Текст моделирующей программы

using System;

using System.Collections.Generic;

using System.ComponentModel;

using System.Data;

using System.Drawing;

using System.Drawing.Drawing2D;

using System.Linq;

using System.Text;

using System.Windows.Forms;

namespace курсачМОПР

{

public partial class Form1: Form

{

public Form1()

{

InitializeComponent();

}

private void Form1_Load(object sender, EventArgs e)

{

}

//Массив для координат X, Y, взятых из условия

double[, ] realXY = new double[2, 4] {

{ -3.7, -4.6, 4.0, -2.4 },

{ -3.9, -3.1, -0.8, -0.1 }

};

//Длины суставов манипулятора

double l1 = 4.0;

double l2 = 3.0;

int p1 = 20;

int p2 = 20;

int p3 = 40;

//Углы psi для разных t

double[] psi = { 180.0, 170.0, 121.0, 90.0 };

double[] time;

//Массив времени t

double[] t = { 0, 1.0, 2.0, 4.0 };

int nx, ny;

#region Методы

//Разбить все время выполнения на одинаковые интервалы

public void TimeIntervals()

{

time = new double[p1 + p2 + p3];

time[0] = t[0];

time[p1 - 1] = t[1];

time[p1 + p2 - 1] = t[2];

time[p1 + p2 + p3 - 1] = t[3];

for (int i = 1; i < p1 - 1; i++)

{

time[i] = time[i - 1] + (t[1] - t[0]) / p1;

}

for (int i = p1; i < p1 + p2 - 1; i++)

{

time[i] = time[i - 1] + (t[2] - t[1]) / p2;

}

for (int i = p1 + p2; i < p1 + p2 + p3 - 1; i++)

{

time[i] = time[i - 1] + (t[3] - t[2]) / p3;

}

}

//Создание матрицы однородных преобразований

public double[, ] Result4x4(double psi, double x, double y)

{

int fi = 0;

int eta = 0;

psi = psi * Math.PI / 180;

double[, ] arrresult = new double[4, 4];

arrresult[0, 0] = Math.Cos(fi) * Math.Cos(eta);

arrresult[0, 1] = Math.Cos(fi) * Math.Sin(eta) * Math.Sin(psi) - Math.Sin(fi) * Math.Cos(psi);

arrresult[0, 2] = Math.Cos(fi) * Math.Sin(eta) * Math.Cos(psi) + Math.Sin(fi) * Math.Sin(psi);

arrresult[1, 0] = Math.Sin(fi) * Math.Cos(eta);

arrresult[1, 1] = Math.Sin(fi) * Math.Sin(eta) * Math.Sin(psi) - Math.Cos(fi) * Math.Cos(psi);

arrresult[1, 2] = Math.Sin(fi) * Math.Sin(eta) * Math.Cos(psi) - Math.Cos(fi) * Math.Sin(psi);

arrresult[2, 0] = -Math.Sin(eta);

arrresult[2, 1] = Math.Cos(eta) * Math.Sin(psi);

arrresult[2, 2] = Math.Cos(eta) * Math.Cos(psi);

arrresult[0, 3] = x;

arrresult[1, 3] = y;

arrresult[2, 3] = 0;

arrresult[3, 0] = 0;

arrresult[3, 1] = 0;

arrresult[3, 2] = 0;

arrresult[3, 3] = 1;

return arrresult;

}

//Обратная задача кинематики(найти углы Q1, Q2, Q3 в градусах)

public double[, ] OZK()

{

double c2, s2;

double[, ] qr = new double[3, realXY.GetLength(1)];

for (int i = 0; i < realXY.GetLength(1); i++)

