
this->FRIThread->ProgressChanged += gcnew System::ComponentModel::ProgressChangedEventHandler(this, &mainForm::FRIThread_ProgressChanged);
//
// startStop
//
this->startStop->Location = System::Drawing::Point(4, 17);
this->startStop->Margin = System::Windows::Forms::Padding(2);
this->startStop->Name = L"startStop";
this->startStop->Size = System::Drawing::Size(76, 26);
this->startStop->TabIndex = 1;
this->startStop->Text = L"startStopFRI";
this->startStop->UseVisualStyleBackColor = true;
this->startStop->Click += gcnew System::EventHandler(this, &mainForm::button1_Click);
//
// Quality
//
this->Quality->AutoSize = true;
this->Quality->Location = System::Drawing::Point(11, 13);
this->Quality->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
this->Quality->Name = L"Quality";
this->Quality->Size = System::Drawing::Size(39, 13);
this->Quality->TabIndex = 3;
this->Quality->Text = L"Quality";
//
// Motor
//
this->Motor->AutoSize = true;
this->Motor->Location = System::Drawing::Point(69, 13);
this->Motor->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
this->Motor->Name = L"Motor";
this->Motor->Size = System::Drawing::Size(34, 13);
this->Motor->TabIndex = 4;
this->Motor->Text = L"Motor";
//
// FRIState
//
this->FRIState->AutoSize = true;
this->FRIState->Location = System::Drawing::Point(122, 13);
this->FRIState->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
this->FRIState->Name = L"FRIState";
this->FRIState->Size = System::Drawing::Size(49, 13);
this->FRIState->TabIndex = 5;
this->FRIState->Text = L"FRIState";
//
// groupBox1
//
this->groupBox1->Controls->Add(this->FRICtrlModeLabel);
this->groupBox1->Controls->Add(this->Quality);
this->groupBox1->Controls->Add(this->Motor);
this->groupBox1->Controls->Add(this->FRIState);
this->groupBox1->Location = System::Drawing::Point(90, 12);
this->groupBox1->Margin = System::Windows::Forms::Padding(2);
this->groupBox1->Name = L"groupBox1";
this->groupBox1->Padding = System::Windows::Forms::Padding(2);
this->groupBox1->Size = System::Drawing::Size(260, 31);
this->groupBox1->TabIndex = 7;
this->groupBox1->TabStop = false;
this->groupBox1->Text = L"status";
//
// FRICtrlModeLabel
//
this->FRICtrlModeLabel->AutoSize = true;
this->FRICtrlModeLabel->Location = System::Drawing::Point(176, 13);
this->FRICtrlModeLabel->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
this->FRICtrlModeLabel->Name = L"FRICtrlModeLabel";
this->FRICtrlModeLabel->Size = System::Drawing::Size(79, 13);
this->FRICtrlModeLabel->TabIndex = 6;
this->FRICtrlModeLabel->Text = L"FRICTRLMode";
//
// testBoxStatistics
//
this->testBoxStatistics->Location = System::Drawing::Point(390, 12);
this->testBoxStatistics->Margin = System::Windows::Forms::Padding(2);
this->testBoxStatistics->Multiline = true;
this->testBoxStatistics->Name = L"testBoxStatistics";
this->testBoxStatistics->ScrollBars = System::Windows::Forms::ScrollBars::Both;
this->testBoxStatistics->Size = System::Drawing::Size(373, 192);
this->testBoxStatistics->TabIndex = 8;
//
// FRI_Life
//
this->FRI_Life->Location = System::Drawing::Point(4, 47);
this->FRI_Life->Margin = System::Windows::Forms::Padding(2);
this->FRI_Life->Name = L"FRI_Life";
