C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/PlatformController/PidTuner.cs

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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;

namespace PlatformController {
        public partial class PidTuner : Form {

                PlatformStrategy _strategy;

                public PidTuner(ref PlatformStrategy strategy) {
                        _strategy = strategy;
                        _strategy.Data.setAutoAvoid(false);
                        //_strategy.setManualOverride(true);
                        InitializeComponent();
                        setPointTextBox.Text = _strategy.Data.ThrottleSetpoint.ToString();
                        kpTextBox.Text = PidControl.Kp.ToString();
                        kiTextBox.Text = PidControl.Ki.ToString();
                        kdTextBox.Text = PidControl.Kd.ToString();
                }

                private void setPidButton_Click(object sender, EventArgs e) {
                        try {
                                _strategy.Data.ThrottleSetpoint = int.Parse(setPointTextBox.Text);
                                PidControl.setPidCoefficients(double.Parse(kpTextBox.Text)
                                        , double.Parse(kiTextBox.Text), double.Parse(kdTextBox.Text));
                                toolStripStatusLabel1.Text = "ok";
                        } catch (Exception ex) {
                                toolStripStatusLabel1.Text = "non-numeric entry";
                        }
                }

                private void updateTimer_Tick(object sender, EventArgs e) {
                        processVariableTextBox.Text = _strategy.Data.CountsPerSecond.ToString();
                        manipulatedVariableTextBox.Text = _strategy.ManualThrottle.ToString();
                        pComponentTextBox.Text = PidControl.PComponent.ToString();
                        iComponentTextBox.Text = PidControl.IComponent.ToString();
                        dComponentTextBox.Text = PidControl.DComponent.ToString();
                }
        }
}

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