VERSION 5.00
Object = "{F9043C88-F6F2-101A-A3C9-08002B2F49FB}#1.2#0"; "Comdlg32.OCX"
Object = "{DF6D6558-5B0C-11D3-9396-008029E9B3A6}#1.0#0"; "ezVidC60.ocx"
Begin VB.Form frmMain 
   Caption         =   "Image Demo"
   ClientHeight    =   9195
   ClientLeft      =   165
   ClientTop       =   450
   ClientWidth     =   14205
   LinkTopic       =   "Form1"
   ScaleHeight     =   613
   ScaleMode       =   3  'Pixel
   ScaleWidth      =   947
   StartUpPosition =   3  'Windows Default
   Begin VB.Frame Frame5 
      Caption         =   "Visualization"
      Height          =   3675
      Left            =   2040
      TabIndex        =   102
      Top             =   5460
      Width           =   4815
      Begin VB.CommandButton cmdVisDraw 
         Caption         =   "Update"
         Height          =   315
         Left            =   4020
         TabIndex        =   103
         Top             =   3180
         Width           =   675
      End
      Begin VB.Line lineVis 
         BorderColor     =   &H000000FF&
         Index           =   0
         X1              =   1680
         X2              =   2940
         Y1              =   2340
         Y2              =   1500
      End
      Begin VB.Line Line47 
         BorderColor     =   &H00FF8080&
         BorderStyle     =   3  'Dot
         X1              =   480
         X2              =   2820
         Y1              =   2340
         Y2              =   2340
      End
      Begin VB.Line Line42 
         BorderColor     =   &H00FF8080&
         BorderStyle     =   3  'Dot
         X1              =   1680
         X2              =   1680
         Y1              =   3480
         Y2              =   1200
      End
      Begin VB.Line Line27 
         X1              =   2820
         X2              =   4080
         Y1              =   3480
         Y2              =   2640
      End
      Begin VB.Line Line24 
         X1              =   1740
         X2              =   480
         Y1              =   360
         Y2              =   1200
      End
      Begin VB.Line Line23 
         X1              =   480
         X2              =   2820
         Y1              =   3480
         Y2              =   3480
      End
      Begin VB.Line Line22 
         X1              =   2820
         X2              =   2820
         Y1              =   1200
         Y2              =   3480
      End
      Begin VB.Line Line21 
         X1              =   480
         X2              =   480
         Y1              =   1200
         Y2              =   3480
      End
      Begin VB.Line Line20 
         X1              =   480
         X2              =   2820
         Y1              =   1200
         Y2              =   1200
      End
      Begin VB.Line Line52 
         BorderColor     =   &H00FF8080&
         BorderStyle     =   3  'Dot
         X1              =   480
         X2              =   2820
         Y1              =   3480
         Y2              =   1200
      End
      Begin VB.Line Line41 
         BorderColor     =   &H00FF8080&
         BorderStyle     =   3  'Dot
         X1              =   480
         X2              =   2820
         Y1              =   1200
         Y2              =   3480
      End
      Begin VB.Line Line26 
         BorderStyle     =   3  'Dot
         X1              =   480
         X2              =   1740
         Y1              =   3480
         Y2              =   2640
      End
      Begin VB.Line Line25 
         X1              =   2820
         X2              =   4080
         Y1              =   1200
         Y2              =   360
      End
      Begin VB.Line Line19 
         BorderStyle     =   3  'Dot
         X1              =   1740
         X2              =   1740
         Y1              =   360
         Y2              =   2640
      End
      Begin VB.Line Line17 
         X1              =   1740
         X2              =   4080
         Y1              =   360
         Y2              =   360
      End
      Begin VB.Line Line18 
         BorderStyle     =   3  'Dot
         X1              =   1740
         X2              =   4080
         Y1              =   2640
         Y2              =   2640
      End
      Begin VB.Line Line29 
         X1              =   4080
         X2              =   4080
         Y1              =   360
         Y2              =   2640
      End
      Begin VB.Line Line32 
         BorderColor     =   &H0080FFFF&
         BorderStyle     =   3  'Dot
         X1              =   1740
         X2              =   4080
         Y1              =   2640
         Y2              =   360
      End
      Begin VB.Line lineOrigY 
         BorderColor     =   &H0080FFFF&
         BorderStyle     =   3  'Dot
         X1              =   1740
         X2              =   4080
         Y1              =   1500
         Y2              =   1500
      End
      Begin VB.Line lineOrigX 
         BorderColor     =   &H0080FFFF&
         BorderStyle     =   3  'Dot
         X1              =   2940
         X2              =   2940
         Y1              =   2640
         Y2              =   360
      End
      Begin VB.Line Line28 
         BorderColor     =   &H0080FFFF&
         BorderStyle     =   3  'Dot
         X1              =   1740
         X2              =   4080
         Y1              =   360
         Y2              =   2640
      End
   End
   Begin VB.Frame Frame7 
      Caption         =   "Video Capture"
      Height          =   3915
      Left            =   2040
      TabIndex        =   95
      Top             =   1500
      Width           =   9735
      Begin VB.PictureBox imgInput 
         AutoSize        =   -1  'True
         Height          =   3600
         Left            =   60
         ScaleHeight     =   236
         ScaleMode       =   3  'Pixel
         ScaleWidth      =   316
         TabIndex        =   100
         TabStop         =   0   'False
         Top             =   240
         Width           =   4800
         Begin VB.Line lineAlign1 
            BorderColor     =   &H00800000&
            X1              =   428
            X2              =   0
            Y1              =   312
            Y2              =   0
         End
         Begin VB.Line LineAlign4 
            BorderColor     =   &H00800000&
            X1              =   248
            X2              =   252
            Y1              =   344
            Y2              =   4
         End
         Begin VB.Line LineAlign3 
            BorderColor     =   &H00800000&
            X1              =   436
            X2              =   24
            Y1              =   180
            Y2              =   192
         End
         Begin VB.Line lineAlign2 
            BorderColor     =   &H00800000&
            X1              =   48
            X2              =   452
            Y1              =   352
            Y2              =   20
         End
         Begin VB.Line linePos 
            BorderColor     =   &H00FF0000&
            X1              =   0
            X2              =   160
            Y1              =   0
            Y2              =   208
         End
         Begin VB.Shape shpPos 
            BorderColor     =   &H00FF0000&
            Height          =   120
            Left            =   2400
            Top             =   3120
            Width           =   120
         End
      End
      Begin VB.CommandButton cmdCapCapture 
         Caption         =   "Capture"
         Height          =   315
         Left            =   4920
         TabIndex        =   99
         Top             =   3480
         Width           =   855
      End
      Begin VB.CommandButton cmdCapPreview 
         Caption         =   "Preview"
         Height          =   315
         Left            =   8640
         TabIndex        =   98
         Top             =   3480
         Width           =   975
      End
      Begin VB.ComboBox cmbDevice 
         Height          =   315
         Left            =   4920
         Style           =   2  'Dropdown List
         TabIndex        =   97
         Top             =   300
         Width           =   4695
      End
      Begin vbVidC60.ezVidCap ezVidCap1 
         Height          =   3600
         Left            =   4860
         TabIndex        =   96
         Top             =   240
         Width           =   4800
         _ExtentX        =   8467
         _ExtentY        =   6350
         Preview         =   0   'False
      End
   End
   Begin VB.Frame Frame6 
      Caption         =   "Laser Position"
      Height          =   2475
      Left            =   0
      TabIndex        =   70
      Top             =   1080
      Width           =   1995
      Begin VB.Timer tmrLaserStep 
         Enabled         =   0   'False
         Interval        =   1
         Left            =   1500
         Top             =   1380
      End
      Begin VB.CommandButton cmdLaserStep 
         Caption         =   "Step Laser"
         Height          =   255
         Left            =   480
         TabIndex        =   83
         Top             =   1500
         Width           =   975
      End
      Begin VB.CommandButton cmdLPStart 
         Caption         =   "Start"
         Height          =   255
         Left            =   60
         TabIndex        =   82
         Top             =   780
         Width           =   495
      End
      Begin VB.CommandButton cmdLPGet 
         Caption         =   "Get"
         Height          =   255
         Left            =   1440
         TabIndex        =   6
         Top             =   780
         Width           =   495
      End
      Begin VB.CommandButton cmdLPTareNeg45 
         Caption         =   "Tare"
         Height          =   255
         Left            =   960
         TabIndex        =   5
         Top             =   2100
         Width           =   495
      End
      Begin VB.TextBox txtLPNeg45 
         Height          =   285
         Left            =   480
         TabIndex        =   79
         Text            =   "0"
         Top             =   2100
         Width           =   435
      End
      Begin VB.CommandButton cmdLPTarePos45 
         Caption         =   "Tare"
         Height          =   255
         Left            =   960
         TabIndex        =   4
         Top             =   1800
         Width           =   495
      End
      Begin VB.TextBox txtLPPos45 
         Height          =   285
         Left            =   480
         TabIndex        =   76
         Text            =   "255"
         Top             =   1800
         Width           =   435
      End
      Begin VB.TextBox txtLPAngle 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   72
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   1140
         Width           =   435
      End
      Begin VB.TextBox txtLPVal 
         Height          =   285
         Left            =   480
         Locked          =   -1  'True
         TabIndex        =   71
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   1140
         Width           =   435
      End
      Begin VB.Timer tmrLP 
         Enabled         =   0   'False
         Interval        =   500
         Left            =   1500
         Top             =   1920
      End
      Begin VB.Label Label38 
         BackStyle       =   0  'Transparent
         Caption         =   "135"
         Height          =   255
         Left            =   60
         TabIndex        =   106
         Top             =   240
         Width           =   315
      End
      Begin VB.Label Label37 
