private void MotorListen()
{
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node1, 0, ref spd1);
//if (rc == 0)
//{
txtspeed1.Text = spd1.ToString();
//}
//Torque
rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node1, 0, ref toe1);
//if (rc == 0)
//{
// //扭矩是千分比
double toe = (double)toe1 / 1000 * ServoMaxTorq;
txtTorque1.Text = toe.ToString();
if (toe > ServoMaxTorq)
{
txtTorque1.BackColor = Color.Red;
}
else
{
txtTorque1.BackColor = Color.White;
}
//}
motorTorque1.Add(toe);
motorRpm1.Add(spd1 / 10);
}
private void showMotorState()
{
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node1, 0, ref cmd1);
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node2, 0, ref cmd2);
//Command
if (rc == 0)
{
txtcommand1.Text = cmd1.ToString();
txtcommand2.Text = cmd2.ToString();
}
//Feedback
rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, node1, 0, ref pos1);
rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, node2, 0, ref pos2);
if (rc == 0)
{
txtfeedback1.Text = pos1.ToString();
txtfeedback2.Text = pos2.ToString();
}
//Speed
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node1, 0, ref spd1);
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node2, 0, ref spd2);
if (rc == 0)
{
txtspeed1.Text = spd1.ToString();
txtspeed2.Text = spd2.ToString();
}
//Torque
rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node1, 0, ref toe1);
rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node2, 0, ref toe2);
if (rc == 0)
{
//扭矩是千分比
txtTorque1.Text = ((double)toe1 / 1000 * 7.16).ToString();
txtTorque2.Text = ((double)toe2 / 1000 * 7.16).ToString();
}
//err
rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, node1, 0, ref err1);
rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, node1, 0, ref err2);
if (rc == 0)
{
txtERR1.Text = err1.ToString();
txtERR2.Text = err2.ToString();
}
}
