public void ConnectStage()
{
if (!this._isConnected)
{
try
{
// Create the stage object.
this.MicroscopeMotor = BenchtopBrushlessMotor.CreateBenchtopBrushlessMotor(this.SerialNumber);
this.MicroscopeMotor.Connect(this.SerialNumber);
}
catch (Exception ex)
{
Console.WriteLine("An error occured when trying to create the actual stage object.");
Console.WriteLine("Exception: {0}", ex.Message);
Console.WriteLine("Press <ENTER> to continue execution.");
Console.ReadLine();
}
try
{
// Create the axes
this.MicroscopeXAxis = this.MicroscopeMotor.GetChannel(1);
this.MicroscopeXAxis.StartPolling(this.PollingFrequencyInMillis);
if (!this.MicroscopeXAxis.IsSettingsInitialized())
{
this.MicroscopeXAxis.WaitForSettingsInitialized(this.InitalizationTimeoutInMillis);
}
this.MicroscopeXAxis.EnableDevice();
this.XEnabled = true;
this.MicroscopeYAxis = this.MicroscopeMotor.GetChannel(2);
this.MicroscopeYAxis.StartPolling(this.PollingFrequencyInMillis);
if (!this.MicroscopeYAxis.IsSettingsInitialized())
{
this.MicroscopeYAxis.WaitForSettingsInitialized(this.InitalizationTimeoutInMillis);
}
this.MicroscopeYAxis.EnableDevice();
this.YEnabled = true;
// Get the settings so you can use metric instead of encoder steps
this.XAxisConfiguration = this.MicroscopeXAxis.GetMotorConfiguration(this.MicroscopeXAxis.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseDeviceSettings);
this.YAxisConfiguration = this.MicroscopeYAxis.GetMotorConfiguration(this.MicroscopeYAxis.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseDeviceSettings);
} catch (Exception ex)
{
Console.WriteLine("An error occured when trying to create the stage axes, or load one of the axes MotorConfigurations.");
Console.WriteLine("Exception: {0}", ex.Message);
Console.WriteLine("Press <ENTER> to continue execution.");
Console.ReadLine();
}
this.IsConnected = true;
}
else if (this.IsConnected)
{
this.MicroscopeMotor.Disconnect(true);
this.IsConnected = false;
this.IsXHomed = false;
this.IsYHomed = false;
this.XEnabled = false;
this.YEnabled = false;
}
}
public int ConnectStage()
{
try
{
if (SerialNumber.Equals("73000001"))
{
/*
* 73000001 is the initial SN given to any
* BBD203 controller by the Kinesis Simulation software
* this is most likely running under simulation and should
* use that startup sequence.
*/
SimulationManager.Instance.InitializeSimulations();
}
else
{
// Otherwise populate the device manager like you normally do.
DeviceManagerCLI.BuildDeviceList();
}
} catch (Exception ex)
{
Console.WriteLine("An error occured when trying to build the device list for the stage.");
Console.WriteLine("Exception: {0}", ex.Message);
Console.WriteLine("Press <ENTER> to continue execution.");
Console.ReadLine();
return(-1);
}
// Create the stage object and attempt to connect to it.
try
{
this._microscopemotor = BenchtopBrushlessMotor.CreateBenchtopBrushlessMotor(this._serial);
this._microscopemotor.Connect(this._serial);
} catch (Exception ex)
{
Console.WriteLine("An error occured when trying to create the actual stage object.");
Console.WriteLine("Exception: {0}", ex.Message);
Console.WriteLine("Press <ENTER> to continue execution.");
Console.ReadLine();
}
// Setup the axes
// X - Stepover Axis
// Y - Scanning Axis
this._stepoverchannel = this._microscopemotor.GetChannel(2);
this._stepoverchannel.StartPolling(this._pollFrequency);
if (!this._stepoverchannel.IsSettingsInitialized())
{
this._stepoverchannel.WaitForSettingsInitialized(this._initTimeoutMillis);
}
this._scanningchannel = this._microscopemotor.GetChannel(1);
this._scanningchannel.StartPolling(this._pollFrequency);
if (!this._scanningchannel.IsSettingsInitialized())
{
this._scanningchannel.WaitForSettingsInitialized(this._initTimeoutMillis);
}
// Enable both axes
this._stepoverchannel.EnableDevice();
this._scanningchannel.EnableDevice();
// Load the motor configurations off the device
this._stepoverconfig = this._stepoverchannel.GetMotorConfiguration(this._stepoverchannel.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseDeviceSettings);
this._scanningconfig = this._scanningchannel.GetMotorConfiguration(this._scanningchannel.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseDeviceSettings);
this._isConnected = true;
// Start various stage polling functions
this._pollingactive = true;
return(0);
}
static void Main(string[] args)
{
// get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage = BBD_Console_net_managed [serial_no] [channel] [position: optional (0 - 50)] [velocity: optional (0 - 5)]");
Console.ReadKey();
return;
}
short channel = 1;
if (argc > 2)
{
channel = short.Parse(args[1]);
}
decimal position = 0m;
if (argc > 2)
{
position = decimal.Parse(args[2]);
}
decimal velocity = 0m;
if (argc > 3)
{
velocity = decimal.Parse(args[3]);
}
string serialNo = args[0];
try
{
// build device list
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available TCube DC Servos and check our serial number is correct
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(BenchtopBrushlessMotor.DevicePrefix);
if (!serialNumbers.Contains(serialNo))
{
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
// create the device
BenchtopBrushlessMotor device = BenchtopBrushlessMotor.CreateDevice(serialNo) as BenchtopBrushlessMotor;
if (device == null)
{
Console.WriteLine("{0} is not a BenchtopBrushlessMotor", serialNo);
Console.ReadKey();
return;
}
//BrushlessMotorChannel benchtopChannel = device.GetChannel(channel);
BrushlessMotorChannel benchtopChannel = device[channel] as BrushlessMotorChannel;
if (benchtopChannel == null)
{
Console.WriteLine("{0} is not a valid channel number", channel);
Console.ReadKey();
return;
}
// connect device
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
if (!benchtopChannel.IsSettingsInitialized())
{
benchtopChannel.WaitForSettingsInitialized(5000);
}
// display info about device
DeviceInfo di = device.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", di.SerialNumber, di.Name);
// start the device polling
benchtopChannel.StartPolling(250);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to open device {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
DeviceUnitConverter deviceUnitConverter;
try
{
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real unit parameters
MotorConfiguration motorSettings = benchtopChannel.GetMotorConfiguration(serialNo);
// test code to test get / sert of parameters using real world units
TestVelocityParameters(benchtopChannel);
TestJogParameters(benchtopChannel);
TestHomingParameters(benchtopChannel);
TestLimitParameters(benchtopChannel);
motorSettings.UpdateCurrentConfiguration();
deviceUnitConverter = benchtopChannel.UnitConverter;
}
catch (DeviceException ex)
{
Console.WriteLine("Failed prepare settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
if (!Home_1(benchtopChannel))
{
Console.WriteLine("Failed to home device");
Console.ReadKey();
return;
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Home device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
// if position is set
if (position != 0)
{
// update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = benchtopChannel.GetVelocityParams();
velPars.MaxVelocity = velocity;
benchtopChannel.SetVelocityParams(velPars);
}
if (!MoveTo_1(benchtopChannel, position, deviceUnitConverter))
{
Console.WriteLine("Failed to set position");
Console.ReadKey();
}
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Move device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
device.Disconnect(true);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Disconnect {0} - {1}", ex.DeviceID, ex.Message);
}
Console.ReadKey();
}