         BackStyle       =   0  'Transparent
         Caption         =   "90"
         Height          =   255
         Left            =   840
         TabIndex        =   105
         Top             =   180
         Width           =   315
      End
      Begin VB.Label Label23 
         BackStyle       =   0  'Transparent
         Caption         =   "45"
         Height          =   255
         Left            =   1740
         TabIndex        =   104
         Top             =   240
         Width           =   315
      End
      Begin VB.Line Line31 
         BorderStyle     =   3  'Dot
         X1              =   1020
         X2              =   1860
         Y1              =   1080
         Y2              =   300
      End
      Begin VB.Line Line30 
         BorderStyle     =   3  'Dot
         X1              =   1020
         X2              =   240
         Y1              =   1080
         Y2              =   300
      End
      Begin VB.Line lineLP_XAxisNeg 
         X1              =   1020
         X2              =   180
         Y1              =   1080
         Y2              =   1080
      End
      Begin VB.Line lineLP 
         BorderColor     =   &H000000FF&
         X1              =   1020
         X2              =   1320
         Y1              =   1080
         Y2              =   300
      End
      Begin VB.Label Label55 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   255
         Left            =   300
         TabIndex        =   81
         Top             =   2100
         Width           =   315
      End
      Begin VB.Label Label54 
         Alignment       =   1  'Right Justify
         BackStyle       =   0  'Transparent
         Caption         =   "-45"
         Height          =   255
         Left            =   -60
         TabIndex        =   80
         Top             =   2160
         Width           =   315
      End
      Begin VB.Label Label53 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   255
         Left            =   300
         TabIndex        =   78
         Top             =   1800
         Width           =   315
      End
      Begin VB.Label Label52 
         Alignment       =   1  'Right Justify
         BackStyle       =   0  'Transparent
         Caption         =   "45"
         Height          =   255
         Left            =   -60
         TabIndex        =   77
         Top             =   1860
         Width           =   315
      End
      Begin VB.Label Label51 
         BackStyle       =   0  'Transparent
         Caption         =   "Val ="
         Height          =   255
         Left            =   60
         TabIndex        =   75
         Top             =   1200
         Width           =   435
      End
      Begin VB.Label Label50 
         BackStyle       =   0  'Transparent
         Caption         =   "="
         Height          =   255
         Left            =   960
         TabIndex        =   74
         Top             =   1200
         Width           =   195
      End
      Begin VB.Label Label49 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   255
         Left            =   1560
         TabIndex        =   73
         Top             =   1080
         Width           =   195
      End
      Begin VB.Line lineLP_XAxisPos 
         X1              =   1020
         X2              =   1860
         Y1              =   1080
         Y2              =   1080
      End
      Begin VB.Line lineLP_YAxis 
         X1              =   1020
         X2              =   1020
         Y1              =   1080
         Y2              =   240
      End
   End
   Begin VB.TextBox txtLog 
      Height          =   6195
      Left            =   11820
      MultiLine       =   -1  'True
      ScrollBars      =   2  'Vertical
      TabIndex        =   52
      TabStop         =   0   'False
      Text            =   "frmLaserDistance.frx":0000
      Top             =   0
      Width           =   2355
   End
   Begin VB.Frame Frame4 
      Caption         =   "Control"
      Height          =   1035
      Left            =   0
      TabIndex        =   38
      Top             =   0
      Width           =   1995
      Begin VB.CommandButton cmdWriteToXLS 
         Caption         =   "xls"
         Height          =   315
         Left            =   1260
         TabIndex        =   3
         Top             =   660
         Width           =   435
      End
      Begin VB.CommandButton cmdStart 
         Caption         =   "Start"
         Height          =   315
         Left            =   780
         TabIndex        =   1
         Top             =   240
         Width           =   495
      End
      Begin VB.Timer tmrMain 
         Enabled         =   0   'False
         Interval        =   250
         Left            =   1500
         Top             =   180
      End
      Begin VB.CommandButton cmdDoFrame 
         Caption         =   "Frame"
         Height          =   315
         Left            =   120
         TabIndex        =   0
         Top             =   240
         Width           =   615
      End
      Begin MSComDlg.CommonDialog dlgWriteFile 
         Left            =   1320
         Top             =   120
         _ExtentX        =   847
         _ExtentY        =   847
         _Version        =   393216
      End
      Begin VB.CommandButton cmdWriteToTXT 
         Caption         =   "text"
         Height          =   315
         Left            =   600
         TabIndex        =   2
         Top             =   660
         Width           =   435
      End
      Begin VB.Label Label2 
         Caption         =   "Write"
         Height          =   195
         Left            =   120
         TabIndex        =   101
         Top             =   720
         Width           =   555
      End
   End
   Begin VB.Frame Frame3 
      Caption         =   "Test Area"
      Height          =   1455
      Left            =   9780
      TabIndex        =   33
      Top             =   0
      Width           =   1995
      Begin VB.CommandButton cmdStep 
         Caption         =   "Step"
         Height          =   315
         Left            =   660
         TabIndex        =   94
         Top             =   240
         Width           =   495
      End
      Begin VB.CommandButton cmdStepStart 
         Caption         =   "Start"
         Height          =   315
         Left            =   120
         TabIndex        =   93
         Top             =   240
         Width           =   495
      End
      Begin VB.Timer tmrStep 
         Enabled         =   0   'False
         Interval        =   1
         Left            =   1500
         Top             =   180
      End
      Begin VB.TextBox txtCurColor 
         Height          =   315
         Left            =   480
         Locked          =   -1  'True
         TabIndex        =   35
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   960
         Width           =   735
      End
      Begin VB.TextBox txtCurPosition 
         Height          =   315
         Left            =   480
         Locked          =   -1  'True
         TabIndex        =   34
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   600
         Width           =   735
      End
      Begin VB.Shape shpColor3 
         BorderColor     =   &H00FFFFFF&
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   2
         Left            =   1500
         Top             =   900
         Width           =   135
      End
      Begin VB.Shape shpColor5 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   2
         Left            =   1500
         Top             =   1140
         Width           =   135
      End
      Begin VB.Shape shpColor5 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   4
         Left            =   1740
         Top             =   1140
         Width           =   135
      End
      Begin VB.Shape shpColor5 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   3
         Left            =   1620
         Top             =   1140
         Width           =   135
      End
      Begin VB.Shape shpColor5 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   1
         Left            =   1380
         Top             =   1140
         Width           =   135
      End
      Begin VB.Shape shpColor5 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   0
         Left            =   1260
         Top             =   1140
         Width           =   135
      End
      Begin VB.Shape shpColor4 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   4
         Left            =   1740
         Top             =   1020
         Width           =   135
      End
      Begin VB.Shape shpColor4 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   3
         Left            =   1620
         Top             =   1020
         Width           =   135
      End
      Begin VB.Shape shpColor4 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   2
         Left            =   1500
         Top             =   1020
         Width           =   135
      End
      Begin VB.Shape shpColor4 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   0
         Left            =   1260
         Top             =   1020
         Width           =   135
      End
      Begin VB.Shape shpColor3 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   4
         Left            =   1740
         Top             =   900
         Width           =   135
      End
      Begin VB.Shape shpColor4 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   1
         Left            =   1380
         Top             =   1020
         Width           =   135
      End
      Begin VB.Shape shpColor3 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   3
         Left            =   1620
         Top             =   900
         Width           =   135
      End
      Begin VB.Shape shpColor3 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   1
         Left            =   1380
         Top             =   900
         Width           =   135
      End
      Begin VB.Shape shpColor3 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   0
         Left            =   1260
         Top             =   900
         Width           =   135
      End
      Begin VB.Shape shpColor2 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   4
         Left            =   1740
         Top             =   780
         Width           =   135
      End
      Begin VB.Shape shpColor2 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   3
         Left            =   1620
         Top             =   780
         Width           =   135
      End
      Begin VB.Label Label18 
         Caption         =   "RGB"
         Height          =   195
         Left            =   60
         TabIndex        =   37
         Top             =   1020
         Width           =   615
      End
      Begin VB.Label Label19 
         Caption         =   "Pos"
         Height          =   195
         Left            =   60
         TabIndex        =   36
         Top             =   660
         Width           =   615
      End
      Begin VB.Shape shpColor1 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   0
         Left            =   1260
         Top             =   660
         Width           =   135
      End
      Begin VB.Shape shpColor1 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   1
         Left            =   1380
         Top             =   660
         Width           =   135
      End
