Introduction to C# and Fuzzy Logic

��using System;

using System.Drawing;

using System.Collections;

using System.ComponentModel;

using System.Windows.Forms;

using System.Data;

using System.IO;



namespace WindowsApplication3

{

	

	public class Form1 : System.Windows.Forms.Form

	{

		private System.Int32 zerobutton;

		private System.String pathprog;

		private System.String pathformbackground1;

		private System.String pathformbackground2;

		private System.String pathCraneHelp;

		private System.Double pos_small;

		private System.Double zerodis;

		private System.Double close;

		private System.Double zero;

		private System.Double neg_small;

		private System.Double neg_big;

		private System.Double medium;

		private System.Double far;

		private System.Double neg_medium_pow;

		private System.Double zero_pow;

		private System.Double pos_medium_pow;

		private System.Double pos_high_pow;

		private System.String system;

		private System.Int32 id;

		private System.Double angle;

		private System.Double distance;

		private System.Double power;

		private System.Double pow;

		private System.Double x;

		private System.Double dis;

		private System.Double fx;

		private System.Drawing.Pen grayPen;

		private System.Drawing.SolidBrush grayBrush;

		private System.Drawing.SolidBrush yellowBrush;

		private System.Drawing.Pen blackPen;

		private System.Drawing.Graphics formGraphics;

		private System.Drawing.SolidBrush blackBrush;

		private System.Windows.Forms.Timer timer1;

		private System.Windows.Forms.Label label1;

		private System.Windows.Forms.Label label2;

		private System.Windows.Forms.Label label3;

		private System.Windows.Forms.Button button1;

		private System.Windows.Forms.Button button2;

		private System.Windows.Forms.Button button3;

		private System.Windows.Forms.Button button5;

		private System.Windows.Forms.Button button4;

		private System.Windows.Forms.Label label4;

		private System.Windows.Forms.Label label5;

		private System.Windows.Forms.Label label6;

		private System.Windows.Forms.Button button6;

		private System.Windows.Forms.Button button7;

		private System.Windows.Forms.Button button8;

		private System.Windows.Forms.Button button9;

		private System.Windows.Forms.Button button10;

		private System.Windows.Forms.Button button11;

		private System.ComponentModel.IContainer components;



		public Form1()

		{

			//

			// Required for Windows Form Designer support

			//

			InitializeComponent();

	

			pathprog=System.Environment.CurrentDirectory.ToString();

			pathprog=pathprog.Substring(0,pathprog.Length-9);

			pathformbackground1=pathprog+"formbackground1.bmp";

			this.BackgroundImage=System.Drawing.Image.FromFile(pathformbackground1);

			pathformbackground2=pathprog+"formbackground2.bmp";

			pathCraneHelp=pathprog+"CraneHelp.chm";

		

			dis=21.84;

			x=0;

		

			neg_medium_pow=-6.75;

			zero_pow=0;

			pos_medium_pow=25;

			pos_high_pow=30;



			

			formGraphics=this.CreateGraphics();

			yellowBrush = new SolidBrush(Color.Yellow);

			blackPen = new Pen(Color.Black);

			blackPen.Width=1;

			grayPen=new Pen(Color.Gray);

			grayPen.Width=1;

			grayBrush=new SolidBrush(Color.Gray);

			blackBrush = new SolidBrush(Color.Black);

			

			id=0;

			angle=0;

			distance=0;

			system="Manual";

			power=0;

			pow=0;



			zerobutton=0;

		}



		protected override void Dispose( bool disposing )

		{

			if( disposing )

			{

				if (components != null) 

				{

					components.Dispose();

				}

			}

			base.Dispose( disposing );

		}



		#region Windows Form Designer generated code

		/// <summary>

		/// Required method for Designer support - do not modify

		/// the contents of this method with the code editor.

