private void ReadValues()
{
try
{
numPositionMin.Value = _servo.ReadPositionMin();
numPositionMax.Value = _servo.ReadPositionMax();
numPosition.Value = _servo.ReadPosition();
numAccel.Value = _servo.ReadAcceleration();
numSpeedMax.Value = _servo.ReadSpeedMax();
numTorqueMax.Value = _servo.ReadTorqueMax();
trkPosition.Min = _servo.LastPositionMin;
trkPosition.Max = _servo.LastPositionMax;
trkPosition.SetValue(_servo.LastPosition, false);
//trkTrajectoryTarget.Min = _servo.LastPositionMin;
//trkTrajectoryTarget.Max = _servo.LastPositionMax;
//trkTrajectoryTarget.SetValue(_servo.LastPosition);
//trkTrajectorySpeed.SetValue(_servo.LastSpeedMax);
//trkTrajectoryAccel.SetValue(_servo.LastAcceleration);
gphMonitoringTorque.MinLimit = 0;
gphMonitoringTorque.MaxLimit = _servo.LastTorqueMax * 1.5;
gphMonitoringPos.MinLimit = _servo.LastPositionMin;
gphMonitoringPos.MaxLimit = _servo.LastPositionMax;
picConnection.Visible = true;
picConnection.Image = GoBot.Properties.Resources.ConnectionOk;
lblName.Text = NameFinder.GetName(_servo.ID);
grpControl.Enabled = true;
grpMonitoring.Enabled = true;
grpTrajectory.Enabled = true;
grpSettings.Enabled = true;
grpPositions.Enabled = true;
}
catch
{
picConnection.Visible = true;
picConnection.Image = GoBot.Properties.Resources.ConnectionNok;
lblName.Text = "Pas de connexion";
grpControl.Enabled = false;
grpMonitoring.Enabled = false;
grpTrajectory.Enabled = false;
grpSettings.Enabled = false;
grpPositions.Enabled = false;
}
}
public override String ToString()
{
return(robot + " tourne " + NameFinder.GetName(moteur) + " à " + NameFinder.GetName(vitesse, moteur));
}
public void SetActuator(ActuatorOnOffID actuator)
{
_actuator = actuator;
lblName.Text = NameFinder.GetName(actuator).Substring(0, 1).ToUpper() + NameFinder.GetName(actuator).Substring(1);
}
/// <summary>
/// Récupère le message explicite associé à une fonction du protocole.
/// Les paramètres sont signalés par des accolades indiquant la position dans la trame des octets correspondant à la valeur du paramètre.
/// Si les paramètres sont fournis, leur valeur remplacent les paramètres entre accolades.
/// </summary>
/// <param name="function"></param>
/// <param name="parameters"></param>
/// <returns></returns>
public static String GetMessage(UdpFrameFunction function, List <uint> parameters = null)
{
String output = "";
switch (function)
{
case UdpFrameFunction.DemandeTension:
output = "Demande tension";
break;
case UdpFrameFunction.RetourTension:
output = "Retour tension {0-1}V";
if (parameters != null)
{
output = ReplaceParam(output, (parameters[0] / 100f).ToString("0.00"));
}
break;
case UdpFrameFunction.DemandeLidar:
output = "Demande LIDAR";
break;
case UdpFrameFunction.ReponseLidar:
output = "Reponse LIDAR";
break;
case UdpFrameFunction.EnvoiUart2:
output = "Envoi UART2";
break;
case UdpFrameFunction.RetourUart2:
output = "Retour UART2";
break;
case UdpFrameFunction.DemandeValeursNumeriques:
output = "Demande valeurs des ports numériques";
break;
case UdpFrameFunction.RetourValeursNumeriques:
output = "Retour ports numériques : {0}_{1} / {2}_{3} / {4}_{5}";
if (parameters != null)
{
for (int i = 0; i < 6; i++)
{
output = ReplaceParam(output, Convert.ToString(parameters[i], 2).PadLeft(8, '0'));
}
}
break;
case UdpFrameFunction.Debug:
output = "Debug {0}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.TestConnexion:
output = "Test connexion";
break;
case UdpFrameFunction.DemandeCapteurOnOff:
output = "Demande capteur {0}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorOnOffID)parameters[0]));
}
break;
case UdpFrameFunction.RetourCapteurOnOff:
output = "Retour capteur {0} : {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorOnOffID)parameters[0]));
output = ReplaceParam(output, NameFinder.GetName(parameters[1] > 0));
}
break;
case UdpFrameFunction.DemandeValeursAnalogiques:
output = "Demande valeurs analogiques";
break;