this->FRI_Life->Size = System::Drawing::Size(76, 15);
this->FRI_Life->TabIndex = 19;
//
// FRILogging
//
this->FRILogging->WorkerReportsProgress = true;
this->FRILogging->WorkerSupportsCancellation = true;
this->FRILogging->DoWork += gcnew System::ComponentModel::DoWorkEventHandler(this, &mainForm::FRILogging_DoWork);
//
// ni
//
this->ni->WorkerReportsProgress = true;
this->ni->WorkerSupportsCancellation = true;
this->ni->DoWork += gcnew System::ComponentModel::DoWorkEventHandler(this, &mainForm::ni_DoWork);
this->ni->ProgressChanged += gcnew System::ComponentModel::ProgressChangedEventHandler(this, &mainForm::ni_ProgressChanged);
//
// phidgets
//
this->phidgets->WorkerReportsProgress = true;
this->phidgets->WorkerSupportsCancellation = true;
this->phidgets->DoWork += gcnew System::ComponentModel::DoWorkEventHandler(this, &mainForm::phidgets_DoWork);
this->phidgets->ProgressChanged += gcnew System::ComponentModel::ProgressChangedEventHandler(this, &mainForm::phidgets_ProgressChanged);
//
// atiSensor
//
this->atiSensor->WorkerReportsProgress = true;
this->atiSensor->WorkerSupportsCancellation = true;
this->atiSensor->DoWork += gcnew System::ComponentModel::DoWorkEventHandler(this, &mainForm::atiSensor_DoWork);
this->atiSensor->ProgressChanged += gcnew System::ComponentModel::ProgressChangedEventHandler(this, &mainForm::atiSensor_ProgressChanged);
//
// simulink
//
this->simulink->WorkerReportsProgress = true;
this->simulink->WorkerSupportsCancellation = true;
this->simulink->DoWork += gcnew System::ComponentModel::DoWorkEventHandler(this, &mainForm::simulink_DoWork);
this->simulink->ProgressChanged += gcnew System::ComponentModel::ProgressChangedEventHandler(this, &mainForm::simulink_ProgressChanged);
//
// btnLogging
//
this->btnLogging->Location = System::Drawing::Point(191, 48);
this->btnLogging->Name = L"btnLogging";
this->btnLogging->Size = System::Drawing::Size(99, 27);
this->btnLogging->TabIndex = 31;
this->btnLogging->Text = L"Start Logging";
this->btnLogging->UseVisualStyleBackColor = true;
this->btnLogging->Click += gcnew System::EventHandler(this, &mainForm::btnLogging_Click);
//
// txtAdr
//
this->txtAdr->Location = System::Drawing::Point(6, 19);
this->txtAdr->Name = L"txtAdr";
this->txtAdr->Size = System::Drawing::Size(179, 20);
this->txtAdr->TabIndex = 30;
this->txtAdr->Text = L"log.txt";
//
// btnLog
//
this->btnLog->Location = System::Drawing::Point(191, 15);
this->btnLog->Name = L"btnLog";
this->btnLog->Size = System::Drawing::Size(99, 27);
this->btnLog->TabIndex = 29;
this->btnLog->Text = L"Change Path";
this->btnLog->UseVisualStyleBackColor = true;
this->btnLog->Click += gcnew System::EventHandler(this, &mainForm::btnLog_Click);
//
// groupBox3
//
this->groupBox3->Controls->Add(this->lblC);
this->groupBox3->Controls->Add(this->lblB);
this->groupBox3->Controls->Add(this->lblA);
this->groupBox3->Controls->Add(this->lblZ);
this->groupBox3->Controls->Add(this->lblTrackC);
this->groupBox3->Controls->Add(this->lblTrackZ);
this->groupBox3->Controls->Add(this->lblY);
this->groupBox3->Controls->Add(this->lblTrackY);
this->groupBox3->Controls->Add(this->lblTrackB);
this->groupBox3->Controls->Add(this->lblX);
this->groupBox3->Controls->Add(this->lblTrackX);