		/// </summary>

		private void InitializeComponent()

		{

			this.components = new System.ComponentModel.Container();

			this.timer1 = new System.Windows.Forms.Timer(this.components);

			this.label1 = new System.Windows.Forms.Label();

			this.label2 = new System.Windows.Forms.Label();

			this.label3 = new System.Windows.Forms.Label();

			this.button1 = new System.Windows.Forms.Button();

			this.button2 = new System.Windows.Forms.Button();

			this.button3 = new System.Windows.Forms.Button();

			this.button5 = new System.Windows.Forms.Button();

			this.button4 = new System.Windows.Forms.Button();

			this.label4 = new System.Windows.Forms.Label();

			this.label5 = new System.Windows.Forms.Label();

			this.label6 = new System.Windows.Forms.Label();

			this.button6 = new System.Windows.Forms.Button();

			this.button7 = new System.Windows.Forms.Button();

			this.button8 = new System.Windows.Forms.Button();

			this.button9 = new System.Windows.Forms.Button();

			this.button10 = new System.Windows.Forms.Button();

			this.button11 = new System.Windows.Forms.Button();

			this.SuspendLayout();

			// 

			// timer1

			// 

			this.timer1.Interval = 215;

			this.timer1.Tick += new System.EventHandler(this.timer1_Tick);

			// 

			// label1

			// 

			this.label1.BackColor = System.Drawing.Color.White;

			this.label1.Enabled = false;

			this.label1.Location = new System.Drawing.Point(272, 280);

			this.label1.Name = "label1";

			this.label1.Size = new System.Drawing.Size(64, 23);

			this.label1.TabIndex = 0;

			this.label1.Text = "0.00";

			this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;

			// 

			// label2

			// 

			this.label2.BackColor = System.Drawing.Color.White;

			this.label2.Enabled = false;

			this.label2.Location = new System.Drawing.Point(272, 304);

			this.label2.Name = "label2";

			this.label2.Size = new System.Drawing.Size(64, 23);

			this.label2.TabIndex = 1;

			this.label2.Text = "21.84";

			this.label2.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;

			// 

			// label3

			// 

			this.label3.BackColor = System.Drawing.Color.White;

			this.label3.Enabled = false;

			this.label3.Location = new System.Drawing.Point(272, 328);

			this.label3.Name = "label3";

			this.label3.Size = new System.Drawing.Size(64, 23);

			this.label3.TabIndex = 2;

			this.label3.Text = "0.00";

			this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;

			// 

			// button1

			// 

			this.button1.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.button1.Location = new System.Drawing.Point(560, 32);

			this.button1.Name = "button1";

			this.button1.Size = new System.Drawing.Size(64, 23);

			this.button1.TabIndex = 3;

			this.button1.Text = "&Manual";

			this.button1.Click += new System.EventHandler(this.button1_Click);

			// 

			// button2

			// 

			this.button2.Enabled = false;

			this.button2.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.button2.Location = new System.Drawing.Point(568, 64);

			this.button2.Name = "button2";

			this.button2.Size = new System.Drawing.Size(16, 23);

			this.button2.TabIndex = 4;

			this.button2.Text = "+";

			this.button2.Click += new System.EventHandler(this.button2_Click);

			// 

			// button3

			// 

			this.button3.Enabled = false;

			this.button3.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.button3.Location = new System.Drawing.Point(600, 64);

			this.button3.Name = "button3";

			this.button3.Size = new System.Drawing.Size(16, 23);

			this.button3.TabIndex = 5;

			this.button3.Text = "-";

			this.button3.Click += new System.EventHandler(this.button3_Click);

			// 

			// button5

			// 

			this.button5.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.button5.Location = new System.Drawing.Point(560, 96);

			this.button5.Name = "button5";

			this.button5.Size = new System.Drawing.Size(64, 23);

			this.button5.TabIndex = 7;

			this.button5.Text = "R&eset";

			this.button5.Click += new System.EventHandler(this.button5_Click);

			// 

			// button4

			// 

			this.button4.Enabled = false;

			this.button4.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.button4.Location = new System.Drawing.Point(584, 64);

			this.button4.Name = "button4";

			this.button4.Size = new System.Drawing.Size(16, 23);

			this.button4.TabIndex = 8;

			this.button4.Text = "0";

			this.button4.Click += new System.EventHandler(this.button4_Click);