      Begin VB.Shape shpColor1 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   3
         Left            =   1620
         Top             =   660
         Width           =   135
      End
      Begin VB.Shape shpColor2 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   1
         Left            =   1380
         Top             =   780
         Width           =   135
      End
      Begin VB.Shape shpColor1 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   4
         Left            =   1740
         Top             =   660
         Width           =   135
      End
      Begin VB.Shape shpColor1 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   2
         Left            =   1500
         Top             =   660
         Width           =   135
      End
      Begin VB.Shape shpColor2 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   0
         Left            =   1260
         Top             =   780
         Width           =   135
      End
      Begin VB.Shape shpColor2 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   135
         Index           =   2
         Left            =   1500
         Top             =   780
         Width           =   135
      End
   End
   Begin VB.Frame Frame2 
      Caption         =   "Calculations"
      Height          =   3615
      Left            =   0
      TabIndex        =   17
      Top             =   3600
      Width           =   1995
      Begin VB.TextBox txtAngleA 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   86
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   1440
         Width           =   615
      End
      Begin VB.TextBox txtAngleB 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   85
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   1740
         Width           =   615
      End
      Begin VB.TextBox txtAngleD 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   84
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   2040
         Width           =   615
      End
      Begin VB.TextBox txtDistanceCE 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   65
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   2940
         Width           =   615
      End
      Begin VB.TextBox txtDistanceDE 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   64
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   3240
         Width           =   615
      End
      Begin VB.TextBox txtDistanceBD 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   61
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   2640
         Width           =   615
      End
      Begin VB.TextBox txtLaserYaw 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   22
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   180
         Width           =   615
      End
      Begin VB.TextBox txtScanYaw 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   21
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   780
         Width           =   615
      End
      Begin VB.TextBox txtScanPitch 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   20
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   1080
         Width           =   615
      End
      Begin VB.TextBox txtLaserPitch 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   19
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   480
         Width           =   615
      End
      Begin VB.TextBox txtDistanceCD 
         Height          =   285
         Left            =   1140
         Locked          =   -1  'True
         TabIndex        =   18
         TabStop         =   0   'False
         Text            =   "-1"
         Top             =   2340
         Width           =   615
      End
      Begin VB.Label Label61 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1800
         TabIndex        =   92
         Top             =   1380
         Width           =   255
      End
      Begin VB.Label Label60 
         BackStyle       =   0  'Transparent
         Caption         =   "Angle A"
         Height          =   195
         Left            =   60
         TabIndex        =   91
         Top             =   1500
         Width           =   975
      End
      Begin VB.Label Label59 
         BackStyle       =   0  'Transparent
         Caption         =   "Angle B"
         Height          =   195
         Left            =   60
         TabIndex        =   90
         Top             =   1800
         Width           =   975
      End
      Begin VB.Label Label58 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1800
         TabIndex        =   89
         Top             =   1680
         Width           =   255
      End
      Begin VB.Label Label57 
         BackStyle       =   0  'Transparent
         Caption         =   "Angle D"
         Height          =   195
         Left            =   60
         TabIndex        =   88
         Top             =   2100
         Width           =   975
      End
      Begin VB.Label Label56 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1800
         TabIndex        =   87
         Top             =   1980
         Width           =   255
      End
      Begin VB.Label Label48 
         BackStyle       =   0  'Transparent
         Caption         =   """"
         Height          =   195
         Left            =   1800
         TabIndex        =   69
         Top             =   3000
         Width           =   255
      End
      Begin VB.Label Label47 
         BackStyle       =   0  'Transparent
         Caption         =   "Distance CE"
         Height          =   195
         Left            =   60
         TabIndex        =   68
         Top             =   3000
         Width           =   975
      End
      Begin VB.Label Label46 
         BackStyle       =   0  'Transparent
         Caption         =   "Distance DE"
         Height          =   195
         Left            =   60
         TabIndex        =   67
         Top             =   3300
         Width           =   975
      End
      Begin VB.Label Label45 
         BackStyle       =   0  'Transparent
         Caption         =   """"
         Height          =   195
         Left            =   1800
         TabIndex        =   66
         Top             =   3300
         Width           =   255
      End
      Begin VB.Label Label44 
         BackStyle       =   0  'Transparent
         Caption         =   """"
         Height          =   195
         Left            =   1800
         TabIndex        =   63
         Top             =   2700
         Width           =   255
      End
      Begin VB.Label Label43 
         BackStyle       =   0  'Transparent
         Caption         =   "Distance BD"
         Height          =   195
         Left            =   60
         TabIndex        =   62
         Top             =   2700
         Width           =   975
      End
      Begin VB.Label Label15 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1800
         TabIndex        =   32
         Top             =   120
         Width           =   255
      End
      Begin VB.Label Label4 
         BackStyle       =   0  'Transparent
         Caption         =   "Laser Yaw"
         Height          =   195
         Left            =   60
         TabIndex        =   31
         Top             =   240
         Width           =   1095
      End
      Begin VB.Label Label7 
         BackStyle       =   0  'Transparent
         Caption         =   "Scan Yaw"
         Height          =   195
         Left            =   60
         TabIndex        =   30
         Top             =   840
         Width           =   975
      End
      Begin VB.Label Label8 
         BackStyle       =   0  'Transparent
         Caption         =   "Scan Pitch"
         Height          =   195
         Left            =   60
         TabIndex        =   29
         Top             =   1140
         Width           =   975
      End
      Begin VB.Label Label10 
         BackStyle       =   0  'Transparent
         Caption         =   "Laser Pitch"
         Height          =   195
         Left            =   60
         TabIndex        =   28
         Top             =   540
         Width           =   1095
      End
      Begin VB.Label lbldistance 
         BackStyle       =   0  'Transparent
         Caption         =   "Distance CD"
         Height          =   195
         Left            =   60
         TabIndex        =   27
         Top             =   2400
         Width           =   975
      End
      Begin VB.Label Label11 
         BackStyle       =   0  'Transparent
         Caption         =   """"
         Height          =   195
         Left            =   1800
         TabIndex        =   26
         Top             =   2400
         Width           =   255
      End
      Begin VB.Label Label12 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1800
         TabIndex        =   25
         Top             =   1020
         Width           =   255
      End
      Begin VB.Label Label13 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1800
         TabIndex        =   24
         Top             =   720
         Width           =   255
      End
      Begin VB.Label Label14 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1800
         TabIndex        =   23
         Top             =   420
         Width           =   255
      End
   End
   Begin VB.Frame Frame1 
      Caption         =   "Constants"
      Height          =   1455
      Left            =   2040
      TabIndex        =   12
      Top             =   0
      Width           =   6255
      Begin VB.TextBox txtCameraPitchOffset 
         Height          =   285
         Left            =   1440
         TabIndex        =   10
         TabStop         =   0   'False
         Text            =   "0"
         Top             =   720
         Width           =   495
      End
      Begin VB.TextBox txtCameraPitch 
         Height          =   285
         Left            =   1440
         TabIndex        =   9
         TabStop         =   0   'False
         Text            =   "16.5"
         Top             =   420
         Width           =   495
      End
      Begin VB.TextBox txtCameraYaw 
         Height          =   285
         Left            =   900
         TabIndex        =   7
         TabStop         =   0   'False
         Text            =   "22.0"
         Top             =   420
         Width           =   495
      End
      Begin VB.TextBox txtCameraYawOffset 
         Height          =   285
         Left            =   900
         TabIndex        =   8
         TabStop         =   0   'False
         Text            =   "68.0"
         Top             =   720
         Width           =   495
      End
      Begin VB.TextBox txtDistAB 
         Height          =   285
         Left            =   900
         TabIndex        =   11
         TabStop         =   0   'False
         Text            =   "54.5"
         Top             =   1020
         Width           =   615
      End
      Begin VB.Line Line16 
         BorderColor     =   &H00000080&
         X1              =   3180
         X2              =   3120
         Y1              =   840
         Y2              =   1140
      End
      Begin VB.Line Line15 
         BorderColor     =   &H0000FFFF&
         BorderStyle     =   3  'Dot
         X1              =   2640
         X2              =   2220
         Y1              =   540
         Y2              =   1140
      End
      Begin VB.Label Label42 
         BackStyle       =   0  'Transparent
         Caption         =   "_"