this->groupBox3->Controls->Add(this->lblTrackA);
this->groupBox3->Location = System::Drawing::Point(4, 67);
this->groupBox3->Margin = System::Windows::Forms::Padding(2);
this->groupBox3->Name = L"groupBox3";
this->groupBox3->Padding = System::Windows::Forms::Padding(2);
this->groupBox3->Size = System::Drawing::Size(189, 102);
this->groupBox3->TabIndex = 28;
this->groupBox3->TabStop = false;
this->groupBox3->Text = L"CartPose";
//
// lblC
//
this->lblC->AutoSize = true;
this->lblC->Location = System::Drawing::Point(78, 80);
this->lblC->Name = L"lblC";
this->lblC->Size = System::Drawing::Size(0, 13);
this->lblC->TabIndex = 43;
//
// lblB
//
this->lblB->AutoSize = true;
this->lblB->Location = System::Drawing::Point(78, 67);
this->lblB->Name = L"lblB";
this->lblB->Size = System::Drawing::Size(0, 13);
this->lblB->TabIndex = 42;
//
// lblA
//
this->lblA->AutoSize = true;
this->lblA->Location = System::Drawing::Point(78, 54);
this->lblA->Name = L"lblA";
this->lblA->Size = System::Drawing::Size(0, 13);
this->lblA->TabIndex = 41;
//
// lblZ
//
this->lblZ->AutoSize = true;
this->lblZ->Location = System::Drawing::Point(78, 41);
this->lblZ->Name = L"lblZ";
this->lblZ->Size = System::Drawing::Size(0, 13);
this->lblZ->TabIndex = 40;
//
// lblTrackC
//
this->lblTrackC->AutoSize = true;
this->lblTrackC->Location = System::Drawing::Point(5, 80);
this->lblTrackC->Name = L"lblTrackC";
this->lblTrackC->Size = System::Drawing::Size(41, 13);
this->lblTrackC->TabIndex = 26;
this->lblTrackC->Text = L"C (deg)";
//
// lblTrackZ
//
this->lblTrackZ->AutoSize = true;
this->lblTrackZ->Location = System::Drawing::Point(5, 41);
this->lblTrackZ->Name = L"lblTrackZ";
this->lblTrackZ->Size = System::Drawing::Size(39, 13);
this->lblTrackZ->TabIndex = 23;
this->lblTrackZ->Text = L"Z (mm)";
//
// lblY
//
this->lblY->AutoSize = true;
this->lblY->Location = System::Drawing::Point(78, 28);
this->lblY->Name = L"lblY";
this->lblY->Size = System::Drawing::Size(0, 13);
this->lblY->TabIndex = 39;
//
// lblTrackY
//
this->lblTrackY->AutoSize = true;
this->lblTrackY->Location = System::Drawing::Point(5, 28);
this->lblTrackY->Name = L"lblTrackY";
this->lblTrackY->Size = System::Drawing::Size(39, 13);
this->lblTrackY->TabIndex = 22;
this->lblTrackY->Text = L"Y (mm)";
//
// lblTrackB
//
this->lblTrackB->AutoSize = true;
this->lblTrackB->Location = System::Drawing::Point(5, 67);
this->lblTrackB->Name = L"lblTrackB";
this->lblTrackB->Size = System::Drawing::Size(41, 13);
this->lblTrackB->TabIndex = 25;
this->lblTrackB->Text = L"B (deg)";
//
// lblX
//
this->lblX->AutoSize = true;
this->lblX->Location = System::Drawing::Point(78, 15);
this->lblX->Name = L"lblX";
this->lblX->Size = System::Drawing::Size(0, 13);
this->lblX->TabIndex = 38;
//
// lblTrackX
//
this->lblTrackX->AutoSize = true;
this->lblTrackX->Location = System::Drawing::Point(5, 15);
this->lblTrackX->Name = L"lblTrackX";
this->lblTrackX->Size = System::Drawing::Size(39, 13);
this->lblTrackX->TabIndex = 21;
this->lblTrackX->Text = L"X (mm)";
//
// lblTrackA
//
this->lblTrackA->AutoSize = true;
this->lblTrackA->Location = System::Drawing::Point(5, 54);
this->lblTrackA->Name = L"lblTrackA";
this->lblTrackA->Size = System::Drawing::Size(41, 13);