			// 

			// label4

			// 

			this.label4.BackColor = System.Drawing.Color.Gray;

			this.label4.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.label4.Location = new System.Drawing.Point(176, 280);

			this.label4.Name = "label4";

			this.label4.Size = new System.Drawing.Size(88, 23);

			this.label4.TabIndex = 9;

			this.label4.Text = "Angle : Degree";

			this.label4.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;

			// 

			// label5

			// 

			this.label5.BackColor = System.Drawing.Color.Gray;

			this.label5.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.label5.Location = new System.Drawing.Point(176, 304);

			this.label5.Name = "label5";

			this.label5.Size = new System.Drawing.Size(88, 23);

			this.label5.TabIndex = 10;

			this.label5.Text = "Distance : Yard";

			this.label5.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;

			// 

			// label6

			// 

			this.label6.BackColor = System.Drawing.Color.Gray;

			this.label6.Font = new System.Drawing.Font("Times New Roman", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.label6.Location = new System.Drawing.Point(176, 328);

			this.label6.Name = "label6";

			this.label6.Size = new System.Drawing.Size(88, 23);

			this.label6.TabIndex = 11;

			this.label6.Text = "Power : KW";

			this.label6.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;

			// 

			// button6

			// 

			this.button6.Enabled = false;

			this.button6.Font = new System.Drawing.Font("Times New Roman", 9.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.button6.Location = new System.Drawing.Point(560, 128);

			this.button6.Name = "button6";

			this.button6.Size = new System.Drawing.Size(64, 23);

			this.button6.TabIndex = 12;

			this.button6.Text = "&Stop";

			this.button6.Click += new System.EventHandler(this.button6_Click);

			// 

			// button7

			// 

			this.button7.Location = new System.Drawing.Point(560, 160);

			this.button7.Name = "button7";

			this.button7.Size = new System.Drawing.Size(64, 23);

			this.button7.TabIndex = 13;

			this.button7.Text = "&Fuzzy";

			this.button7.Click += new System.EventHandler(this.button7_Click);

			// 

			// button8

			// 

			this.button8.Enabled = false;

			this.button8.Location = new System.Drawing.Point(560, 192);

			this.button8.Name = "button8";

			this.button8.Size = new System.Drawing.Size(64, 23);

			this.button8.TabIndex = 14;

			this.button8.Text = "S&tep";

			this.button8.Click += new System.EventHandler(this.button8_Click);

			// 

			// button9

			// 

			this.button9.Location = new System.Drawing.Point(560, 224);

			this.button9.Name = "button9";

			this.button9.Size = new System.Drawing.Size(64, 23);

			this.button9.TabIndex = 15;

			this.button9.Text = "&About";

			this.button9.Click += new System.EventHandler(this.button9_Click);

			// 

			// button10

			// 

			this.button10.Location = new System.Drawing.Point(560, 256);

			this.button10.Name = "button10";

			this.button10.Size = new System.Drawing.Size(64, 23);

			this.button10.TabIndex = 16;

			this.button10.Text = "E&xit";

			this.button10.Click += new System.EventHandler(this.button10_Click);

			// 

			// button11

			// 

			this.button11.Location = new System.Drawing.Point(560, 288);

			this.button11.Name = "button11";

			this.button11.Size = new System.Drawing.Size(64, 23);

			this.button11.TabIndex = 17;

			this.button11.Text = "&Help";

			this.button11.Click += new System.EventHandler(this.button11_Click);

			// 

			// Form1

			// 

			this.AutoScaleBaseSize = new System.Drawing.Size(6, 15);

			this.ClientSize = new System.Drawing.Size(632, 373);

			this.Controls.Add(this.button11);

			this.Controls.Add(this.button10);

			this.Controls.Add(this.button9);

			this.Controls.Add(this.button8);

			this.Controls.Add(this.button7);

			this.Controls.Add(this.button6);

			this.Controls.Add(this.label6);

			this.Controls.Add(this.label5);

			this.Controls.Add(this.label4);

			this.Controls.Add(this.button4);

			this.Controls.Add(this.button5);

			this.Controls.Add(this.button3);

			this.Controls.Add(this.button2);

			this.Controls.Add(this.button1);

			this.Controls.Add(this.label3);

			this.Controls.Add(this.label2);

			this.Controls.Add(this.label1);

			this.Font = new System.Drawing.Font("Times New Roman", 9.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((System.Byte)(0)));

			this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;

			this.MaximizeBox = false;

			this.Name = "Form1";

			this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;

			this.Text = "Crane Controller";

			this.ResumeLayout(false);