         Height          =   195
         Left            =   5100
         TabIndex        =   60
         Top             =   660
         Width           =   255
      End
      Begin VB.Label Label41 
         BackStyle       =   0  'Transparent
         Caption         =   "+"
         Height          =   195
         Left            =   5100
         TabIndex        =   59
         Top             =   540
         Width           =   255
      End
      Begin VB.Label Label17 
         BackStyle       =   0  'Transparent
         Caption         =   "E"
         ForeColor       =   &H0000FFFF&
         Height          =   195
         Left            =   4920
         TabIndex        =   58
         Top             =   1140
         Width           =   255
      End
      Begin VB.Label Label36 
         BackStyle       =   0  'Transparent
         Caption         =   "=Example"
         ForeColor       =   &H0000FFFF&
         Height          =   195
         Left            =   5400
         TabIndex        =   57
         Top             =   1200
         Width           =   915
      End
      Begin VB.Label Label35 
         BackStyle       =   0  'Transparent
         Caption         =   "=Camera"
         ForeColor       =   &H00000080&
         Height          =   195
         Left            =   5400
         TabIndex        =   56
         Top             =   1020
         Width           =   795
      End
      Begin VB.Label Label34 
         BackStyle       =   0  'Transparent
         Caption         =   "C"
         ForeColor       =   &H0000FFFF&
         Height          =   195
         Left            =   4920
         TabIndex        =   55
         Top             =   540
         Width           =   255
      End
      Begin VB.Line Line14 
         BorderColor     =   &H0000FFFF&
         BorderStyle     =   3  'Dot
         X1              =   4920
         X2              =   4920
         Y1              =   720
         Y2              =   1140
      End
      Begin VB.Line Line13 
         BorderColor     =   &H0000FFFF&
         BorderStyle     =   3  'Dot
         X1              =   3960
         X2              =   4920
         Y1              =   720
         Y2              =   1140
      End
      Begin VB.Label Label33 
         BackStyle       =   0  'Transparent
         Caption         =   "C"
         ForeColor       =   &H0000FFFF&
         Height          =   195
         Left            =   2520
         TabIndex        =   54
         Top             =   420
         Width           =   255
      End
      Begin VB.Line Line12 
         BorderColor     =   &H0000FFFF&
         BorderStyle     =   3  'Dot
         X1              =   2640
         X2              =   2640
         Y1              =   540
         Y2              =   1140
      End
      Begin VB.Line Line11 
         BorderColor     =   &H0000FFFF&
         BorderStyle     =   3  'Dot
         X1              =   2640
         X2              =   3480
         Y1              =   540
         Y2              =   1140
      End
      Begin VB.Label Label22 
         BackStyle       =   0  'Transparent
         Caption         =   "D"
         ForeColor       =   &H0000FFFF&
         Height          =   195
         Left            =   2580
         TabIndex        =   53
         Top             =   1140
         Width           =   255
      End
      Begin VB.Label Label32 
         BackStyle       =   0  'Transparent
         Caption         =   "Side (Pitch)"
         BeginProperty Font 
            Name            =   "MS Sans Serif"
            Size            =   8.25
            Charset         =   0
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         ForeColor       =   &H00FFFFFF&
         Height          =   195
         Left            =   4020
         TabIndex        =   51
         Top             =   180
         Width           =   1035
      End
      Begin VB.Line Line10 
         X1              =   3960
         X2              =   3960
         Y1              =   1260
         Y2              =   240
      End
      Begin VB.Line Line9 
         BorderColor     =   &H00000080&
         X1              =   3960
         X2              =   5100
         Y1              =   720
         Y2              =   1020
      End
      Begin VB.Line Line8 
         BorderColor     =   &H00000080&
         BorderStyle     =   3  'Dot
         X1              =   3960
         X2              =   4560
         Y1              =   720
         Y2              =   1260
      End
      Begin VB.Line Line7 
         BorderColor     =   &H00000080&
         BorderStyle     =   3  'Dot
         X1              =   5100
         X2              =   3960
         Y1              =   540
         Y2              =   720
      End
      Begin VB.Label Label31 
         BackStyle       =   0  'Transparent
         Caption         =   "Angle"
         ForeColor       =   &H00000080&
         Height          =   195
         Left            =   4320
         TabIndex        =   50
         Top             =   900
         Width           =   495
      End
      Begin VB.Label Label30 
         BackStyle       =   0  'Transparent
         Caption         =   "Offset"
         ForeColor       =   &H00000080&
         Height          =   195
         Left            =   4620
         TabIndex        =   49
         Top             =   720
         Width           =   555
      End
      Begin VB.Line Line6 
         BorderStyle     =   3  'Dot
         X1              =   3960
         X2              =   5100
         Y1              =   720
         Y2              =   720
      End
      Begin VB.Label Label29 
         BackStyle       =   0  'Transparent
         Caption         =   "D"
         ForeColor       =   &H0000FFFF&
         Height          =   195
         Left            =   3840
         TabIndex        =   48
         Top             =   660
         Width           =   255
      End
      Begin VB.Label Label16 
         BackStyle       =   0  'Transparent
         Caption         =   "Top (Yaw)"
         BeginProperty Font 
            Name            =   "MS Sans Serif"
            Size            =   8.25
            Charset         =   0
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         ForeColor       =   &H00FFFFFF&
         Height          =   195
         Left            =   2100
         TabIndex        =   47
         Top             =   180
         Width           =   975
      End
      Begin VB.Label Label28 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "Pitch"
         Height          =   195
         Left            =   1440
         TabIndex        =   46
         Top             =   180
         Width           =   495
      End
      Begin VB.Label Label27 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1920
         TabIndex        =   45
         Top             =   660
         Width           =   255
      End
      Begin VB.Label Label26 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   1920
         TabIndex        =   44
         Top             =   360
         Width           =   255
      End
      Begin VB.Label Label25 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "Yaw"
         Height          =   195
         Left            =   900
         TabIndex        =   43
         Top             =   180
         Width           =   495
      End
      Begin VB.Label Label24 
         BackStyle       =   0  'Transparent
         Caption         =   "A"
         Height          =   195
         Left            =   2100
         TabIndex        =   42
         Top             =   1140
         Width           =   255
      End
      Begin VB.Label Label1 
         BackStyle       =   0  'Transparent
         Caption         =   "B"
         Height          =   195
         Left            =   3480
         TabIndex        =   41
         Top             =   1140
         Width           =   255
      End
      Begin VB.Line Line5 
         BorderStyle     =   3  'Dot
         X1              =   3480
         X2              =   3480
         Y1              =   1140
         Y2              =   180
      End
      Begin VB.Label Label21 
         BackStyle       =   0  'Transparent
         Caption         =   "Offset"
         ForeColor       =   &H00000080&
         Height          =   195
         Left            =   2700
         TabIndex        =   40
         Top             =   900
         Width           =   555
      End
      Begin VB.Label Label20 
         BackStyle       =   0  'Transparent
         Caption         =   "Angle"
         ForeColor       =   &H00000080&
         Height          =   195
         Left            =   2820
         TabIndex        =   39
         Top             =   360
         Width           =   495
      End
      Begin VB.Line Line4 
         BorderColor     =   &H00000080&
         BorderStyle     =   3  'Dot
         X1              =   3060
         X2              =   3480
         Y1              =   180
         Y2              =   1140
      End
      Begin VB.Line Line3 
         BorderColor     =   &H00000080&
         BorderStyle     =   3  'Dot
         X1              =   2460
         X2              =   3480
         Y1              =   660
         Y2              =   1140
      End
      Begin VB.Line Line2 
         BorderColor     =   &H00000080&
         X1              =   2760
         X2              =   3480
         Y1              =   420
         Y2              =   1140
      End
      Begin VB.Line Line1 
         X1              =   2220
         X2              =   3480
         Y1              =   1140
         Y2              =   1140
      End
      Begin VB.Label Label9 
         BackStyle       =   0  'Transparent
         Caption         =   "Cam Angle"
         Height          =   195
         Left            =   60
         TabIndex        =   16
         Top             =   480
         Width           =   975
      End
      Begin VB.Label Label3 
         BackStyle       =   0  'Transparent
         Caption         =   "Cam Offset"
         Height          =   195
         Left            =   60
         TabIndex        =   15
         Top             =   780
         Width           =   1035
      End
      Begin VB.Label Label5 
         BackStyle       =   0  'Transparent
         Caption         =   "Dist AB"
         Height          =   195
         Left            =   60
         TabIndex        =   14
         Top             =   1080
         Width           =   1035
      End
      Begin VB.Label Label6 
         BackStyle       =   0  'Transparent
         Caption         =   """"
         Height          =   195
         Left            =   1500
         TabIndex        =   13
         Top             =   1020
         Width           =   255
      End
   End
End
Attribute VB_Name = "frmMain"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Option Explicit
Private Declare Function GetTickCount Lib "kernel32" () As Long
Private Declare Function Inp Lib "inpout32.dll" Alias "Inp32" (ByVal PortAddress As Integer) As Integer
Private Declare Sub Out Lib "inpout32.dll" Alias "Out32" (ByVal PortAddress As Integer, ByVal Value As Integer)
Private Type pixang  ' store one per pixel
   angle_B As Double ' in degrees
   angle_D As Double ' in degrees
   dist_BD As Double ' x offset in the same units as dist_between
   dist_CE As Double ' y offset
   dist_DE As Double ' distance
   created As Double ' time that the data was entered
End Type