this->lblTrackA->TabIndex = 24;
this->lblTrackA->Text = L"A (deg)";
//
// msrCartPosDataView
//
this->msrCartPosDataView->AllowUserToAddRows = false;
this->msrCartPosDataView->AllowUserToDeleteRows = false;
this->msrCartPosDataView->AllowUserToResizeColumns = false;
this->msrCartPosDataView->AllowUserToResizeRows = false;
this->msrCartPosDataView->AutoSizeColumnsMode = System::Windows::Forms::DataGridViewAutoSizeColumnsMode::Fill;
this->msrCartPosDataView->AutoSizeRowsMode = System::Windows::Forms::DataGridViewAutoSizeRowsMode::AllCells;
this->msrCartPosDataView->BackgroundColor = System::Drawing::SystemColors::ButtonFace;
this->msrCartPosDataView->BorderStyle = System::Windows::Forms::BorderStyle::None;
this->msrCartPosDataView->ColumnHeadersHeightSizeMode = System::Windows::Forms::DataGridViewColumnHeadersHeightSizeMode::DisableResizing;
this->msrCartPosDataView->Columns->AddRange(gcnew cli::array< System::Windows::Forms::DataGridViewColumn^ >(7) {
this->msrCartPosDataViewX,
this->msrCartPosDataViewY, this->msrCartPosDataViewZ, this->msrCartPosDataViewA, this->msrCartPosDataViewB, this->msrCartPosDataViewC,
this->msrCartPosDataViewOpenClose
});
this->msrCartPosDataView->Location = System::Drawing::Point(4, 282);
this->msrCartPosDataView->Margin = System::Windows::Forms::Padding(2);
this->msrCartPosDataView->Name = L"msrCartPosDataView";
this->msrCartPosDataView->RowHeadersWidthSizeMode = System::Windows::Forms::DataGridViewRowHeadersWidthSizeMode::DisableResizing;
this->msrCartPosDataView->RowTemplate->Height = 28;
this->msrCartPosDataView->Size = System::Drawing::Size(759, 114);
this->msrCartPosDataView->TabIndex = 27;
//
// msrCartPosDataViewX
//
this->msrCartPosDataViewX->HeaderText = L"X (mm)";
this->msrCartPosDataViewX->Name = L"msrCartPosDataViewX";
this->msrCartPosDataViewX->SortMode = System::Windows::Forms::DataGridViewColumnSortMode::NotSortable;
//
// msrCartPosDataViewY
//
this->msrCartPosDataViewY->HeaderText = L"Y (mm)";
this->msrCartPosDataViewY->Name = L"msrCartPosDataViewY";
this->msrCartPosDataViewY->SortMode = System::Windows::Forms::DataGridViewColumnSortMode::NotSortable;
//
// msrCartPosDataViewZ
//
this->msrCartPosDataViewZ->HeaderText = L"Z (mm)";
this->msrCartPosDataViewZ->Name = L"msrCartPosDataViewZ";
this->msrCartPosDataViewZ->SortMode = System::Windows::Forms::DataGridViewColumnSortMode::NotSortable;
//
// msrCartPosDataViewA
//
this->msrCartPosDataViewA->HeaderText = L"A (deg)";
this->msrCartPosDataViewA->Name = L"msrCartPosDataViewA";
this->msrCartPosDataViewA->SortMode = System::Windows::Forms::DataGridViewColumnSortMode::NotSortable;
//
// msrCartPosDataViewB
//
this->msrCartPosDataViewB->HeaderText = L"B (deg)";
this->msrCartPosDataViewB->Name = L"msrCartPosDataViewB";
this->msrCartPosDataViewB->SortMode = System::Windows::Forms::DataGridViewColumnSortMode::NotSortable;
//
// msrCartPosDataViewC
//
this->msrCartPosDataViewC->HeaderText = L"C (deg)";
this->msrCartPosDataViewC->Name = L"msrCartPosDataViewC";
this->msrCartPosDataViewC->SortMode = System::Windows::Forms::DataGridViewColumnSortMode::NotSortable;
//
// msrCartPosDataViewOpenClose
//
this->msrCartPosDataViewOpenClose->HeaderText = L"open/close";
