Option Strict Off
Option Explicit On
Friend Class frmMain
	Inherits System.Windows.Forms.Form
    Private velTextBoxChanging As Boolean
    Private Shared myTimer As New System.Windows.Forms.Timer()


    Private Sub Coast_Click(ByVal eventSender As System.Object, ByVal eventArgs As System.EventArgs) Handles Coast.Click
        NdiCmd_Coast(wc132.handle) ' tell WheelCommander to stop moving
    End Sub

   Private Sub Go_Click(ByVal eventSender As System.Object, ByVal eventArgs As System.EventArgs) Handles Go.Click
      Dim vel As Short
      vel = CShort(Velocity.Text)
      If NdiCmd_SetVelocity(wc132.handle, vel) <> 1 Then ' pass velocity value from form to WheelCommander; only needed if user never set the velocity
         MsgBox("Error setting velocity!")
      Else
         If NdiCmd_Go(wc132.handle) <> 1 Then ' tell WheelCommander to start using current velocity setting
            MsgBox("Error on Go!")
         End If
      End If
   End Sub

   Private Sub Velocity_ValueChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Velocity.ValueChanged
      Dim vel As Short
      vel = CShort(Velocity.Text)
      If NdiCmd_SetVelocity(wc132.handle, vel) <> 1 Then ' pass velocity value from form to WheelCommander    
         MsgBox("Error on SetVelocity!")
      End If
   End Sub

   Private Sub VelScroll_Change(ByVal newScrollValue As Integer)
      If velTextBoxChanging = False Then
         Velocity.Text = CStr(newScrollValue)
      End If
   End Sub

   Public Sub mnuHelpAbout_Click(ByVal eventSender As System.Object, ByVal eventArgs As System.EventArgs) Handles mnuHelpAbout.Click
      VB6.ShowForm(frmAbout, VB6.FormShowConstants.Modal, Me)
   End Sub

   Public Sub mnuViewOptions_Click(ByVal eventSender As System.Object, ByVal eventArgs As System.EventArgs) Handles mnuViewOptions.Click
      VB6.ShowForm(frmOptions, VB6.FormShowConstants.Modal, Me)
   End Sub

   Public Sub mnuViewRefresh_Click(ByVal eventSender As System.Object, ByVal eventArgs As System.EventArgs) Handles mnuViewRefresh.Click
      MsgBox("Add 'mnuViewRefresh_Click' code.")
   End Sub

   Public Sub mnuViewStatusBar_Click(ByVal eventSender As System.Object, ByVal eventArgs As System.EventArgs) Handles mnuViewStatusBar.Click
      mnuViewStatusBar.Checked = Not mnuViewStatusBar.Checked
      sbStatusBar.Visible = mnuViewStatusBar.Checked
   End Sub

   Public Sub mnuFileExit_Click(ByVal eventSender As System.Object, ByVal eventArgs As System.EventArgs) Handles mnuFileExit.Click
      'unload the form
      Me.Close()
   End Sub

   Private Sub VelScroll_Scroll(ByVal eventSender As System.Object, ByVal eventArgs As System.Windows.Forms.ScrollEventArgs)
      Select Case eventArgs.Type
         Case System.Windows.Forms.ScrollEventType.EndScroll
            VelScroll_Change(eventArgs.NewValue)
      End Select
   End Sub

   Private Sub OnTick(ByVal myObject As Object, ByVal myEventArgs As EventArgs)
      Dim voltage As Double
      Dim dist As Integer
      Dim ang As Integer
      Dim vel As Integer
      Dim rot As Integer
      Dim trunc As String

      If NdiCmd_ReadAIO(wc132.handle, 6, voltage) = 1 Then
         trunc = Str(voltage * 40.01 / 10)
         DigitalSupply.Text = trunc.Remove(5, trunc.Length - 5)
      End If
      If NdiCmd_ReadAIO(wc132.handle, 7, voltage) = 1 Then
         trunc = Str(voltage * 100.09 / 10)
         MotorSupply.Text = trunc.Remove(5, trunc.Length - 5)
      End If
      If NdiCmd_GetDist(wc132.handle, dist) = 1 Then
         Distance.Text = Str(dist)
      End If
      If NdiCmd_GetAngle(wc132.handle, ang) = 1 Then
         Angle.Text = Str(ang)
      End If
      If NdiCmd_GetVelocity(wc132.handle, vel) = 1 Then
         CurVelocity.Text = Str(vel)
      End If
      If NdiCmd_GetRotation(wc132.handle, rot) = 1 Then
         RotationRate.Text = Str(rot)
      End If
   End Sub


   Private Sub frmMain_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load
      Me.Left = VB6.TwipsToPixelsX(CSng(GetSetting(My.Application.Info.Title, "Settings", "MainLeft", CStr(1000))))
      Me.Top = VB6.TwipsToPixelsY(CSng(GetSetting(My.Application.Info.Title, "Settings", "MainTop", CStr(1000))))
      Me.Width = VB6.TwipsToPixelsX(CSng(GetSetting(My.Application.Info.Title, "Settings", "MainWidth", CStr(6500))))
      Me.Height = VB6.TwipsToPixelsY(CSng(GetSetting(My.Application.Info.Title, "Settings", "MainHeight", CStr(6500))))

      AddHandler myTimer.Tick, AddressOf OnTick
      myTimer.Interval = 500
      myTimer.Start()
   End Sub


   Private Sub frmMain_FormClosed(ByVal eventSender As System.Object, ByVal eventArgs As System.Windows.Forms.FormClosedEventArgs) Handles Me.FormClosed
      If Me.WindowState <> System.Windows.Forms.FormWindowState.Minimized Then
         SaveSetting(My.Application.Info.Title, "Settings", "MainLeft", CStr(VB6.PixelsToTwipsX(Me.Left)))
         SaveSetting(My.Application.Info.Title, "Settings", "MainTop", CStr(VB6.PixelsToTwipsY(Me.Top)))
         SaveSetting(My.Application.Info.Title, "Settings", "MainWidth", CStr(VB6.PixelsToTwipsX(Me.Width)))
         SaveSetting(My.Application.Info.Title, "Settings", "MainHeight", CStr(VB6.PixelsToTwipsY(Me.Height)))
      End If
   End Sub

End Class