void MainFormLoad(object sender, System.EventArgs e)
{
FindAvailableSerialPorts();
MakeThrusterGraphs();
#region Servo init
servo1 = new AdvancedServo();
servo1.Attach += new AttachEventHandler(servo1_Attach);
try{
servo1.open();
}
catch (PhidgetException pe)
{
MessageBox.Show(pe.ToString());
}
#endregion
//InitDirectInput();
cameraAngle1.MaxAngle = camMaxAngle;
cameraAngle1.MinAngle = camMinAngle;
cameraAngle1.FlipGraph = true;
errorCheck.Enabled = true;
joystickDetectionTimer.Enabled = true;
timer1.Enabled = true;
if (serialPort1.IsOpen)
{
serialPort1.Close();
}
LoadSettings();
}
//PhidgetServo detach event handling code
void advServo_Detach(object sender, DetachEventArgs e)
{
AdvancedServo detached = (AdvancedServo)sender;
attachedTxt.Text = detached.Attached.ToString();
nameTxt.Clear();
serialTxt.Clear();
versiontxt.Clear();
numServosTxt.Clear();
velocityTrk.Enabled = false;
velocityTrk.Value = velocityTrk.Minimum;
positionTrk.Enabled = false;
positionTrk.Value = positionTrk.Minimum;
accelTrk.Enabled = false;
accelTrk.Value = accelTrk.Minimum;
engagedCheckBox.Enabled = false;
speedRampingCheckBox.Enabled = false;
maxPosnTrackBar.Enabled = false;
minPosnTrackBar.Enabled = false;
servoTypeCmb.Enabled = false;
servoCmb.Items.Clear();
target_positionTxt.Clear();
target_velocityTxt.Clear();
minPosnTextBox.Clear();
maxPosnTextBox.Clear();
accelTxt.Clear();
servoCmb.Enabled = false;
servoTypeCmb.Items.Clear();
}
public override void OnLoad()
{
servo = PhidgetManager.Get <AdvancedServo>(false);
servo.Attach += servo_Attach;
servo.Detach += servo_Detach;
foreach (string servoType in Enum.GetNames(typeof(ServoServo.ServoType)))
{
//stop here
if (servoType.Equals(ServoServo.ServoType.USER_DEFINED.ToString()))
{
break;
}
TypeComboBox.Items.Add(servoType);
// Select the type we are given originally.
if (servoType == ServoType.ToString())
{
TypeComboBox.SelectedItem = servoType;
}
}
PositionSlider.Value = Position;
// Set the text (this doesn't get called if position was 0)
PositionSlider_ValueChanged(null, null);
SetAttached();
}
private void ServoBoard_Attach(object sender, AttachEventArgs e)
{
for (int i = 0; i < _servoBoard.servos.Count; i++)
{
if (_servoCount == 0)
{
SetServoProperties(i, _servos[i].ServoType, _servos[i].ServoMinPulseWidth, _servos[i].ServoMaxPulseWidth, _servos[i].ServoMaxVelocity, _servos[i].ServoDegrees);
_servos[i].MinAcceleration = _servoBoard.servos[i].AccelerationMin;
_servos[i].MaxAcceleration = _servoBoard.servos[i].AccelerationMax;
_servos[i].Acceleration = _servos[i].MaxAcceleration;
_servos[i].MinVelocity = _servoBoard.servos[i].VelocityMin;
_servos[i].MaxVelocity = _servoBoard.servos[i].VelocityMax;
_servos[i].VelocityLimit = _servos[i].MaxVelocity;
RegisterBindings(i);
}
_servoBoard.servos[i].VelocityLimit = _servos[i].VelocityLimit;
_servoBoard.servos[i].Acceleration = _servos[i].Acceleration < _servoBoard.servos[i].AccelerationMax ? _servos[i].Acceleration : _servoBoard.servos[i].AccelerationMax;;
_servos[i].Calibration.OutputLimitMax = _servoBoard.servos[i].PositionMax;
_servos[i].Calibration.OutputLimitMin = _servoBoard.servos[i].PositionMin;
}
if (_servoCount == 0)
{
_servoCount = _servoBoard.servos.Count;
ConfigManager.LogManager.LogDebug("Detaching phidget servo board after config. (SerialNumber=\"" + _serialNumber + "\")");
_servoBoard.close();
_servoBoard = null;
}
}
public void Detach()
{
ConfigManager.LogManager.LogDebug("Detaching phidget servo board. (SerialNumber=\"" + _serialNumber + "\")");
try
{
if (_servoBoard != null && _servoBoard.Attached)
{
/*
* for (int i = 0; i < _servoBoard.servos.Count; i++)
* {
* while (!_servoBoard.servos[i].Stopped)
* {
* // Wait for all steppers to reset to their zero position.