		}

		#endregion



		[STAThread]

		static void Main() 

		{

			Application.Run(new Form1());

		}	



		//Start timer in Manual Controlling

		private void button1_Click(object sender, System.EventArgs e)

		{

			this.system="Manual";

			if(System.String.Equals(this.button1.Text,"&Manual"))power=0;

			this.timer1.Enabled=true;

			this.button1.Enabled=false;

			this.button7.Enabled=false;

			if(power<54)

				this.button2.Enabled=true;

			else

				this.button2.Enabled=false;

			if(power>-54)

				this.button3.Enabled=true;

			else

				this.button3.Enabled=false;

			this.button4.Enabled=true;

			this.button6.Enabled=true;

			this.button9.Enabled=false;

			this.button11.Enabled=false;

		}



		//timer1_Tick

		private void timer1_Tick(object sender, System.EventArgs e)

		{

				if(id>0)

				{

					// Fuzzy function

					if(System.String.Equals(system,"Fuzzy"))power=fuzzy();

					fx=52+Math.Round((21.84-Convert.ToDouble(distance))/0.0678,2);

					cleanlastimage();

			

				}

				//Simulator functions

				distance=Math.Round(sim1(),2);

				angle=sim2();



				//Time interval

				this.timer1.Interval=215-Math.Abs(Convert.ToInt32(power));

				

				this.label1.Text=angle.ToString();

				this.label2.Text=Convert.ToString(distance);

				this.label3.Text=power.ToString();

				fx=52+Math.Round((21.84-distance)/0.0678,2);

				

				//Incorrect action of crane operator damaged the container

				if(System.String.Equals(system,"Manual")&&((fx<=15)||(fx>=460)))

				{

					this.BackgroundImage=System.Drawing.Image.FromFile(pathformbackground2);

					this.timer1.Enabled=false;

					this.button2.Enabled=false;

					this.button3.Enabled=false;

					this.button4.Enabled=false;

					this.button6.Enabled=false;

				}

			

					drawnewimage();

				

					++id;

		}

		

		//Simulator function to produce variable distance

		public double sim1()

		{

				if(System.String.Equals(system,"Fuzzy")&&((power==0)&&(dis>0)))power=0.5;

				if(System.String.Equals(system,"Manual")&&(zerobutton==1))

					x=Math.Round(0.25*1000*power/this.timer1.Interval/this.timer1.Interval,2);

				else

					x=Math.Round(0.5*1000*power/this.timer1.Interval/this.timer1.Interval,2);

				dis=dis-x;

				return dis;

			

		}



		//Simulator function to produce variable angle

		public double sim2()

		{

			if(System.String.Equals(system,"Manual")==true)

			{

				if(zerobutton==1)

				{

					if(power>=pow)

					{

						if(power<=Convert.ToInt32(-pow/3))

							power=power+3;

						else

							pow=Convert.ToInt32(power);

					}



					if(power<=pow)

					{

						if(power>=Convert.ToInt32(-pow/3))

							power=power-3;

						else

							pow=Convert.ToInt32(power);

					}

					

				

		

					if((Math.Abs(Convert.ToInt32(pow))-3)==0)

					{

						power=0;

						

					

						pow=0;

						zerobutton=0;

					}

				}

			}

				return Math.Round(Convert.ToDouble(Math.Asin(-Math.Round(0.5*1000*power/this.timer1.Interval/this.timer1.Interval,2)/101)*180/Math.PI*100),0);

		}

	

		//Fuzzy function to produce optimized power

		public double fuzzy()