{

c2 = (realXY[0, i] * realXY[0, i] + realXY[1, i] * realXY[1, i] - l1 * l1 - l2 * l2) / (2 * l1 * l2);

s2 = Math.Sqrt(1 - c2 * c2);

if (c2 > 0) qr[1, i] = 180 / Math.PI * Math.Atan(s2 / c2);

if (c2 < 0) qr[1, i] = 180 + 180 / Math.PI * Math.Atan(s2 / c2);

qr[0, i] = 180 / Math.PI * Math.Atan(realXY[1, i] / realXY[0, i]) - 180 / (Math.PI) * Math.Atan((l2 * s2) / (l1 + l2 * c2));

qr[2, i] = psi[i] - qr[0, i] - qr[1, i];

}

return qr;

}

//Интерполяция полиномом Лагранжа

public double[, ] Lagrange(double[, ] arr)

{

double[, ] lagQR = new double[3, p1 + p2 + p3];

TimeIntervals();

//Присвоить координаты Y

for (int j = 0; j < 3; j++)

{

for (int i = 0; i < p1 + p2 + p3; i++)

{

lagQR[j, i] = ((time[i] - t[1]) * (time[i] - t[2]) * (time[i] - t[3])) /

((t[0] - t[1]) * (t[0] - t[2]) * (t[0] - t[3])) * arr[j, 0] +

((time[i] - t[0]) * (time[i] - t[2]) * (time[i] - t[3])) /

((t[1] - t[0]) * (t[1] - t[2]) * (t[1] - t[3])) * arr[j, 1] +

((time[i] - t[0]) * (time[i] - t[1]) * (time[i] - t[3])) /

((t[2] - t[0]) * (t[2] - t[1]) * (t[2] - t[3])) * arr[j, 2] +

((time[i] - t[0]) * (time[i] - t[1]) * (time[i] - t[2])) /

((t[3] - t[0]) * (t[3] - t[1]) * (t[3] - t[2])) * arr[j, 3];

}

}

return lagQR;

}

//Нахождение координат скорости

public double[, ] LagrangeSpeed(double[, ] arr)

{

double[, ] lagQR = new double[3, p1 + p2 + p3];

TimeIntervals();

//Присвоить координаты Y

for (int j = 0; j < 3; j++)

{

for (int i = 0; i < p1 + p2 + p3; i++)

{

lagQR[j, i] = (3 * time[i] * time[i] - 2 * (t[3] + t[2] + t[1])*time[i] + t[2]*t[3] + t[1]*t[3] + t[2]*t[1]) /

((t[0] - t[1]) * (t[0] - t[2]) * (t[0] - t[3])) * arr[j, 0] +

(3 * time[i] * time[i] - 2 * (t[3] + t[2] + t[0]) * time[i] + t[2] * t[3] + t[0] * t[3] + t[2] * t[0]) /

((t[1] - t[0]) * (t[1] - t[2]) * (t[1] - t[3])) * arr[j, 1] +

(3 * time[i] * time[i] - 2 * (t[3] + t[0] + t[1]) * time[i] + t[1] * t[3] + t[0] * t[3] + t[0] * t[1]) /

((t[2] - t[0]) * (t[2] - t[1]) * (t[2] - t[3])) * arr[j, 2] +

(3 * time[i] * time[i] - 2 * (t[0] + t[2] + t[1]) * time[i] + t[2] * t[1] + t[1] * t[0] + t[2] * t[0]) /

((t[3] - t[0]) * (t[3] - t[1]) * (t[3] - t[2])) * arr[j, 3];

}

}

return lagQR;

}

//Нахождение координат ускорения

public double[, ] LagrangeAcceleration(double[, ] arr)

{

double[, ] lagQR = new double[3, p1 + p2 + p3];

TimeIntervals();

//Присвоить координаты Y

for (int j = 0; j < 3; j++)

{

for (int i = 0; i < p1 + p2 + p3; i++)