* System.Threading.Thread.Sleep(50);
* }
* }
*/
for (int i = 0; i < _servoBoard.servos.Count; i++)
{
_servoBoard.servos[i].Engaged = false;
}
_servoBoard.close();
_servoBoard = null;
}
}
catch (PhidgetException e)
{
ConfigManager.LogManager.LogError("Error closing servo board", e);
}
}
public void Attach()
{
if (_serialNumber > 0 && _servoBoard == null)
{
_servoBoard = new AdvancedServo();
_servoBoard.Attach += new AttachEventHandler(ServoBoard_Attach);
_servoBoard.open(_serialNumber);
}
}
//Attach event handler. Display serial number of the attached servo device
static void advServo_Attach(object sender, AttachEventArgs e)
{
Console.WriteLine("AdvancedServo {0} attached!",
e.Device.SerialNumber.ToString());
AdvancedServo attached = (AdvancedServo)sender;
for (int i = 0; i < attached.servos.Count; i++)
{
attached.servos[i].Position = 30.00; //range is -23 to 232
attached.servos[i].VelocityLimit = 1000.00; //max 1500, min 0
attached.servos[i].Acceleration = 1000.00; //max 4590, min 0
}
}
//When the application is terminating, close the Phidget.
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
advServo.Attach -= new AttachEventHandler(advServo_Attach);
advServo.Detach -= new DetachEventHandler(advServo_Detach);
advServo.Error -= new ErrorEventHandler(advServo_Error);
advServo.CurrentChange -= new CurrentChangeEventHandler(advServo_CurrentChange);
advServo.PositionChange -= new PositionChangeEventHandler(advServo_PositionChange);
advServo.VelocityChange -= new VelocityChangeEventHandler(advServo_VelocityChange);
//run any events in the message queue - otherwise close will hang if there are any outstanding events
Application.DoEvents();
advServo.close();
advServo = null;
}
//Initialization code
private void Form1_Load(object sender, EventArgs e)
{
advServo = new AdvancedServo();
advServo.Attach += new AttachEventHandler(advServo_Attach);
advServo.Detach += new DetachEventHandler(advServo_Detach);
advServo.Error += new ErrorEventHandler(advServo_Error);
advServo.CurrentChange += new CurrentChangeEventHandler(advServo_CurrentChange);
advServo.PositionChange += new PositionChangeEventHandler(advServo_PositionChange);
advServo.VelocityChange += new VelocityChangeEventHandler(advServo_VelocityChange);
//This assumes that if there is a command line argument, it is a serial number
//and we try to open that specific device. Otherwise, open any device.
openCmdLine(advServo);
}
/// <summary>
/// Initialises a configuration form
/// TODO - refactor
/// </summary>
public ConfigurationForm(ref List<Phidget> devicesToBeConfigured, String windowName)
{
Helper.Logger("HaptiQ_API.ConfigurationForm.ConfigurationForm::Configuration Form started");
InitializeComponent();
this.TopMost = true;
this._devicesToBeConfigured = devicesToBeConfigured;
this._windowName = windowName;
_actuatorsValues = new Tuple<int, int>[MAX_NUMBER_ACTUATORS];
// Initialise combo boxes - XXX move to separate method
var servoBoards = new List<int>();
var intfKits = new List<int>();
intfKits.Add(0); // no intfKit board
foreach (Phidget phidget in devicesToBeConfigured)
{
if (phidget.GetType() == typeof(AdvancedServo))
{
servoBoards.Add(phidget.SerialNumber);
}
else if (phidget.GetType() == typeof(InterfaceKit))
{
intfKits.Add(phidget.SerialNumber);
}
}
ServoBoardsComboBox.DataSource = servoBoards;
InterfaceKitsComboBox.DataSource = intfKits;
ServoBoardsComboBox.DropDownStyle = ComboBoxStyle.DropDownList;
InterfaceKitsComboBox.DropDownStyle = ComboBoxStyle.DropDownList;
ServoBoardsComboBox.SelectedValueChanged += new EventHandler(ServoBoardsComboBox_SelectedValueChanged);
_currentAdvancedServoBoard = new AdvancedServo();
_currentAdvancedServoBoard.open((int)ServoBoardsComboBox.SelectedItem);
_currentAdvancedServoBoard.waitForAttachment();