case UdpFrameFunction.RetourValeursAnalogiques:
output = "Retour valeurs analogiques : {0}V / {1}V / {2}V / {3}V / {4}V / {5}V / {6}V / {7}V / {8}V";
if (parameters != null)
{
for (int i = 0; i < 8; i++)
{
output = ReplaceParam(output, (parameters[i] * 0.0008056640625).ToString("0.0000") + "V");
}
}
break;
case UdpFrameFunction.DemandeCapteurCouleur:
output = "Demande capteur couleur {0}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorColorID)parameters[0]));
}
break;
case UdpFrameFunction.RetourCapteurCouleur:
output = "Retour capteur couleur {0} : {1}-{2}-{3}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((SensorColorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString("000"));
output = ReplaceParam(output, parameters[2].ToString("000"));
output = ReplaceParam(output, parameters[3].ToString("000"));
}
break;
case UdpFrameFunction.DemandePositionCodeur:
output = "Demande position codeur {0}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((CodeurID)parameters[0]));
}
break;
case UdpFrameFunction.RetourPositionCodeur:
output = "Retour position codeur {0} : {1-2-3-4}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((CodeurID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.PilotageOnOff:
output = "Pilote actionneur on off {0} : {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((ActuatorOnOffID)parameters[0]));
output = ReplaceParam(output, NameFinder.GetName(parameters[1] > 0));
}
break;
case UdpFrameFunction.MoteurPosition:
output = "Pilote moteur {0} position {1-2}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.MoteurVitesse:
output = "Pilote moteur {0} vitesse {2-3} vers la {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, ((SensGD)parameters[2]).ToString().ToLower());
}
break;
case UdpFrameFunction.MoteurAccel:
output = "Pilote moteur {0} accélération {1-2}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.MoteurStop:
output = "Moteur {0} stoppé {1}";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
output = ReplaceParam(output, ((StopMode)parameters[1]).ToString());
}
break;
case UdpFrameFunction.MoteurOrigin:
output = "Envoi du moteur {0} à l'origine";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.MoteurResetPosition:
output = "Moteur {0} réintialisé à 0";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.MoteurFin:
output = "Moteur {0} arrivé à destination";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.MoteurBlocage:
output = "Moteur {0} bloqué";
if (parameters != null)
{
output = ReplaceParam(output, NameFinder.GetName((MotorID)parameters[0]));
}
break;
case UdpFrameFunction.Deplace:
output = "{0} sur {1-2} mm";
if (parameters != null)
{
output = ReplaceParam(output, (SensAR)parameters[0] == SensAR.Avant ? "Avance" : "Recule");
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.Pivot:
output = "Pivot {0} sur {1-2}°";
if (parameters != null)
{
output = ReplaceParam(output, ((SensGD)parameters[0]).ToString().ToLower());
output = ReplaceParam(output, (parameters[1] / 100.0).ToString());
}
break;
case UdpFrameFunction.Virage:
output = "Virage {0} {1} de {4-5}° sur un rayon de {2-3}mm";
if (parameters != null)
{
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
output = ReplaceParam(output, ((SensGD)parameters[1]).ToString().ToLower());
output = ReplaceParam(output, (parameters[2] / 100.0).ToString());
output = ReplaceParam(output, parameters[3].ToString());
}
break;
case UdpFrameFunction.Stop:
output = "Stop {0}";
if (parameters != null)
{
output = ReplaceParam(output, ((StopMode)parameters[0]).ToString().ToLower());
}
break;
case UdpFrameFunction.Recallage:
output = "Recallage {0}";
if (parameters != null)
{
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
}
break;
case UdpFrameFunction.TrajectoirePolaire:
output = "Trajectoire polaire {0} sur {1-2} points";
if (parameters != null)
{
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.FinRecallage:
output = "Fin de recallage";
break;
case UdpFrameFunction.FinDeplacement:
output = "Fin de déplacement";
break;
case UdpFrameFunction.Blocage:
output = "Blocage !!!";
break;
case UdpFrameFunction.AsserDemandePositionCodeurs:
output = "Demande position codeurs déplacement";
break;
case UdpFrameFunction.AsserRetourPositionCodeurs:
output = "Retour position codeurs déplacement : {0} valeurs";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserEnvoiConsigneBrutePosition:
output = "Envoi consigne brute : {1-2} pas en {0}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, ((SensAR)parameters[0]).ToString().ToLower());
}
break;
case UdpFrameFunction.DemandeChargeCPU_PWM:
output = "Demande charge CPU PWM";
break;
case UdpFrameFunction.RetourChargeCPU_PWM:
output = "Retour charge CPU PWM : {0} valeurs";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserIntervalleRetourPosition:
output = "Intervalle de retour de la position : {0}ms";
if (parameters != null)
{
output = ReplaceParam(output, (parameters[0] * 10).ToString());
}
break;
case UdpFrameFunction.AsserDemandePositionXYTeta:
output = "Demande position X Y Teta";
break;
case UdpFrameFunction.AsserRetourPositionXYTeta:
output = "Retour position X = {0-1}mm Y = {2-3}mm Teta = {4-5}°";
if (parameters != null)
{
output = ReplaceParam(output, (parameters[0] / 10.0).ToString());
output = ReplaceParam(output, (parameters[1] / 10.0).ToString());
output = ReplaceParam(output, (parameters[2] / 100.0).ToString());
}
break;
case UdpFrameFunction.AsserVitesseDeplacement:
output = "Vitesse ligne : {0-1}mm/s";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserAccelerationDeplacement:
output = "Accélération ligne : {0-1}mm/s² au début, {2-3}mm/s² à la fin";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserVitessePivot:
output = "Vitesse pivot : {0-1}mm/s";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserAccelerationPivot:
output = "Accélération pivot : {0-1}mm/s²";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.AsserPID:
output = "Asservissement P={0-1} I={2-3} D={4-5}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, parameters[2].ToString());
}
break;
case UdpFrameFunction.AsserEnvoiPositionAbsolue:
output = "Envoi position absolue : X={0-1}mm Y={2-3}mm Teta={4-5}°";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, (parameters[2] / 100.0).ToString());
}
break;
case UdpFrameFunction.AsserPIDCap:
output = "Asservissement cap P={0-1} I={2-3} D={4-5}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.AsserPIDVitesse:
output = "Asservissement vitesse P={0-1} I={2-3} D={4-5}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
output = ReplaceParam(output, parameters[1].ToString());
output = ReplaceParam(output, parameters[1].ToString());
}
break;
case UdpFrameFunction.EnvoiUart1:
output = "Envoi UART {0} caractères";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.RetourUart1:
output = "Réception UART {0} caractères";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
case UdpFrameFunction.EnvoiCAN:
output = "Envoi message CAN";
break;
case UdpFrameFunction.ReponseCAN:
output = "Reception message CAN";
break;
case UdpFrameFunction.DemandeCouleurEquipe:
output = "Demande couleur équipe";
break;
case UdpFrameFunction.RetourCouleurEquipe:
output = "Retour couleur équipe : {0}";
if (parameters != null)
{
output = ReplaceParam(output, parameters[0].ToString());
}
break;
default:
output = "Inconnu";
break;
}
return(output);
}
public override String ToString()
{
return(robot + " change " + NameFinder.GetName(actionneur) + " à " + (on ? "on" : "off"));
}
public override String ToString()
{
return(robot + " bouge " + NameFinder.GetName(pince) + " à " + NameFinder.GetName(position, pince));
}
public void SetSensor(SensorOnOffID sensor)
{
_sensor = sensor;
lblName.Text = NameFinder.GetName(sensor).Substring(0, 1).ToUpper() + NameFinder.GetName(sensor).Substring(1);
}