		{

			//Fuzzification of variables , distance and angle

			if((angle<0)&&(angle>=-90))

				pos_small=0;

			else if((angle<10)&&(angle>=0))

				pos_small=(0.1*angle);

			else if((angle<60)&&(angle>=10))

				pos_small=(-0.02*angle+1.2);

			else if((angle<=90)&&(angle>=60))

				pos_small=0;



			if((distance<-5)&&(distance>=-10))

				zerodis=0;

			else if((distance<0)&&(distance>=-5))

				zerodis=(0.2*distance+1);

			else if((distance<5)&&(distance>=0))

				zerodis=(-0.2*distance+1);

			else if((distance<=30)&&(distance>=5))

				zerodis=0;

	

			if((distance<0)&&(distance>=-10))

				close=0;

			else if((distance<5)&&(distance>=0))

				close=(0.2*distance);

			else if((distance<10)&&(distance>=5))

				close=(0.2*distance+2);

			else if((distance<=30)&&(distance>=10))

				close=0;



			if((angle>=-90)&&(angle<-10))

				zero=0;

			else if((angle<0)&&(angle>=-10))

				zero=(0.1*angle+1);

			else if((angle<10)&&(angle>=0))

				zero=(-0.1*angle+1);

			else if((angle<=90)&&(angle>=10))

				zero=0;

	

			if((angle<-60)&&(angle>=-90))

				neg_small=0;

			else if((angle<-10)&&(angle>=-60))

				neg_small=(0.02*angle+1.2);

			else if((angle<0)&&(angle>=-10))

				neg_small=(-0.1*angle);

			else if((angle<=90)&&(angle>=0))

				neg_small=0;



			if((angle<-60)&&(angle>=-90))

				neg_big=1;

			else if((angle>=-60)&&(angle<-10))

				neg_big=(-0.02*angle-0.2);

			else if((angle>=-10)&&(angle<=90))

				neg_big=0;



			if((distance<5)&&(distance>=-10))

				medium=0;

			else if((distance<10)&&(distance>=5))

				medium=(0.2*distance-1);

			else if((distance<22)&&(distance>=10))

				medium=((-1/12)*distance+(11/6));

			else if((distance<=30)&&(distance>=22))

				medium=0;

		

			if((distance<10)&&(distance>=-10))

				far=0;

			else if((distance<22)&&(distance>=10))

				far=((1/12)*distance-(5/6));

			else if((distance<=30)&&(distance>=22))

				far=1;

	

			//Defuzzification of variable , power

			return System.Math.Round(System.Math.Max(System.Math.Min(pos_small,zerodis),System.Math.Min(pos_small,close))*neg_medium_pow+System.Math.Max(System.Math.Min(zero,zerodis),System.Math.Min(zero,close))*zero_pow+System.Math.Max(System.Math.Max(System.Math.Min(neg_small,close),System.Math.Min(neg_big,medium)),System.Math.Min(zero,far))*pos_medium_pow+System.Math.Max(System.Math.Min(neg_small,medium),System.Math.Min(neg_small,far))*pos_high_pow,2);

	

		}

	

		//Increase crane motor power

		private void button2_Click(object sender, System.EventArgs e)

		{

			if(this.button3.Enabled==false)this.button3.Enabled=true;

			

			if(power<54)power=power+3;

			else this.button2.Enabled=false;

			this.button4.Enabled=true;

			zerobutton=0;

		}

		

		//Decrease crane motor power

		private void button3_Click(object sender, System.EventArgs e)

		{

			if(this.button2.Enabled==false)this.button2.Enabled=true;

		

			if(power>-54)power=power-3;

			else this.button3.Enabled=false;

			this.button4.Enabled=true;

			zerobutton=0;

		}



		//Reset and initialize the system  

		private void button5_Click(object sender, System.EventArgs e)

		{

			this.timer1.Enabled=false;

			this.label1.Text="0.00";

			this.label2.Text="21.84";

			this.label3.Text="0.00";

			this.BackgroundImage=System.Drawing.Image.FromFile(pathformbackground1);

			this.button1.Enabled=true;

			this.button1.Text="&Manual";

			this.button7.Enabled=true;

			this.button7.Text="&Fuzzy";

			this.button2.Enabled=false;

			this.button3.Enabled=false;

			this.button4.Enabled=false;

			this.button6.Enabled=false;

			this.button8.Enabled=false;

			this.button9.Enabled=true;

			this.button11.Enabled=true;

			dis=21.84;

			x=0;

			power=0;

			pow=0;

			id=0;

			angle=0;

			distance=0;

			system="Manual";

			zerobutton=0;