InterfaceKitsComboBox.SelectedValueChanged += new EventHandler(InterfaceKitsComboBox_SelectedValueChanged);
var inputIdentifiers = new List<String>();
inputIdentifiers.Add("Tag");
inputIdentifiers.Add("Glyph");
InputIdentifiersComboBox.DataSource = inputIdentifiers;
InputIdentifiersComboBox.DropDownStyle = ComboBoxStyle.DropDownList;
this.TopMost = false;
}
//PhidgetServo attach event handling code
void advServo_Attach(object sender, AttachEventArgs e)
{
AdvancedServo attached = (AdvancedServo)sender;
attachedTxt.Text = attached.Attached.ToString();
nameTxt.Text = attached.Name;
serialTxt.Text = attached.SerialNumber.ToString();
versiontxt.Text = attached.Version.ToString();
numServosTxt.Text = attached.servos.Count.ToString();
velocityTrk.Enabled = true;
positionTrk.Enabled = true;
accelTrk.Enabled = true;
engagedCheckBox.Enabled = true;
speedRampingCheckBox.Enabled = true;
maxPosnTrackBar.Enabled = true;
minPosnTrackBar.Enabled = true;
//Set the default servo type to the one Phidgets sells
foreach (AdvancedServoServo motor in attached.servos)
{
motor.Type = ServoServo.ServoType.HITEC_HS322HD;
}
foreach (String servoType in System.Enum.GetNames(typeof(ServoServo.ServoType)))
{
//stop here
if (servoType.Equals(ServoServo.ServoType.USER_DEFINED.ToString()))
{
break;
}
servoTypeCmb.Items.Add(servoType);
}
servoTypeCmb.Enabled = true;
for (int i = 0; i < attached.servos.Count; i++)
{
servoCmb.Items.Add(i);
}
//this will initialize all values
servoCmb.SelectedIndex = 0;
servoCmb.Enabled = true;
}
public void Detach()
{
ConfigManager.LogManager.LogDebug("Detaching phidget servo board. (SerialNumber=\"" + _serialNumber + "\")");
if (_servoBoard != null && _servoBoard.Attached)
{
try
{
for (int i = 0; i < _servoBoard.servos.Count; i++)
{
_servoBoard.servos[i].Engaged = false;
}
_servoBoard.close();
_servoBoard = null;
}
catch (PhidgetException e)
{
ConfigManager.LogManager.LogError("Error closing servo board", e);
}
}
}
protected override void OnEnabling(EnablingEventArgs e)
{
if (!e.WasConfiguring)
{
try
{
advServo = PhidgetManager.Get <AdvancedServo>();
foreach (AdvancedServoServo servo in advServo.servos)
{
servo.Engaged = true;
servo.SpeedRamping = false;
}
}
catch (InvalidOperationException)
{
ErrorLog.AddError(ErrorType.Failure, "The Phidget servo controller is not attached");
e.Cancel = true;
return;
}
}
}
private void initialiseServoBoard()
{
//Declare an Advanced Servo object
_advServo = new AdvancedServo();
//Hook the basic event handlers
_advServo.Attach += new AttachEventHandler(advServo_Attach);
_advServo.Detach += new DetachEventHandler(advServo_Detach);
_advServo.Error += new ErrorEventHandler(advServo_Error);
_advServo.PositionChange += new PositionChangeEventHandler(advServo_PositionChange);
_advServo.open(configuration.idServoBoard);
Helper.Logger("HaptiQ_API.HaptiQ.HaptiQ::Waiting for HaptiQ (" + _id + ") ServoBoard(" + configuration.idServoBoard + ") to be attached.");
_advServo.waitForAttachment();
Helper.Logger("HaptiQ_API.HaptiQ.HaptiQ::HaptiQ (" + _id + ") ServoBoard(" + configuration.idServoBoard + ") Connected");
setAllActuatorsToMinPosition();
}
void MainFormLoad(object sender, System.EventArgs e)
{
FindAvailableSerialPorts();
MakeThrusterGraphs();
#region Servo init
servo1 = new AdvancedServo();
servo1.Attach += new AttachEventHandler(servo1_Attach);
try{
servo1.open();
}
catch (PhidgetException pe)
{
MessageBox.Show(pe.ToString());
}
#endregion
//InitDirectInput();
cameraAngle1.MaxAngle = camMaxAngle;
cameraAngle1.MinAngle = camMinAngle;
cameraAngle1.FlipGraph = true;
errorCheck.Enabled = true;
joystickDetectionTimer.Enabled = true;
timer1.Enabled = true;
if(serialPort1.IsOpen){serialPort1.Close();}
LoadSettings();
}
//When the application is terminating, close the Phidget.
