// Clears all Jrk and Maestro errors
public static void clearAllErrors()
{
if (NumOfConnectedMaestros > 0)
{
usc.clearErrors();
}
if (NumOfConnectedJrks > 0)
{
Jrk1.clearErrors();
}
if (NumOfConnectedJrks > 1)
{
Jrk2.clearErrors();
}
if (NumOfConnectedJrks > 2)
{
Jrk3.clearErrors();
}
if (NumOfConnectedJrks > 3)
{
Jrk4.clearErrors();
}
if (NumOfConnectedJrks == 0)
{
MessageBox.Show("No Jrks Found");
}
else
{
MessageBox.Show("All Jrk and Maestro errors have been cleared.");
}
}
static unsafe void displayStatus(Usc usc)
{
MaestroVariables variables;
ServoStatus[] servos;
short[] stack;
ushort[] call_stack;
usc.getVariables(out variables, out stack, out call_stack, out servos);
Console.WriteLine(" # target speed accel pos");
for (int i = 0; i < usc.servoCount; i++)
{
Console.WriteLine("{0,2}{1,8}{2,8}{3,8}{4,8}", i,
servos[i].target, servos[i].speed,
servos[i].acceleration, servos[i].position);
}
Console.Write("errors: 0x"+variables.errors.ToString("X4"));
foreach (var error in Enum.GetValues(typeof(uscError)))
{
if((variables.errors & (1<<(int)(uscError)error)) != 0)
{
Console.Write(" "+error.ToString());
}
}
usc.clearErrors();
Console.WriteLine(); // end the line
if(variables.scriptDone == 0)
Console.WriteLine("SCRIPT RUNNING");
else
Console.WriteLine("SCRIPT DONE");
Console.WriteLine("program counter: "+variables.programCounter.ToString());
Console.Write("stack: ");
for (int i = 0; i < variables.stackPointer; i++)
{
if(i > stack.Length)
{
Console.Write(" OVERFLOW (stack pointer = "+variables.stackPointer+")");
break;
}
Console.Write(stack[i].ToString().PadLeft(8, ' '));
}
Console.WriteLine();
Console.Write("call stack: ");
for (int i = 0; i < variables.callStackPointer; i++)
{
if(i > call_stack.Length)
{
Console.Write(" OVERFLOW (call stack pointer = "+variables.callStackPointer+")");
break;
}
Console.Write(call_stack[i].ToString().PadLeft(8, ' '));
}
Console.WriteLine();
}
/// <summary>
/// Connects to a Maestro using native USB and returns the Usc object
/// representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that
/// other processes or functions can connect to the device later. The
/// "using" statement can do this automatically for you.
/// </summary>
void connectToDevice()
{
try{
// Get a list of all connected devices of this type.
if (usbdevice == null)
{
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
if ((device == null))//|| (this.device == dli.serialNumber)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
Usc uscdevice = new Usc(dli); // Connect to the device.
usbdevice = uscdevice;
// Return the device.
}
}
}
if (usbdevice != null)
{
usbdevice.clearErrors();
var settings = usbdevice.getUscSettings();
settings.channelSettings[channel].mode = ChannelMode.Servo;
Console.WriteLine("Set Startup Position Servo " + channel + " to " + settings.channelSettings[channel].home);
settings.servoPeriod = 20;
usbdevice.setUscSettings(settings, false);
// usbdevice.setAcceleration(channel, 0);
usbdevice.setSpeed(channel, 0);
}
else
{
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}
}catch (Exception ex) {
Console.WriteLine("Fehler beim Verbinden mit dem Servo " + ex.Message + ex.StackTrace.ToString());
}
}
static unsafe void displayStatus(Usc usc)
{
MaestroVariables variables;
ServoStatus[] servos;
short[] stack;
ushort[] call_stack;
usc.getVariables(out variables, out stack, out call_stack, out servos);
Console.WriteLine(" # target speed accel pos");
for (int i = 0; i < usc.servoCount; i++)
{
Console.WriteLine("{0,2}{1,8}{2,8}{3,8}{4,8}", i,
servos[i].target, servos[i].speed,
servos[i].acceleration, servos[i].position);
}
Console.Write("errors: 0x" + variables.errors.ToString("X4"));
foreach (var error in Enum.GetValues(typeof(uscError)))
{
if ((variables.errors & (1 << (int)(uscError)error)) != 0)
{
Console.Write(" " + error.ToString());
}
}
usc.clearErrors();
Console.WriteLine(); // end the line
if (variables.scriptDone == 0)
{
Console.WriteLine("SCRIPT RUNNING");
}
else
{
Console.WriteLine("SCRIPT DONE");
}
Console.WriteLine("program counter: " + variables.programCounter.ToString());
Console.Write("stack: ");
for (int i = 0; i < variables.stackPointer; i++)
{
if (i > stack.Length)
{
Console.Write(" OVERFLOW (stack pointer = " + variables.stackPointer + ")");
break;
}
Console.Write(stack[i].ToString().PadLeft(8, ' '));
}
Console.WriteLine();
Console.Write("call stack: ");
for (int i = 0; i < variables.callStackPointer; i++)
{
if (i > call_stack.Length)
{
Console.Write(" OVERFLOW (call stack pointer = " + variables.callStackPointer + ")");
break;
}
Console.Write(call_stack[i].ToString().PadLeft(8, ' '));
}
Console.WriteLine();
}