Const base_port = &H378 ' base port for outputting.  LPT1 = 0x378
Const red_pct = 0.5 ' 0.7=30% more red than B and G

Dim ra_pix() As pixang ' array with all the angles/distances
Dim pa As BCHPicArray.clsPicArray ' array to store the bitmap in for processing, loads it from the imgInput picture
Dim lp_val As Byte   ' current value read off the sensor (not adjusted)
Dim lp_angle As Double ' current angle calculated from lp_val
Dim lp_out As Byte   ' current value being written to parallel port
Dim cur_x As Integer ' current x position for image scanning using "step"
Dim cur_y As Integer ' "" y
Dim no_ui As Boolean ' set to true to not do any displaying




Private Sub cmdStart_Click()
' main routine, generally this will run full time
   If (tmrMain.Enabled = True) Then
      tmrMain.Enabled = False
      cmdStart.Caption = "Start"
   Else
      tmrMain.Enabled = True
      cmdStart.Caption = "Stop"
   End If
End Sub


Private Sub tmrMain_Timer()
   cmdDoFrame_Click
End Sub

Private Sub cmdDoFrame_Click()
   Dim X As Integer, Y As Integer
   Dim y_start, y_end ' don't scan entire 4:3 image
  
   no_ui = True
   txtLog.Text = ""
   
'   Dim time_start
'   time_start = GetTickCount
   
   cmdLaserStep_Click ' move laser
   cmdLPGet_Click ' update laser position
   cmdCapCapture_Click ' get the image
   cmdVisDraw_Click
   
   y_start = imgInput.ScaleHeight * 0.2 ' ignore first 20%
   y_end = imgInput.ScaleHeight * 0.8 ' ignore last 20%
   For Y = y_start To y_end - y_start
      For X = 0 To imgInput.ScaleWidth - 1
         doPixel X, Y, pa
      Next X
   Next Y
   no_ui = False
   
'   MsgBox GetTickCount - time_start
End Sub



' video capture
Private Sub cmdCapCapture_Click()
   On Error Resume Next
   Call ezVidCap1.SaveDIB("current.bmp")
   If Err Then
       MsgBox Err.Description, vbInformation, App.Title
   End If
   imgInput.Picture = LoadPicture("current.bmp") ' a kludge, but ezvidcap can't load directly into picturebox...
   pa.LoadPicArray imgInput.Picture ' load the bitmap from the picture into the buffer
End Sub

Private Sub doPixel(X As Integer, Y As Integer, pa As BCHPicArray.clsPicArray)
   If Not no_ui Then
      linePos.X2 = X - shpPos.Width / 2
      linePos.Y2 = Y - shpPos.Height / 2
      shpPos.Left = linePos.X2
      shpPos.Top = linePos.Y2
      txtCurPosition.Text = X & "x" & Y
   End If
      
' 2) determine colors
   Dim color As Long
'   color = 0 ' 281ms
'   color = imgInput.Point(x, y) ' 2844ms
'   color = GetPixel(imgInput.hdc, x, y) ' 2688ms
   color = pa.ReadPixel(X, imgInput.ScaleHeight - Y) ' 610ms
  
  
   If Not no_ui Then
      Dim r As Byte, g As Byte, b As Byte
      
      r = color And &HFF
      g = (color \ 256) And &HFF
      b = (color \ 65536) And &HFF
      txtCurColor.Text = PadHex(r) & "" & PadHex(g) & "" & PadHex(b)
      
      shpColor1(0).FillColor = fixcolor(imgInput.Point(X - 2, Y - 2))
      shpColor1(1).FillColor = fixcolor(imgInput.Point(X - 1, Y - 2))
      shpColor1(2).FillColor = fixcolor(imgInput.Point(X + 0, Y - 2))
      shpColor1(3).FillColor = fixcolor(imgInput.Point(X + 1, Y - 2))
      shpColor1(4).FillColor = fixcolor(imgInput.Point(X + 2, Y - 2))
      
      shpColor2(0).FillColor = fixcolor(imgInput.Point(X - 2, Y - 1))
      shpColor2(1).FillColor = fixcolor(imgInput.Point(X - 1, Y - 1))
      shpColor2(2).FillColor = fixcolor(imgInput.Point(X + 0, Y - 1))
      shpColor2(3).FillColor = fixcolor(imgInput.Point(X + 1, Y - 1))
      shpColor2(4).FillColor = fixcolor(imgInput.Point(X + 2, Y - 1))
         
      shpColor3(0).FillColor = fixcolor(imgInput.Point(X - 2, Y))
      shpColor3(1).FillColor = fixcolor(imgInput.Point(X - 1, Y))
      shpColor3(2).FillColor = fixcolor(imgInput.Point(X + 0, Y))
      shpColor3(3).FillColor = fixcolor(imgInput.Point(X + 1, Y))
      shpColor3(4).FillColor = fixcolor(imgInput.Point(X + 2, Y))
      
      shpColor4(0).FillColor = fixcolor(imgInput.Point(X - 2, Y + 1))
      shpColor4(1).FillColor = fixcolor(imgInput.Point(X - 1, Y + 1))
      shpColor4(2).FillColor = fixcolor(imgInput.Point(X + 0, Y + 1))
      shpColor4(3).FillColor = fixcolor(imgInput.Point(X + 1, Y + 1))
      shpColor4(4).FillColor = fixcolor(imgInput.Point(X + 2, Y + 1))
      
      shpColor5(0).FillColor = fixcolor(imgInput.Point(X - 2, Y + 2))
      shpColor5(1).FillColor = fixcolor(imgInput.Point(X - 1, Y + 2))
      shpColor5(2).FillColor = fixcolor(imgInput.Point(X + 0, Y + 2))
      shpColor5(3).FillColor = fixcolor(imgInput.Point(X + 1, Y + 2))
      shpColor5(4).FillColor = fixcolor(imgInput.Point(X + 2, Y + 2))
   End If
   