this->msrCartPosDataViewOpenClose->Name = L"msrCartPosDataViewOpenClose";
this->msrCartPosDataViewOpenClose->SortMode = System::Windows::Forms::DataGridViewColumnSortMode::NotSortable;
//
// btnGo
//
this->btnGo->Location = System::Drawing::Point(4, 174);
this->btnGo->Name = L"btnGo";
this->btnGo->Size = System::Drawing::Size(130, 30);
this->btnGo->TabIndex = 25;
this->btnGo->Text = L"Go!";
this->btnGo->UseVisualStyleBackColor = true;
this->btnGo->Click += gcnew System::EventHandler(this, &mainForm::btnGo_Click);
//
// lblSpeed
//
this->lblSpeed->AutoSize = true;
this->lblSpeed->Location = System::Drawing::Point(140, 183);
this->lblSpeed->Name = L"lblSpeed";
this->lblSpeed->Size = System::Drawing::Size(38, 13);
this->lblSpeed->TabIndex = 32;
this->lblSpeed->Text = L"Speed";
//
// trackBarSpeed
//
this->trackBarSpeed->Location = System::Drawing::Point(173, 173);
this->trackBarSpeed->Maximum = 4;
this->trackBarSpeed->Minimum = 1;
this->trackBarSpeed->Name = L"trackBarSpeed";
this->trackBarSpeed->Size = System::Drawing::Size(78, 45);
this->trackBarSpeed->TabIndex = 33;
this->trackBarSpeed->TickStyle = System::Windows::Forms::TickStyle::TopLeft;
this->trackBarSpeed->Value = 2;
//
// btnAdd
//
this->btnAdd->Location = System::Drawing::Point(91, 247);
this->btnAdd->Name = L"btnAdd";
this->btnAdd->Size = System::Drawing::Size(30, 30);
this->btnAdd->TabIndex = 34;
this->btnAdd->Text = L"+";
this->btnAdd->UseVisualStyleBackColor = true;
this->btnAdd->Click += gcnew System::EventHandler(this, &mainForm::btnAdd_Click);
//
// btnSub
//
this->btnSub->Location = System::Drawing::Point(127, 247);
this->btnSub->Name = L"btnSub";
this->btnSub->Size = System::Drawing::Size(30, 30);
this->btnSub->TabIndex = 35;
this->btnSub->Text = L"-";
this->btnSub->UseVisualStyleBackColor = true;
this->btnSub->Click += gcnew System::EventHandler(this, &mainForm::btnSub_Click);
//
// btnSave
//
this->btnSave->Location = System::Drawing::Point(163, 247);
this->btnSave->Name = L"btnSave";
this->btnSave->Size = System::Drawing::Size(81, 30);
this->btnSave->TabIndex = 37;
this->btnSave->Text = L"Save Pose";
this->btnSave->UseVisualStyleBackColor = true;
this->btnSave->Click += gcnew System::EventHandler(this, &mainForm::btnSave_Click);
//
// btnAbout
//
this->btnAbout->Anchor = static_cast<System::Windows::Forms::AnchorStyles>((System::Windows::Forms::AnchorStyles::Bottom | System::Windows::Forms::AnchorStyles::Right));
this->btnAbout->Location = System::Drawing::Point(1121, 442);
this->btnAbout->Margin = System::Windows::Forms::Padding(2);
this->btnAbout->Name = L"btnAbout";
this->btnAbout->Size = System::Drawing::Size(62, 26);
this->btnAbout->TabIndex = 38;
this->btnAbout->Text = L"About";
this->btnAbout->UseVisualStyleBackColor = true;
this->btnAbout->Click += gcnew System::EventHandler(this, &mainForm::btnAbout_Click);
//
// groupBox2
//
this->groupBox2->Controls->Add(this->lblToolCMon);
this->groupBox2->Controls->Add(this->lblToolCm);
this->groupBox2->Controls->Add(this->lblToolBMon);
this->groupBox2->Controls->Add(this->lblToolBm);
this->groupBox2->Controls->Add(this->lblToolAMon);
this->groupBox2->Controls->Add(this->lblToolAm);
this->groupBox2->Controls->Add(this->lblToolZMon);