{

lagQR[j, i] = (6 * time[i] - 2 * (t[3] + t[2] + t[1])) /

((t[0] - t[1]) * (t[0] - t[2]) * (t[0] - t[3])) * arr[j, 0] +

(6 * time[i] - 2 * (t[3] + t[2] + t[0])) /

((t[1] - t[0]) * (t[1] - t[2]) * (t[1] - t[3])) * arr[j, 1] +

(6 * time[i] - 2 * (t[3] + t[0] + t[1])) /

((t[2] - t[0]) * (t[2] - t[1]) * (t[2] - t[3])) * arr[j, 2] +

(6 * time[i] - 2 * (t[0] + t[2] + t[1])) /

((t[3] - t[0]) * (t[3] - t[1]) * (t[3] - t[2])) * arr[j, 3];

}

}

return lagQR;

}

//Прямая задача кинематики(найти координаты точек манипулятора)

public double[, ] PZK(double[, ] arr)

{

double[, ] pzkXY = new double[8, p1 + p2 + p3];

//Перевод градусов в радианы

for (int i = 0; i < 3; i++)

{

for (int j = 0; j < p1+p2+p3; j++)

{

arr[i, j] = arr[i, j] * Math.PI / 180;

}

}

for (int i = 0; i < p1 + p2 + p3; i++)

{

//Координаты точки 1

pzkXY[0, i] = l1 * Math.Cos(arr[0, i]);

pzkXY[1, i] = l1 * Math.Sin(arr[0, i]);

//Координаты точки 2

pzkXY[2, i] = l1 * Math.Cos(arr[0, i]) + l2 * Math.Cos(arr[0, i] + arr[1, i]);

pzkXY[3, i] = l1 * Math.Sin(arr[0, i]) + l2 * Math.Sin(arr[0, i] + arr[1, i]);

//Нужны для построения оси Y точки 2

pzkXY[4, i] = l1 * Math.Cos(arr[0, i]) + l2 * Math.Cos(arr[0, i] + arr[1, i]) + Math.Sin(arr[2, i]);

pzkXY[5, i] = l1 * Math.Sin(arr[0, i]) + l2 * Math.Sin(arr[0, i] + arr[1, i]) + Math.Cos(arr[2, i]);

//Нужны для построения оси X точки 2

pzkXY[6, i] = l1 * Math.Cos(arr[0, i]) + l2 * Math.Cos(arr[0, i] + arr[1, i]) + Math.Sin(arr[2, i] - 90 * Math.PI / 180);

pzkXY[7, i] = l1 * Math.Sin(arr[0, i]) + l2 * Math.Sin(arr[0, i] + arr[1, i]) + Math.Cos(arr[2, i] - 90 * Math.PI / 180);

}

return pzkXY;

}

//Примеры вызова PZK

//double[, ] mass = PZK(Lagrange(OZK()));

#endregion

#region Рисование

public void DrawDimension(Graphics g, Pen blackpen, SolidBrush brush)

{

Font font = new Font(" Arial", 9);

string x, y;

int ii = 0;

int j = 19;

for(int k = 0; k < 4; k++) {

g.DrawLine(blackpen, new Point(ii + 25 + nx, 270), new Point(ii + 25 + nx, 280));

x = time[j].ToString();

g.DrawString(x, font, brush, ii + 25 + nx - 5, 290.0F);

ii = ii + nx;

j = j + 20;

}

ii = 275;

for (int k = 0; k < 6; k++)

{

g.DrawLine(blackpen, new Point(20, ii - ny), new Point(30, ii - ny));

y = (k + 1).ToString();

g.DrawString(y, font, brush, 5, ii - ny - 5);

ii = ii - ny;

}

ii = 275;

for (int k = 0; k < 6; k++)

{

g.DrawLine(blackpen, new Point(20, ii + ny), new Point(30, ii + ny));

y = (- k - 1).ToString();

g.DrawString(y, font, brush, 5, ii + ny - 5);

ii = ii + ny;

}

x = " 0";

g.DrawString(x, font, brush, 5, 270.0F);

font.Dispose();

