The program starts. Then when I click the button it stops and say ![]()
Not: The program is in turkish
"Parametre geçerli değil" means Parameter is not valid
What I am trying to do is : The robot's simulation between time interval. :confused:
The whole code: http://codepaste.net/9biar8
Not: The program is in turkish
"Parametre geçerli değil" means Parameter is not valid
Code:
Public Class Form1
'Tekerlek Koordinatları
Dim kalem As New Drawing.Pen(Color.Black)
Dim solx1 As Integer = -13
Dim soly1 As Integer = -8
Dim solen As Integer = 10
Dim solboy As Integer = 15
Dim sagx1 As Integer = solx1 + solen + 5
Dim sagy1 As Integer = soly1
Dim sagen As Integer = 10
Dim sagboy As Integer = 15
Dim PI As Single = 3.1416
Dim angledeg As Integer = 30
Dim anglerad As Single = (angledeg * PI) / 180
'Sol Tekerlek Dizisi
Dim vleft() As String = {200, 210, 190, 220, 220, 190, 0, 190, 200, 230, 220, 180, 190, 190, 190, 180, 210, 220, 200, 200}
'Sag Tekerlek Dizisi
Dim vright() As String = {200, 200, 210, 220, 220, 180, 150, 150, 150, 230, 220, 150, 180, 190, 190, 200, 210, 210, 180, 200}
Dim ti As String 'T ilk
Dim ts As String 't son
Dim dt As Single = ts - ti 'Delta t
Dim t As String 'o anki saniye
Dim x As String = 327 'merkez x koordinatı
Dim y As String = 410 'merkez y koordinatı
Dim teta As String = 270 'teta açısı
'Değişkenler
Dim l As Single = sagx1 + (sagen / 2) - (solx1 + (solen / 2)) 'tekerler arası mesafe
Dim R As Single = (l / 2) * ((vleft(t) + vright(t)) / (vright(t) - vleft(t))) 'dönme ekseni ve ICC arası esafe
Dim w As Single = (vright(t) - vleft(t)) / l 'açısal hız
Dim iccx As Single = solx1 - (R * Math.Sin(teta)) 'icc x koordinat
Dim iccy As Single = soly1 + (R * Math.Cos(teta)) 'icc y koordinat
Private Sub Button1_Click(ByVal sender As Object, ByVal e As EventArgs) Handles Button1.Click
Timer1.Start()
ti = CStr(TextBox1.Text)
ts = CStr(TextBox2.Text)
End Sub
Private Sub PictureBox1_Paint(ByVal sender As Object, ByVal e As PaintEventArgs) Handles PictureBox1.Paint
'Tekerleklerin tanimlanmasi
Dim teker As Rectangle() = {New Rectangle(solx1, soly1, solen, solboy), _
New Rectangle(sagx1, sagy1, sagen, sagboy)}
'Tekerleklrin donmesi
e.Graphics.TranslateTransform(x, y) 'Merkez
e.Graphics.RotateTransform(anglerad) 'Açı
'Tekerleklerin cizimi
e.Graphics.DrawRectangles(kalem, teker)
End Sub
Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick
'Tekerlek Hareketleri
If vright(t) = vleft(t) Then 'sağ sol teker hızı eşitse
w = 0
x = x - ((Math.Sin(dt * w) * (y - iccy)) + (Math.Cos(w * dt) * (x - iccx)) + iccx) 'dt sonra x koordinatı
y = y - ((Math.Cos(w * dt) * (y - iccy)) + (Math.Sin(w * dt) * (x - iccx)) + iccy) 'dt sonra y koordinatı
PictureBox1.Invalidate()
ElseIf vright(t) > vleft(t) Then 'sağ teker sol tekerden hızlıysa
x = x - ((Math.Sin(dt * w) * (y - iccy)) + (Math.Cos(w * dt) * (x - iccx)) + iccx) 'dt sonra x koordinatı
y = y - ((Math.Cos(w * dt) * (y - iccy)) + (Math.Sin(w * dt) * (x - iccx)) + iccy) 'dt sonra y koordinatı
anglerad = anglerad + 1
PictureBox1.Invalidate()
ElseIf vleft(t) > vright(t) Then 'sol teker sğ tekerden hızlıysa
x = x - ((Math.Sin(dt * w) * (y - iccy)) + (Math.Cos(w * dt) * (x - iccx)) + iccx) 'dt sonra x koordinatı
y = y - ((Math.Cos(w * dt) * (y - iccy)) + (Math.Sin(w * dt) * (x - iccx)) + iccy) 'dt sonra y koordinatı
anglerad = anglerad - 1
PictureBox1.Invalidate()
Else
anglerad = anglerad + 1
PictureBox1.Invalidate()
End If
't = t + 0.01
'x = x - ((Math.Sin(dt * w) * (y - iccy)) + (Math.Cos(w * dt) * (x - iccx)) + iccx) 'dt sonra x koordinatı
'y = y - ((Math.Cos(w * dt) * (y - iccy)) + (Math.Sin(w * dt) * (x - iccx)) + iccy) 'dt sonra y koordinatı
End Sub
End ClassWhat I am trying to do is : The robot's simulation between time interval. :confused:
The whole code: http://codepaste.net/9biar8