this->groupBox2->Controls->Add(this->lblToolZm);
this->groupBox2->Controls->Add(this->lblToolYMon);
this->groupBox2->Controls->Add(this->lblToolYm);
this->groupBox2->Controls->Add(this->lblToolXMon);
this->groupBox2->Controls->Add(this->lblToolXm);
this->groupBox2->Location = System::Drawing::Point(197, 67);
this->groupBox2->Margin = System::Windows::Forms::Padding(2);
this->groupBox2->Name = L"groupBox2";
this->groupBox2->Padding = System::Windows::Forms::Padding(2);
this->groupBox2->Size = System::Drawing::Size(189, 102);
this->groupBox2->TabIndex = 39;
this->groupBox2->TabStop = false;
this->groupBox2->Text = L"ToolPose";
//
// lblToolCMon
//
this->lblToolCMon->AutoSize = true;
this->lblToolCMon->Location = System::Drawing::Point(78, 80);
this->lblToolCMon->Name = L"lblToolCMon";
this->lblToolCMon->Size = System::Drawing::Size(0, 13);
this->lblToolCMon->TabIndex = 43;
//
// lblToolCm
//
this->lblToolCm->AutoSize = true;
this->lblToolCm->Location = System::Drawing::Point(5, 80);
this->lblToolCm->Name = L"lblToolCm";
this->lblToolCm->Size = System::Drawing::Size(41, 13);
this->lblToolCm->TabIndex = 26;
this->lblToolCm->Text = L"C (deg)";
//
// lblToolBMon
//
this->lblToolBMon->AutoSize = true;
this->lblToolBMon->Location = System::Drawing::Point(78, 67);
this->lblToolBMon->Name = L"lblToolBMon";
this->lblToolBMon->Size = System::Drawing::Size(0, 13);
this->lblToolBMon->TabIndex = 42;
//
// lblToolBm
//
this->lblToolBm->AutoSize = true;
this->lblToolBm->Location = System::Drawing::Point(5, 67);
this->lblToolBm->Name = L"lblToolBm";
this->lblToolBm->Size = System::Drawing::Size(41, 13);
this->lblToolBm->TabIndex = 25;
this->lblToolBm->Text = L"B (deg)";
//
// lblToolAMon
//
this->lblToolAMon->AutoSize = true;
this->lblToolAMon->Location = System::Drawing::Point(78, 54);
this->lblToolAMon->Name = L"lblToolAMon";
this->lblToolAMon->Size = System::Drawing::Size(0, 13);
this->lblToolAMon->TabIndex = 41;
//
// lblToolAm
//
this->lblToolAm->AutoSize = true;
this->lblToolAm->Location = System::Drawing::Point(5, 54);
this->lblToolAm->Name = L"lblToolAm";
this->lblToolAm->Size = System::Drawing::Size(41, 13);
this->lblToolAm->TabIndex = 24;
this->lblToolAm->Text = L"A (deg)";
//
// lblToolZMon
//
this->lblToolZMon->AutoSize = true;
this->lblToolZMon->Location = System::Drawing::Point(78, 41);
this->lblToolZMon->Name = L"lblToolZMon";
this->lblToolZMon->Size = System::Drawing::Size(0, 13);
this->lblToolZMon->TabIndex = 40;
//
// lblToolZm
//
this->lblToolZm->AutoSize = true;
this->lblToolZm->Location = System::Drawing::Point(5, 41);
this->lblToolZm->Name = L"lblToolZm";
this->lblToolZm->Size = System::Drawing::Size(39, 13);
this->lblToolZm->TabIndex = 23;
this->lblToolZm->Text = L"Z (mm)";
//
// lblToolYMon
//
this->lblToolYMon->AutoSize = true;
this->lblToolYMon->Location = System::Drawing::Point(78, 28);
this->lblToolYMon->Name = L"lblToolYMon";
this->lblToolYMon->Size = System::Drawing::Size(0, 13);
this->lblToolYMon->TabIndex = 39;
//
// lblToolYm
//
this->lblToolYm->AutoSize = true;
this->lblToolYm->Location = System::Drawing::Point(5, 28);
this->lblToolYm->Name = L"lblToolYm";
this->lblToolYm->Size = System::Drawing::Size(39, 13);