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
advServo.Attach -= new AttachEventHandler(advServo_Attach);
advServo.Detach -= new DetachEventHandler(advServo_Detach);
advServo.Error -= new ErrorEventHandler(advServo_Error);
advServo.CurrentChange -= new CurrentChangeEventHandler(advServo_CurrentChange);
advServo.PositionChange -= new PositionChangeEventHandler(advServo_PositionChange);
advServo.VelocityChange -= new VelocityChangeEventHandler(advServo_VelocityChange);
//run any events in the message queue - otherwise close will hang if there are any outstanding events
Application.DoEvents();
advServo.close();
advServo = null;
}
static void Main(string[] args)
{
//Declare an Advanced Servo object
AdvancedServo advServo = new AdvancedServo();
//Hook the basic event handlers
advServo.Attach += new AttachEventHandler(advServo_Attach);
advServo.Detach += new DetachEventHandler(advServo_Detach);
advServo.Error += new ErrorEventHandler(advServo_Error);
//hook the phidget specific event handlers
//I decided to leave out the current change event handler for readability.
advServo.PositionChange += new PositionChangeEventHandler
(advServo_PositionChange);
advServo.VelocityChange += new VelocityChangeEventHandler
(advServo_VelocityChange);
//open the Servo object for device connections
advServo.open();
//Get the program to wait for an Advanced Servo to be attached
Console.WriteLine("Waiting for Advanced Servo to be attached...");
advServo.waitForAttachment();
//Set the initial position for the servo motor. I set it to 15 here just
//since I am going to cycle through the positive values to show a basic
//full movement
if (advServo.Attached)
{
advServo.servos[0].Acceleration = 1000.00; //max 4590, min 0
advServo.servos[0].VelocityLimit = 1000.00; //max 1500, min 0
advServo.servos[0].Position = 30.00; //range is -23 to 232
}
//Wait for the motor to finish getting to position and let user continue
Console.WriteLine("Press any key to continue...");
Console.Read();
//Move the motor from position value 30 to 200, we sleep for 500
//milliseconds to give the motor enough time to move to the set position
if (advServo.Attached)
{
advServo.servos[0].Position = 200; //range is -23 to 232
Thread.Sleep(500);
}
//Wait for the events to fire and display, user input will continue the
//program
Console.WriteLine("Press any key to end...");
Console.Read();
//user input was read so we can terminate the program now, close the
//AdvancedServo object. Left out the current change event handler for
//readability.
advServo.PositionChange -= new PositionChangeEventHandler
(advServo_PositionChange);
advServo.VelocityChange -= new VelocityChangeEventHandler
(advServo_VelocityChange);
//user input was read so we can terminate the program now, close the
//AdvancedServo object
advServo.close();
//set the object to null to get it out of memory
advServo = null;
Console.WriteLine("ok");
}
//Initialization code
private void Form1_Load(object sender, EventArgs e)
{
advServo = new AdvancedServo();
advServo.Attach += new AttachEventHandler(advServo_Attach);
advServo.Detach += new DetachEventHandler(advServo_Detach);
advServo.Error += new ErrorEventHandler(advServo_Error);
advServo.CurrentChange += new CurrentChangeEventHandler(advServo_CurrentChange);
advServo.PositionChange += new PositionChangeEventHandler(advServo_PositionChange);
advServo.VelocityChange += new VelocityChangeEventHandler(advServo_VelocityChange);
//This assumes that if there is a command line argument, it is a serial number
//and we try to open that specific device. Otherwise, open any device.
openCmdLine(advServo);
}
private void closeServoBoard()
{
_advServo.Attach -= new AttachEventHandler(advServo_Attach);
_advServo.Detach -= new DetachEventHandler(advServo_Detach);
_advServo.Error -= new ErrorEventHandler(advServo_Error);
_advServo.PositionChange -= new PositionChangeEventHandler(advServo_PositionChange);
_advServo.close();
_advServo = null; //set the object to null to get it out of memory
Helper.Logger("HaptiQ_API.HaptiQ.close::HaptiQ (" + _id + ") ServoBoard (" + configuration.idServoBoard + ") disconnected");
}