   
   
   ' 3) determine if the laser is there, that's the intersect
'   If (color = 0) Then ' 406ms
   If (((color And &HFF) * red_pct) > ((color \ 256) And &HFF) And ((color And &HFF) * red_pct) > ((color \ 65536) And &HFF)) Then ' 531ms
   ' if lots more red than any other color, then assume the laser is there.
      ' 4) calculate angles
      Dim dist_MC As Double
      Dim angle_A As Double, angle_A2 As Double, angle_B As Double, angle_B2 As Double, angle_C As Double, angle_C2 As Double, angle_D As Double
      Dim dist_AC As Double, dist_AB As Double, dist_BD As Double, dist_CA As Double, dist_BC As Double
      Dim dist_CD As Double, dist_AD As Double, dist_CE As Double, dist_DE As Double
      
      txtLaserYaw.Text = lp_angle
      txtScanYaw.Text = (X / imgInput.ScaleWidth) * (txtCameraYaw.Text * 2) - (txtCameraYaw.Text)
      txtScanPitch.Text = -((Y / imgInput.ScaleHeight) * (txtCameraPitch.Text * 2) - (txtCameraPitch.Text))
      
      angle_A = txtLaserYaw.Text
      angle_B = val(txtCameraYawOffset.Text) + val(txtScanYaw.Text)
      angle_D = val(txtCameraPitchOffset.Text) + val(txtScanPitch.Text)
      
      txtAngleA.Text = angle_A
      txtAngleB.Text = angle_B
      txtAngleD.Text = angle_D
      
      
      ' find: distance, yaw, pitch
      ' 1) find dist_CD and dist_BD
      If (angle_A <= 90 And angle_B <= 90) Then
         dist_AC = (txtDistAB.Text * Sin(Radians(angle_B))) / Sin(Radians(180 - angle_A - angle_B))
         dist_CD = dist_AC * Sin(Radians(angle_A))
         dist_AD = dist_AC * Cos(Radians(angle_A))
         dist_BD = dist_AB - dist_AD
      ElseIf (angle_A > 90) Then
         angle_A2 = 90 - angle_A
         angle_C = 180 - angle_A - angle_B
         angle_C2 = 90 - angle_C
         
         dist_AC = -1 ' ?
         dist_CD = dist_CA * Sin(Radians(angle_A2))
         dist_AD = -dist_CA * Sin(Radians(angle_C2))
         dist_BD = dist_AB - dist_AD
      ElseIf (angle_B > 90) Then
         angle_B2 = 90 - angle_B
         angle_C = 180 - angle_A - angle_B
         angle_C2 = 90 - angle_C
         
         dist_BC = -1 ' ?
         dist_CD = dist_BC * Sin(Radians(angle_B2))
         dist_BD = dist_BC * Sin(Radians(angle_C2))
'         dist_AD = dist_AB - dist_BD
      Else
         dist_CD = val("-1")
         dist_BD = val("-1")
      End If

      txtDistanceCD.Text = dist_CD
      txtDistanceBD.Text = dist_BD


      ' 2) find CE and DE
      If (dist_CD > -1 And dist_BD > -1) Then ' if first calcs were valid
         dist_DE = dist_CD * Cos(Radians(angle_D))
         dist_CE = dist_CD * Sin(Radians(angle_D))
      Else
         dist_CE = "-1"
         dist_DE = "-1"
      End If
      
      txtDistanceCE.Text = dist_CE
      txtDistanceDE.Text = dist_DE
         
      Dim pos As Double
      pos = Y * imgInput.ScaleWidth + X
      ra_pix(pos).angle_B = angle_B
      ra_pix(pos).angle_D = angle_D
      ra_pix(pos).dist_BD = dist_BD
      ra_pix(pos).dist_CE = dist_CE
      ra_pix(pos).dist_DE = dist_DE
      ra_pix(pos).created = GetTickCount
      txtLog.Text = "hit (" & X & ", " & Y & ") d=" & Mid(dist_CD, 1, 5) & vbNewLine & txtLog.Text
'MsgBox "hit" ' temp delay

   End If
End Sub



Private Sub cmdCapPreview_Click() ' utility/debug
   ezVidCap1.Preview = Not ezVidCap1.Preview
End Sub

Private Sub cmdStepStart_Click() ' utility/debug
   If no_ui Then
      no_ui = False
      linePos.Visible = True
      shpPos.Visible = True
      lineAlign1.Visible = True
      lineAlign2.Visible = True
      LineAlign3.Visible = True
      LineAlign4.Visible = True
   End If
   If (tmrStep.Enabled = True) Then
      tmrStep.Enabled = False
      cmdStepStart.Caption = "Start"
   Else
      tmrStep.Enabled = True
      cmdStepStart.Caption = "Stop"
   End If
End Sub

Private Sub tmrStep_Timer() ' utility/debug
   cmdStep_Click
End Sub

Private Sub cmdStep_Click() ' utility/debug
' change the scanning area
   If (cur_x + 1 > imgInput.ScaleWidth - 1) Then ' overrun right
      cur_x = 0
      If (cur_y + 1 > imgInput.ScaleHeight) Then ' overrun bottom
         cur_y = 0
      Else
         cur_y = cur_y + 1
      End If
   Else
      cur_x = cur_x + 1
   End If
   
   doPixel cur_x, cur_y, pa
End Sub









' Start: Laser Position

' 13 12 11 10 ... 2 1 (wider)
'   25 24 ... 15 14

'Pin Name     Dir    Reg [(I) = Inverted]
' 1  nStrobe  Out    C0(I) # 0-Black  laser yaw d0
' 2  Data0    In/Out D0    # 1-White  laser pitch pulse
' 3  Data1    In/Out D1    # 1-Blue   laser pitch direction
' 4  Data2    In/Out D2    #
' 5  Data3    In/Out D3    #
' 6  Data4    In/Out D4    #
' 7  Data5    In/Out D5    #
' 8  Data6    In/Out D6    #
' 9  Data7    In/Out D7    #
' 10 nAck     In     S6    # 1-Orange laser yaw d6
' 11 Busy     In     S7(I) # 1-Green  laser yaw d7
' 12 PaperOut In     S5    # 0-White  laser yaw d5
' 13 Select   In     S4    # 0-Blue   laser yaw d4
' 14 Linefeed Out    C1(I) # 0-Red    laser yaw d1
' 15 nError   In     S3    # 0-Green  laser yaw d3
' 16 nInit    Out    C2    # 0-Orange laser yaw d2
' 17 nSelect  Out    C3 (Inverted) (use 15)
' 18-25    Ground        # 1-Black, 1-Red (reserved)

' lpt1 base = 0x378; lpt2=0x278
' data = +0
' status = +1
' control = +2

'    7  6  5  4  3  2  1  0
' +0 x  x  x  x  x  x  x  x
' +1 x! x  x  x  x
' +2             x! x  x! x!