		}



		//Turn off the crane motor

		private void button4_Click(object sender, System.EventArgs e)

		{

			pow=power;

			

			if(power!=0)

			{

				

				if(this.button2.Enabled==false)

					this.button2.Enabled=true;

				if(this.button3.Enabled==false)

					this.button3.Enabled=true;

				zerobutton=1;

			}

		}



		//Stop the timer

		private void button6_Click(object sender, System.EventArgs e)

		{

			this.timer1.Enabled=false;

			this.button6.Enabled=false;

			if(System.String.Equals(system,"Manual")==true)

			{

				this.button1.Enabled=true;

				this.button1.Text="&Resume";

			}

			if(System.String.Equals(system,"Fuzzy")==true)

			{

				this.button7.Enabled=true;

				this.button7.Text="&Resume";

			}

			

			this.button4.Enabled=false;

			this.button2.Enabled=false;

			this.button3.Enabled=false;

			

		}



		//Start timer in Fuzzy Controlling

		private void button7_Click(object sender, System.EventArgs e)

		{

			this.system="Fuzzy";

			if(System.String.Equals(this.button7.Text,"&Fuzzy"))power=10;

			this.timer1.Enabled=true;

			this.button7.Enabled=false;

			this.button1.Enabled=false;

			this.button6.Enabled=true;

			this.button8.Enabled=true;

			this.button9.Enabled=false;

			this.button11.Enabled=false;

		}



		//Stop the timer and step forwarding

		private void button8_Click(object sender, System.EventArgs e)

		{

			this.timer1.Enabled=false;

			this.button6.Enabled=false;

			this.button7.Enabled=true;

			this.button7.Text="&Resume";

			

			fx=52+Math.Round((21.84-Convert.ToDouble(distance))/0.0678,2);

			cleanlastimage();

			power=fuzzy();

			distance=Math.Round(sim1(),2);

			angle=sim2();

			

			this.label1.Text=angle.ToString();

			this.label2.Text=Convert.ToString(distance);

			this.label3.Text=power.ToString();

			fx=52+Math.Round((21.84-distance)/0.0678,2);

			drawnewimage();

		

		}



		//About

		private void button9_Click(object sender, System.EventArgs e)

		{

			WindowsApplication3.Form2 About=new Form2();

			About.Show();

		}



		//Exit

		private void button10_Click(object sender, System.EventArgs e)

		{

			System.Windows.Forms.Application.Exit();

		}

	

		//Clean last image 

		public void cleanlastimage()

		{

			formGraphics.DrawRectangle(grayPen,Convert.ToSingle(fx),19,42,16);

			formGraphics.FillRectangle(grayBrush,Convert.ToSingle(fx),19,42,16);

			formGraphics.DrawRectangle(grayPen,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)-24),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),48,57);

			formGraphics.FillRectangle(grayBrush,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)-24),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),48,57);

			formGraphics.DrawLine(grayPen,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(fx)+5,44);

			formGraphics.DrawLine(grayPen,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(fx)+37,44);

		}

		

		//Draw new image

		public void drawnewimage()

		{



			formGraphics.DrawRectangle(blackPen,Convert.ToSingle(fx),19,42,16);

			formGraphics.FillRectangle(blackBrush,Convert.ToSingle(fx),19,42,16);

			formGraphics.DrawRectangle(blackPen,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)-24),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),48,57);

			formGraphics.FillRectangle(yellowBrush,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)-24),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),48,57);

			formGraphics.DrawLine(blackPen,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(fx)+5,44);

			formGraphics.DrawLine(blackPen,Convert.ToSingle(fx+21+101*Math.Round(Math.Sin(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(44+101*Math.Round(Math.Cos(Convert.ToDouble(angle)*Math.PI/180),2)),Convert.ToSingle(fx)+37,44);

		}

		//Show Help

		private void button11_Click(object sender, System.EventArgs e)

		{

			System.Windows.Forms.Help.ShowHelp(this,pathCraneHelp);

		}



		

	}

}