}

private void DrawManipulator(object sender, EventArgs e)

{

nx = 40;

ny = 40;

double[, ] promD = PZK(Lagrange(OZK()));

int[, ] prom = new int[promD.GetLength(0), promD.GetLength(1)];

for (int i = 0; i < promD.GetLength(1); i++) {

prom[0, i] = (int)(promD[0, i] * nx) + 300;

prom[1, i] = 275 - (int)(promD[1, i] * ny);

prom[2, i] = (int)(promD[2, i] * nx) + 300;

prom[3, i] = 275 - (int)(promD[3, i] * ny);

prom[4, i] = (int)(promD[4, i] * nx) + 300;

prom[5, i] = 275 - (int)(promD[5, i] * ny);

prom[6, i] = (int)(promD[6, i] * nx) + 300;

prom[7, i] = 275 - (int)(promD[7, i] * ny);

}

using (Graphics g = this.CreateGraphics())

{

Pen blackpen = new Pen(Color.Black, 5);

Pen bluepen = new Pen(Color.Blue, 1);

Pen bp = new Pen(Color.Black, 1);

Pen red = new Pen(Color.Red, 2);

Font font = new Font(" Arial", 14);

Font f = new Font(" Arial", 8);

SolidBrush brush = new SolidBrush(Color.Black);

string osx = " X";

string osy = " Y";

string op;

for (int i = 0; i < p1+p2+p3; i++)

{

g.Clear(Color.White);

//Начертить звенья

g.DrawLine(blackpen, new Point(300, 275), new Point(prom[0, i], prom[1, i]));

g.DrawLine(blackpen, new Point(prom[0, i], prom[1, i]), new Point(prom[2, i], prom[3, i]));

g.DrawLine(bluepen, new Point(prom[2, i], prom[3, i]), new Point(prom[4, i], prom[5, i]));

g.DrawLine(bluepen, new Point(prom[2, i], prom[3, i]), new Point(prom[6, i], prom[7, i]));

//Начертить оси

g.DrawLine(bp, new Point(300, 25), new Point(300, 475));

g.DrawLine(bp, new Point(25, 275), new Point(575, 275));

//Стрелки

g.DrawLine(bp, new Point(300, 25), new Point(288, 50));

g.DrawLine(bp, new Point(300, 25), new Point(312, 50));

g.DrawLine(bp, new Point(575, 275), new Point(550, 263));

g.DrawLine(bp, new Point(575, 275), new Point(550, 287));

//Подпись

g.DrawString(osx, font, brush, 580.0F, 275.0F);

g.DrawString(osy, font, brush, 305.0F, 10.0F);

//Подписать доп. оси

g.DrawString(osx, f, brush, prom[4, i] + 5, prom[5, i] - 5);

g.DrawString(osy, f, brush, prom[6, i] + 5, prom[7, i] - 5);

//Обозначить пересечения звеньев

g.DrawEllipse(blackpen, prom[2, i], prom[3, i], 5.0F, 5.0F);

g.DrawEllipse(blackpen, 300, 275, 5.0F, 5.0F);

g.DrawEllipse(blackpen, prom[0, i], prom[1, i], 5.0F, 5.0F);

//Нарисовать схват

g.DrawLine(blackpen, new Point(prom[2, i], prom[3, i]), new Point(prom[2, i] - 10, prom[3, i] - 10));

g.DrawLine(blackpen, new Point(prom[2, i], prom[3, i]), new Point(prom[2, i] + 10, prom[3, i] - 10));

//Подписать оси X

for (int ii = 300 + nx; ii < = 575;) {

g.DrawLine(bp, new Point(ii, 270), new Point(ii, 280));

op = ((ii - 300)/nx).ToString();

g.DrawString(op, f, brush, ii - 5, 290);

ii += nx;

}

for (int ii = 300 - nx; ii > = 25;)