' input: 8 bits for laser position sensor
' output: laser direction, laser step

Private Sub cmdLPGet_Click()
   Dim val1, val2, val3 As String
   val1 = Inp(base_port + &H1)
   val2 = Inp(base_port + &H2)
   
   val1 = val1 And &HF8 ' 1111 1000
   val2 = val2 And &H7  ' 0000 0111
   
   val3 = Binary(val1 Or val2)
   If Mid(val3, 1, 1) = "0" Then
      Mid(val3, 1, 1) = "1"
   Else
      Mid(val3, 1, 1) = "0"
   End If
   If Mid(val3, 7, 1) = "0" Then
      Mid(val3, 7, 1) = "1"
   Else
      Mid(val3, 7, 1) = "0"
   End If
   If Mid(val3, 8, 1) = "0" Then
      Mid(val3, 8, 1) = "1"
   Else
      Mid(val3, 8, 1) = "0"
   End If
         
   lp_val = FromBinary(val3)
   ' finished tweaking read value
'   txtLog.Text = GetTickCount & ":" & val3 & vbNewLine & txtLog.Text ' debug
   
   
   Dim dist_a, dist_b, dist_c, angle_A As Double
   
   'lp_val = 200
' angle = -45+percent
   Dim range As Double, pct
   range = txtLPPos45.Text - txtLPNeg45.Text
   pct = 1 - ((lp_val - txtLPNeg45) / range)
   
   If range > 0 Then ' prevent divide by zero errors
      lp_angle = 45 + 90 * pct
   Else
      lp_angle = 0
   End If

   If Not no_ui Then
      txtLPVal.Text = lp_val
      txtLPAngle.Text = lp_angle
      
'      If lp_angle > 90 Then
         dist_c = lineLP_XAxisPos.X2 - lineLP_XAxisPos.X1
         dist_a = dist_c * Sin(Radians(lp_angle))
         dist_b = dist_c * Cos(Radians(lp_angle))
'      End If
   
      lineLP.X2 = lineLP.X1 + dist_b
      lineLP.Y2 = lineLP.Y1 - dist_a
   End If
End Sub

Private Sub cmdLPTareNeg45_Click()
   txtLPNeg45.Text = lp_val
End Sub

Private Sub cmdLPTarePos45_Click()
   txtLPPos45.Text = lp_val
End Sub

Private Sub cmdLaserStep_Click()
   ' D0 = Laser Pitch Pulse
   ' D1 = Laser Pitch Direction
   
   lp_out = lp_out And &HFE& ' 1111 1110
   If (lp_angle > 90) Then ' makeclockwise
      lp_out = lp_out Or &H2& ' 0000 0010
   ElseIf (lp_angle < 45) Then ' make counterclockwise
      lp_out = lp_out And &HFD& ' 1111 1101
   End If
   Out base_port, lp_out ' second part of pulse
   
   tmrLaserStep.Enabled = True
End Sub
Private Sub tmrLaserStep_Timer()
   tmrLaserStep.Enabled = False
   
   lp_out = lp_out Or &H1&  ' 0000 0001
   Out base_port, lp_out ' pulse the step line
End Sub



Private Sub cmdLPStart_Click() ' start/stop laser position automatic updates ' utility/debug
   If cmdLPStart.Caption = "Start" Then
      tmrLP.Enabled = True
      cmdLPStart.Caption = "Stop"
   Else
      tmrLP.Enabled = False
      cmdLPStart.Caption = "Start"
   End If
End Sub
Private Sub tmrLP_Timer() ' utility/debug
   cmdLPGet_Click
End Sub


'Private Sub cmdLaserToggle_Click() ' debug
'   If cmdLaserToggle.Caption = "Toggle 1" Then
'      lp_out = lp_out Or &H1&  ' 0000 0001
'      Out base_port, lp_out
'      cmdLaserToggle.Caption = "Toggle 0"
'
'      If (txtLaserCurDirection.Text = "Clockwise") Then
'         ' clockwise
'         lp_out = lp_out Or &H2& ' 0000 0010
'         Out base_port, lp_out
'         txtLaserCurSteps.Text = txtLaserCurSteps.Text + 1
'      Else
'         ' counterclockwise
'         lp_out = lp_out And &HFD& ' 1111 1101
'         Out base_port, lp_out
'         txtLaserCurSteps.Text = txtLaserCurSteps.Text - 1
'      End If
'      If (Val(txtLaserCurSteps.Text) >= Val(txtLaserStepsPer45.Text)) Then
'         txtLaserCurDirection.Text = "CounterClockwise"
'      ElseIf (Val(txtLaserCurSteps.Text) < 0) Then
'         txtLaserCurDirection.Text = "Clockwise"
'      End If
'
'      txtLaserCurAngle.Text = (txtLaserStepsPer45 / 45) * txtLaserCurSteps.Text
'   Else
'      lp_out = lp_out And &HFE& ' 1111 1110
'      Out base_port, lp_out
'      cmdLaserToggle.Caption = "Toggle 1"
'   End If
'End Sub

' End: Laser Position








' file I/O
Private Sub cmdWriteToTXT_Click()
   dlgWriteFile.DefaultExt = "txt"
   dlgWriteFile.Filter = "Text Files (*.txt)|*.txt|All Files (*.*)|*.*"
   dlgWriteFile.ShowSave
   If dlgWriteFile.FileName <> "" Then
      Open dlgWriteFile.FileName For Output As #1
      Print #1, "#angle_B|angle_D|dist_BD|dist_CE|dist_DE|created"
      Print #1, ":created=" & GetTickCount & " # created are ms relative to this"
      
      Dim X As Double, Y As Double
      Dim pix As pixang
      For X = 0 To imgInput.ScaleWidth - 1
         For Y = 0 To imgInput.ScaleHeight - 1
            pix = ra_pix(Y * (imgInput.ScaleWidth - 1) + X)
            If (pix.created > 0) Then
               Print #1, Mid(pix.angle_B, 1, 7) & "|" & Mid(pix.angle_D, 1, 7) & "|" & Mid(pix.dist_BD, 1, 7) & "|" & Mid(pix.dist_CE, 1, 7) & "|" & Mid(pix.dist_DE, 1, 7) & "|" & pix.created
            End If
         Next
      Next
      Close #1
   End If
End Sub

Private Sub cmdWriteToXLS_Click()
'   dlgWriteFile.DefaultExt = "xls"
'   dlgWriteFile.Filter = "Excel Files (*.xls)|*.xls|All Files (*.*)|*.*"
'   dlgWriteFile.ShowSave
'   If dlgWriteFile.FileName <> "" Then
'      Open dlgWriteFile.FileName For Output As #1
'      Print #1, "<table>"
      
' 1) check if anything is in that column
'      Dim cur_col As Integer
'      Dim ra_cols(0 To imgInput.ScaleWidth - 1) As Long ' angle_b
'      For x = 0 To imgInput.ScaleWidth - 1
'         For y = 0 To imgInput.ScaleHeight - 1
'            pix = ra_pix(y * (imgInput.ScaleWidth - 1) + x)
'            If (pix.created > 0) Then
'               ra_cols(cur_col) = Mid(pix.angle_B, 1, 7)
'               cur_col = cur_col + 1
'               Exit For ' should go to next x
'            End If
'         Next
'      Next

' 2) check if anything is in that row
'      Dim ra_rows(0 To imgInput.ScaleHeight - 1) As Long ' angle_d

' 3) show
      
'      Dim x As Double, y As Double
'      Dim pix As pixang
'      Print #1, "<tr><th></th>"
'      For x = 0 To imgInput.ScaleWidth - 1 Step 2 ' print header row
'         Print #1, "<th>" & Mid(pix.angle_B, 1, 7) & "</th>"
'      Next
'      Print #1, "</tr>"
'
'      For x = 0 To imgInput.ScaleWidth - 1 Step 2
'         Print #1, vbNewLine & "<tr><td>" & Mid(pix.angle_D, 1, 7) & "</td>"
'         For y = 0 To imgInput.ScaleHeight - 1
'            pix = ra_pix(y * (imgInput.ScaleWidth - 1) + x)
'            Print #1, "<td>" & Mid(pix.dist_BD, 1, 7) & "</td>"
'         Next
'         Print #1, "</tr>"
'      Next
'      Print #1, "</table>"
'      Print
'      Close #1
'   End If
End Sub

Private Sub cmdVisDraw_Click()
   Dim X, Y, orig_x, orig_y, count, multiplier
   Dim pix As pixang
   
   orig_x = (lineOrigX.X2 - lineOrigX.X1) / 2 + lineOrigX.X1
   orig_y = (lineOrigX.Y2 - lineOrigX.Y1) / 2 + lineOrigX.Y1
   multiplier = Abs((lineOrigX.Y2 - lineOrigX.Y1) / 100)
   
