private AccelerometerReading(CoreMotion.CMAccelerometerData accelerometerData)
{
_accelerometerData = accelerometerData;
}
/// <summary>
/// 建立通讯
/// </summary>
/// <param name="infoHardWare"></param>
private void EstablishCommunication(object infoHardWare)
{
var softservoInfo = infoHardWare as SoftservoControlerInfo;
int ret;
Thread.Sleep(5000);
cmApi = new CoreMotion(wmx);
fx_EventControl = new EventControl(wmx);
fx_ApiBuffer = new ApiBuffer(wmx);
ecapi = new EcApiLib(wmx);
fx_ListMotion = new ListMotion(wmx);
wmx_IO = new Io(wmx);
//设置系统参数
ret = cmApi.Config.ImportAndSetAll(softservoInfo.m_strConfigPath);
if (ret != 0)
{
string errorCode = "";
errorCode = WMX3Api.ErrorToString(ret);
// Global.logger.ErrorFormat("WMX3参数获取失败！错误信息：{0}", errorCode);
//return false;
}
//开始进行通讯
int wd_count = 0;
do
{
ret = wmx.StartCommunication();//通讯函数
Thread.Sleep(500);
wd_count++;
cmApi.GetStatus(ref status);
} while ((status.EngineState == EngineState.Communicating) && (wd_count < 10));//确认是否通讯成功
if (status.EngineState != EngineState.Communicating)
{
// string ErrorCode = "";
// wmx.ErrorToString(ret, ref ErrorCode, 128);
string errorCode = WMX3Api.ErrorToString(ret); //获取错误代码
// Global.logger.ErrorFormat("WMX3通讯失败，错误信息：{0}！", errorCode);
//return false;
}
//清除轴警信息
for (int i = 0; i < 8; i++)
{
cmApi.AxisControl.ClearAmpAlarm(i);
cmApi.AxisControl.ClearAxisAlarm(i);
}
//轴上使能
for (int i = 0; i < 8; i++)
{
cmApi.AxisControl.SetServoOn(i, 1);
}
//检查所用到的轴有没上使能
Thread.Sleep(1000);
cmApi.GetStatus(ref status);
for (int i = 0; i < 8; i++)
{
if (status.AxesStatus[i].ServoOn == false)
{
//使用失败的处理。
// Global.logger.ErrorFormat("WMX3 轴{0}使能失败！", i);
//return false;
}
}
//timer1.Interval = 50;
//timer1.Enabled = true;
ret = cmApi.Motion.CreateSplineBuffer(5, 1024);
if (ret != 0)
{
// Global.logger.ErrorFormat("WMX3创建缓存出现错误！错误信息：{0}", WMX3Api.ErrorToString(ret));
}
while (bInitOK)
{
Thread.Sleep(10);
GetAllMotionStatus();
GetAllIOStatus();
}
}
private GyrometerReading(CoreMotion.CMGyroData gyrometerData)
{
_gyrometerData = gyrometerData;
}