{

g.DrawLine(bp, new Point(ii, 270), new Point(ii, 280));

op = ((ii - 300) / nx).ToString();

g.DrawString(op, f, brush, ii - 5, 290);

ii -= nx;

}

//Подписать оси Y

for (int ii = 275 - ny; ii > = 25;)

{

g.DrawLine(bp, new Point(295, ii), new Point(305, ii));

op = (Math.Abs(ii - 275) / ny).ToString();

g.DrawString(op, f, brush, 280, ii - 5);

ii -= ny;

}

for (int ii = 275 + ny; ii < = 475;)

{

g.DrawLine(bp, new Point(295, ii), new Point(305, ii));

op = ((- ii + 275) / ny).ToString();

g.DrawString(op, f, brush, 280, ii - 5);

ii += ny;

}

op = " 0";

g.DrawString(op, f, brush, 280, 260);

System.Threading.Thread.Sleep(30);

}

//Траектория движения и опорные точки

for (int i = 0; i < p1 + p2 + p3; i++)

{

g.DrawEllipse(red, prom[2, i], prom[3, i], 2.0F, 2.0F);

}

g.DrawEllipse(blackpen, prom[2, 0], prom[3, 0], 6.0F, 6.0F);

g.DrawEllipse(blackpen, prom[2, p1 - 1], prom[3, p1 - 1], 6.0F, 6.0F);

g.DrawEllipse(blackpen, prom[2, p1 + p2 - 1], prom[3, p1 + p2 - 1], 6.0F, 6.0F);

g.DrawEllipse(blackpen, prom[2, p1 + p2 + p3 - 1], prom[3, p1 + p2 + p3 - 1], 6.0F, 6.0F);

red.Dispose();

bp.Dispose();

blackpen.Dispose();

bluepen.Dispose();

font.Dispose();

brush.Dispose();

}

}

private void DrawPosition(object sender, EventArgs e)

{

nx = 135;

ny = 70;

double[, ] promD = Lagrange(OZK());

int[, ] prom = new int[promD.GetLength(0) * 2, promD.GetLength(1)];

for (int i = 0; i < promD.GetLength(1); i++)

{

prom[0, i] = 25 + (int)(time[i] * nx);

prom[1, i] = 275 - (int)(promD[0, i] * (Math.PI / 180) * ny);

prom[2, i] = 25 + (int)(time[i] * nx);

prom[3, i] = 275 - (int)(promD[1, i] * (Math.PI / 180) * ny);

prom[4, i] = 25 + (int)(time[i] * nx);

prom[5, i] = 275 - (int)(promD[2, i] * (Math.PI / 180) * ny);

}

using (Graphics g = this.CreateGraphics()) {

Pen blackpen = new Pen(Color.Black, 1);

Pen redpen = new Pen(Color.Red, 2);

Pen bluepen = new Pen(Color.Blue, 2);

Pen greenpen = new Pen(Color.Green, 2);

Font font = new Font(" Arial", 14);

SolidBrush brush = new SolidBrush(Color.Black);

string osx = " t, с";

string osy = " Q(t), рад";

string one = " Звено 1";

string two = " Звено 2";

string three = " Звено 3";

g.Clear(Color.White);

g.DrawLine(blackpen, new Point(25, 25), new Point(25, 475));

g.DrawLine(blackpen, new Point(25, 275), new Point(575, 275));

g.DrawLine(blackpen, new Point(25, 25), new Point(13, 50));

g.DrawLine(blackpen, new Point(25, 25), new Point(37, 50));

g.DrawLine(blackpen, new Point(575, 275), new Point(550, 263));

g.DrawLine(blackpen, new Point(575, 275), new Point(550, 287));

g.DrawString(osx, font, brush, 580.0F, 275.0F);

g.DrawString(osy, font, brush, 15.0F, 0.0F);

for (int i = 0; i < promD.GetLength(1) - 1; i++) {

g.DrawLine(redpen, new Point(prom[0, i], prom[1, i]), new Point(prom[0, i + 1], prom[1, i + 1]));