   For count = lineVis.LBound To lineVis.UBound
      lineVis(count).Visible = False
   Next
   count = 0
   For X = 0 To imgInput.ScaleWidth - 1
      For Y = 0 To imgInput.ScaleHeight - 1
         pix = ra_pix(Y * (imgInput.ScaleWidth - 1) + X)
         If (pix.created > 0) Then
            count = count + 1
            If (count > lineVis.UBound) Then
               Load lineVis(lineVis.UBound + 1)
            End If
            
            With lineVis(count)
               .X2 = orig_x - pix.dist_BD * multiplier
               .Y2 = orig_y + pix.dist_CE * multiplier
               ' todo: calculate in distance
               .Visible = True
            End With
         End If
      Next
   Next
End Sub













' general maintenance stuff
Private Sub Form_Load()
   Set pa = New clsPicArray ' initialize picture array
   no_ui = False
   ezVidCap1.Preview = True ' has to be on to do SaveDIB
   
   ' load the video capture driver options
   Dim i
   If ezVidCap1.NumCapDevs > 0 Then
       For i = 0 To ezVidCap1.NumCapDevs - 1
           cmbDevice.AddItem (ezVidCap1.GetDriverName(i))
       Next
       cmbDevice.ListIndex = ezVidCap1.DriverIndex
   Else
       cmbDevice.AddItem ("<none>")
       cmbDevice.ListIndex = 0
       MsgBox "No Video Capture Device!", vbInformation, App.Title
   End If
   cmbDevice.ListIndex = GetSetting("LaserDistance", "Settings", "DeviceIndex", cmbDevice.ListIndex)
   
   txtCameraYaw.Text = GetSetting("LaserDistance", "Settings", "CameraYaw", "-1")
   txtCameraYawOffset.Text = GetSetting("LaserDistance", "Settings", "CameraYawOffset", "-1")
   txtCameraPitch.Text = GetSetting("LaserDistance", "Settings", "CameraPitch", "-1")
   txtCameraPitchOffset.Text = GetSetting("LaserDistance", "Settings", "CameraPitchOffset", "0")
   txtDistAB.Text = GetSetting("LaserDistance", "Settings", "DistAB", "-1")
   txtLPNeg45.Text = GetSetting("LaserDistance", "Settings", "LPNeg45", txtLPNeg45.Text)
   txtLPPos45.Text = GetSetting("LaserDistance", "Settings", "LPPos45", txtLPPos45.Text)
   
'   Out base_port + 2, &H10 ' 0001 0000
   txtLaserPitch.Text = 0
   cur_y = 106
End Sub
Private Sub imgInput_Resize()
   ReDim ra_pix(0 To (imgInput.ScaleWidth) * (imgInput.ScaleHeight)) As pixang
   
   lineAlign1.X1 = 0 ' cross
   lineAlign1.Y1 = 0
   lineAlign1.X2 = imgInput.ScaleWidth
   lineAlign1.Y2 = imgInput.ScaleHeight
   
   lineAlign2.X1 = 0 ' cross
   lineAlign2.Y1 = imgInput.ScaleHeight
   lineAlign2.X2 = imgInput.ScaleWidth
   lineAlign2.Y2 = 0

   LineAlign3.X1 = 0 ' horiz
   LineAlign3.Y1 = imgInput.ScaleHeight / 2
   LineAlign3.X2 = imgInput.ScaleWidth
   LineAlign3.Y2 = imgInput.ScaleHeight / 2

   LineAlign4.X1 = imgInput.ScaleWidth / 2
   LineAlign4.Y1 = 0 ' vert
   LineAlign4.X2 = imgInput.ScaleWidth / 2
   LineAlign4.Y2 = imgInput.ScaleHeight

   If no_ui Then
      linePos.Visible = False
      shpPos.Visible = False
      lineAlign1.Visible = False
      lineAlign2.Visible = False
      LineAlign3.Visible = False
      LineAlign4.Visible = False
   End If
End Sub





' save settings and stuff
Private Sub txtCameraYaw_Change()
   SaveSetting "LaserDistance", "Settings", "CameraYaw", txtCameraYaw.Text
End Sub
Private Sub txtCameraYawOffset_Change()
   SaveSetting "LaserDistance", "Settings", "CameraYawOffset", txtCameraYawOffset.Text
End Sub
Private Sub txtCameraPitch_Change()
   SaveSetting "LaserDistance", "Settings", "CameraPitch", txtCameraPitch.Text
End Sub
Private Sub txtCameraPitchOffset_Change()
   SaveSetting "LaserDistance", "Settings", "CameraPitchOffset", txtCameraPitchOffset.Text
End Sub
Private Sub txtDistAB_Change()
   SaveSetting "LaserDistance", "Settings", "DistAB", txtDistAB.Text
End Sub
Private Sub txtLPNeg45_Change()
   SaveSetting "LaserDistance", "Settings", "LPNeg45", txtLPNeg45.Text
End Sub
Private Sub txtLPPos45_Change()
   SaveSetting "LaserDistance", "Settings", "LPPos45", txtLPPos45.Text
End Sub
Private Sub cmbDevice_Change()
   Dim oldDriver As Long
   oldDriver = ezVidCap1.DriverIndex
   
   On Error Resume Next
   ezVidCap1.DriverIndex = cmbDevice.ListIndex
   If Err Then 'restore old settings
      ezVidCap1.DriverIndex = oldDriver
      cmbDevice.ListIndex = oldDriver
   Else
      SaveSetting "LaserDistance", "Settings", "DeviceIndex", cmbDevice.ListIndex
   End If
End Sub




' generic functions
Function Radians(Degrees As Double)
   Radians = Degrees * (3.141592654 / 180)
End Function

Function Degrees(Radians As Double)
   Degrees = Radians * (180 / 3.141592654)
End Function

Function PadHex(Value As Variant, Optional length As Integer = 2) As String
   ' returns a 0 padded hex value
   PadHex = Hex(Value)
   Do While (Len(PadHex) < length)
      PadHex = "0" & PadHex
   Loop
End Function

Function fixcolor(color As Double) As Double
   If (color = -1 Or color > val("&hffffff")) Then
      fixcolor = val("&hFF00F6") ' todo: fix this
   Else
      fixcolor = color
   End If
End Function
Private Function Binary(val)
   Dim cur
   
   Binary = ""
   cur = val
   
   If cur >= 2 ^ 7 Then
      Binary = Binary & "1"
      cur = cur - 2 ^ 7
   Else
      Binary = Binary & "0"
   End If
   If cur >= 2 ^ 6 Then
      Binary = Binary & "1"
      cur = cur - 2 ^ 6
   Else
      Binary = Binary & "0"
   End If
   If cur >= 2 ^ 5 Then
      Binary = Binary & "1"
      cur = cur - 2 ^ 5
   Else
      Binary = Binary & "0"
   End If
   If cur >= 2 ^ 4 Then
      Binary = Binary & "1"
      cur = cur - 2 ^ 4
   Else
      Binary = Binary & "0"
   End If
   If cur >= 2 ^ 3 Then
      Binary = Binary & "1"
      cur = cur - 2 ^ 3
   Else
      Binary = Binary & "0"
   End If
   If cur >= 2 ^ 2 Then
      Binary = Binary & "1"
      cur = cur - 2 ^ 2
   Else
      Binary = Binary & "0"
   End If
   If cur >= 2 ^ 1 Then
      Binary = Binary & "1"
      cur = cur - 2 ^ 1
   Else
      Binary = Binary & "0"
   End If
   
   If cur >= 1 Then
      Binary = Binary & "1"
   Else
      Binary = Binary & "0"
   End If
End Function


Public Function FromBinary(val As String) As Byte
   FromBinary = 0
   If Mid(val, Len(val) - 0, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 0
   End If
   If Mid(val, Len(val) - 1, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 1
   End If
   If Mid(val, Len(val) - 2, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 2
   End If
   If Mid(val, Len(val) - 3, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 3
   End If
   If Mid(val, Len(val) - 4, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 4
   End If
   If Mid(val, Len(val) - 5, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 5
   End If
   If Mid(val, Len(val) - 6, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 6
   End If
   If Mid(val, Len(val) - 7, 1) = "1" Then
      FromBinary = FromBinary + 2 ^ 7
   End If
End Function