}

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(bluepen, new Point(prom[2, i], prom[3, i]), new Point(prom[2, i + 1], prom[3, i + 1]));

}

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(greenpen, new Point(prom[4, i], prom[5, i]), new Point(prom[4, i + 1], prom[5, i + 1]));

}

g.DrawString(one, font, brush, 95.0F, 10.0F);

g.DrawLine(redpen, new Point(175, 20), new Point(205, 20));

g.DrawString(two, font, brush, 245.0F, 10.0F);

g.DrawLine(bluepen, new Point(325, 20), new Point(355, 20));

g.DrawString(three, font, brush, 395.0F, 10.0F);

g.DrawLine(greenpen, new Point(475, 20), new Point(505, 20));

DrawDimension(g, blackpen, brush);

redpen.Dispose();

blackpen.Dispose();

bluepen.Dispose();

greenpen.Dispose();

font.Dispose();

brush.Dispose();

}

}

private void DrawSpeed(object sender, EventArgs e) {

nx = 135;

ny = 100;

TimeIntervals();

double[, ] promD = LagrangeSpeed(OZK());

int[, ] prom = new int[promD.GetLength(0) * 2, promD.GetLength(1)];

for (int i = 0; i < promD.GetLength(1); i++)

{

prom[0, i] = 25 + (int)(time[i] * nx);

prom[1, i] = 275 - (int)(promD[0, i] * (Math.PI / 180) * ny);

prom[2, i] = 25 + (int)(time[i] * nx);

prom[3, i] = 275 - (int)(promD[1, i] * (Math.PI / 180) * ny);

prom[4, i] = 25 + (int)(time[i] * nx);

prom[5, i] = 275 - (int)(promD[2, i] * (Math.PI / 180) * ny);

}

using (Graphics g = this.CreateGraphics())

{

Pen blackpen = new Pen(Color.Black, 1);

Pen redpen = new Pen(Color.Red, 2);

Pen bluepen = new Pen(Color.Blue, 2);

Pen greenpen = new Pen(Color.Green, 2);

Font font = new Font(" Arial", 14);

SolidBrush brush = new SolidBrush(Color.Black);

string osx = " t, с";

string osy = " Q'(t), рад";

string one = " Звено 1";

string two = " Звено 2";

string three = " Звено 3";

g.Clear(Color.White);

g.DrawLine(blackpen, new Point(25, 25), new Point(25, 475));

g.DrawLine(blackpen, new Point(25, 275), new Point(575, 275));

g.DrawLine(blackpen, new Point(25, 25), new Point(13, 50));

g.DrawLine(blackpen, new Point(25, 25), new Point(37, 50));

g.DrawLine(blackpen, new Point(575, 275), new Point(550, 263));

g.DrawLine(blackpen, new Point(575, 275), new Point(550, 287));

g.DrawString(osx, font, brush, 580.0F, 275.0F);

g.DrawString(osy, font, brush, 15.0F, 0.0F);

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(redpen, new Point(prom[0, i], prom[1, i]), new Point(prom[0, i + 1], prom[1, i + 1]));

}

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(bluepen, new Point(prom[2, i], prom[3, i]), new Point(prom[2, i + 1], prom[3, i + 1]));

}

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(greenpen, new Point(prom[4, i], prom[5, i]), new Point(prom[4, i + 1], prom[5, i + 1]));

}

g.DrawString(one, font, brush, 95.0F, 10.0F);

g.DrawLine(redpen, new Point(175, 20), new Point(205, 20));

g.DrawString(two, font, brush, 245.0F, 10.0F);

g.DrawLine(bluepen, new Point(325, 20), new Point(355, 20));

g.DrawString(three, font, brush, 395.0F, 10.0F);

g.DrawLine(greenpen, new Point(475, 20), new Point(505, 20));

DrawDimension(g, blackpen, brush);

redpen.Dispose();

blackpen.Dispose();

bluepen.Dispose();

greenpen.Dispose();

font.Dispose();

brush.Dispose();

}

}

private void DrawAcceleration(object sender, EventArgs e)

{

nx = 135;

ny = 70;

TimeIntervals();

double[, ] promD = LagrangeAcceleration(OZK());

int[, ] prom = new int[promD.GetLength(0) * 2, promD.GetLength(1)];

for (int i = 0; i < promD.GetLength(1); i++)

{

prom[0, i] = 25 + (int)(time[i] * nx);

prom[1, i] = 275 - (int)(promD[0, i] * (Math.PI / 180) * ny);

prom[2, i] = 25 + (int)(time[i] * nx);

prom[3, i] = 275 - (int)(promD[1, i] * (Math.PI / 180) * ny);

prom[4, i] = 25 + (int)(time[i] * nx);

prom[5, i] = 275 - (int)(promD[2, i] * (Math.PI / 180) * ny);

}

using (Graphics g = this.CreateGraphics())

{

Pen blackpen = new Pen(Color.Black, 1);

Pen redpen = new Pen(Color.Red, 2);

Pen bluepen = new Pen(Color.Blue, 2);

Pen greenpen = new Pen(Color.Green, 2);

Font font = new Font(" Arial", 14);

SolidBrush brush = new SolidBrush(Color.Black);

string osx = " t, с";

string osy = " Q''(t), рад";

string one = " Звено 1";

string two = " Звено 2";

string three = " Звено 3";

g.Clear(Color.White);

g.DrawLine(blackpen, new Point(25, 25), new Point(25, 475));

g.DrawLine(blackpen, new Point(25, 275), new Point(575, 275));

g.DrawLine(blackpen, new Point(25, 25), new Point(13, 50));

g.DrawLine(blackpen, new Point(25, 25), new Point(37, 50));

g.DrawLine(blackpen, new Point(575, 275), new Point(550, 263));

g.DrawLine(blackpen, new Point(575, 275), new Point(550, 287));

g.DrawString(osx, font, brush, 580.0F, 275.0F);

g.DrawString(osy, font, brush, 15.0F, 0.0F);

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(redpen, new Point(prom[0, i], prom[1, i]), new Point(prom[0, i + 1], prom[1, i + 1]));

}

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(bluepen, new Point(prom[2, i], prom[3, i]), new Point(prom[2, i + 1], prom[3, i + 1]));

}

for (int i = 0; i < promD.GetLength(1) - 1; i++)

{

g.DrawLine(greenpen, new Point(prom[4, i], prom[5, i]), new Point(prom[4, i + 1], prom[5, i + 1]));

}

g.DrawString(one, font, brush, 95.0F, 10.0F);

g.DrawLine(redpen, new Point(175, 20), new Point(205, 20));

g.DrawString(two, font, brush, 245.0F, 10.0F);

g.DrawLine(bluepen, new Point(325, 20), new Point(355, 20));

g.DrawString(three, font, brush, 395.0F, 10.0F);

g.DrawLine(greenpen, new Point(475, 20), new Point(505, 20));

DrawDimension(g, blackpen, brush);

redpen.Dispose();

blackpen.Dispose();

bluepen.Dispose();

greenpen.Dispose();

font.Dispose();

brush.Dispose();

}

}

#endregion

#region Кнопки

private void buttonDecart_Click(object sender, EventArgs e)

{

DrawManipulator(sender, e);

}

private void buttonObobs_Click(object sender, EventArgs e)

{

DrawPosition(sender, e);

}

private void buttonSkor_Click(object sender, EventArgs e)

{

DrawSpeed(sender, e);

}

private void buttonUskor_Click(object sender, EventArgs e)

{

DrawAcceleration(sender, e);

}

#endregion

}

}