private void upDown_Validating(object sender, CancelEventArgs e)
{
if (MyController.Generation == 1)
{
int status1 = MyController.Read(Controller.regStatus_1);
int status2 = MyController.Read(Controller.regStatus_2);
if (((status1 | status2) & 0x0ff) != 0)
{
MessageBox.Show("Motion must be stopped before setup parameters may be modified.");
Close();
e.Cancel = true;
return;
}
}
NumericUpDown upDown = (NumericUpDown)sender;
uint register = MapNumericToReg[upDown];
try
{
MyController.Write(register, (int)upDown.Value);
}
catch (Exception)
{
MessageBox.Show("Setting is out of range.");
e.Cancel = true;
return;
}
}
private NumericUpDown MakeNumeric(uint register)
{
NumericUpDown upDown = new NumericUpDown();
upDown.Maximum = 100000;
upDown.Minimum = 0;
upDown.Value = MyController.Read(register);
upDown.Validating += new CancelEventHandler(this.upDown_Validating);
upDown.Anchor = AnchorStyles.Left | AnchorStyles.Bottom;
MapRegToNumeric.Add(register, upDown);
MapNumericToReg.Add(upDown, register);
return(upDown);
}
private void timerPolling_Tick(object sender, EventArgs e)
{
if (MyController.Connected)
{
try
{
int regValue;
if (timerPolling.Interval != 250)
{
timerPolling.Interval = 250;
// Initialize info from controller
regValue = MyController.Read(Controller.regVersionHW);
this.labelHWVersion.Text = regValue.ToString("X");
regValue = MyController.Read(Controller.regVersionSW);
this.labelFWVersion.Text = regValue.ToString("X");
regValue = MyController.Read(Controller.regVersionDate);
this.labelDateOfManufacture.Text = regValue.ToString("X");
regValue = MyController.Read(Controller.regSetupPwmDefault);
if (MyController.Generation == 1)
{
label5.Hide();
label6.Hide();
textBoxLED1.Hide();
textBoxLED2.Hide();
}
}
textBoxOnLine.Text = "On-Line";
textBoxOnLine.BackColor = Color.Green;
this.Enabled = true;
if (MyController.Generation == 2)
{
// poll for LED1 & LED2 status
int status = MyController.Read(Controller.regStatus_1);
textBoxLED1.BackColor = (((uint)status & 0x00000400) != 0) ? Color.Green : Color.LightGray;
textBoxLED2.BackColor = (((uint)status & 0x00000800) != 0) ? Color.Red : Color.LightGray;
}
int pwmVal = MyController.Read(Controller.regPwmAbsolute);
setPwmSetpoint(pwmVal);
}
catch (Exception)
{
}
}
else
{
textBoxOnLine.Text = "Off-Line";
textBoxOnLine.BackColor = Color.Gray;
this.Enabled = false;
if (timerPolling.Interval != 5000)
{
// Poll much more slowly if we are not connected
timerPolling.Interval = 5000;
}
// Attempt to reconnect
try
{
MyController.Connect();
}
catch (Exception)
{
}
}
}
private void timerPolling_Tick(object sender, EventArgs e)
{
if (MyController.Connected)
{
try
{
int regValue;
if (timerPolling.Interval != 250)
{
timerPolling.Interval = 250;
// Initialize info from controller
regValue = MyController.Read(Controller.regVersionHW);
int major = (int)(((uint)regValue & 0xff000000) >> 24);
int minor = (int)(((uint)regValue & 0xff0000) >> 16);
int rev = (int)(((uint)regValue & 0xff00) >> 8);
int bug = (int)((uint)regValue & 0xff);
this.labelHWVersion.Text = major.ToString() + "." + minor.ToString() + "." + rev.ToString() + "." + bug.ToString();
regValue = MyController.Read(Controller.regVersionSW);
major = (int)(((uint)regValue & 0xff000000) >> 24);
minor = (int)(((uint)regValue & 0xff0000) >> 16);
rev = (int)(((uint)regValue & 0xff00) >> 8);
bug = (int)((uint)regValue & 0xff);
this.labelFWVersion.Text = major.ToString() + "." + minor.ToString() + "." + rev.ToString() + "." + bug.ToString();
regValue = MyController.Read(Controller.regVersionDate);
major = (int)(((uint)regValue & 0xff000000) >> 24);
minor = (int)(((uint)regValue & 0xff0000) >> 16);
rev = (int)(((uint)regValue & 0xff00) >> 8);
bug = (int)((uint)regValue & 0xff);
DateTime date = new DateTime(rev + 2000, major, minor);
this.labelDateOfManufacture.Text = date.ToShortDateString();
regValue = MyController.Read(Controller.regSetupConfig_2);
if ((regValue & 0x04) != 0)
{
this.motionAxis2.Enabled = false;
}
if (MyController.Generation == 1)
{
label4.Hide();
labelSerialNumber.Hide();
label5.Hide();
label6.Hide();
textBoxLED1.Hide();
textBoxLED2.Hide();
}
else if (MyController.Generation == 2)
{
regValue = MyController.Read(Controller.regProductSerialNum);
labelSerialNumber.Text = regValue.ToString();
}
}
textBoxOnLine.Text = "On-Line";
textBoxOnLine.BackColor = Color.Green;
this.Enabled = true;
// TODO: Add polling for LED1 & LED2 status
int status = MyController.Read(Controller.regStatus_1);
textBoxLED1.BackColor = (((uint)status & 0x00000400) != 0) ? Color.Green : Color.LightGray;
textBoxLED2.BackColor = (((uint)status & 0x00000800) != 0) ? Color.Red : Color.LightGray;
motionAxis1.UpdateAxis();
// Check for disabled 2nd axis here
regValue = MyController.Read(Controller.regSetupConfig_2);
if ((regValue & 0x04) == 0)
{
motionAxis2.UpdateAxis();
}
else
{
this.motionAxis2.Enabled = false;
}
}
catch (Exception)
{
MyController.Disconnect();
}
}
else
{
textBoxOnLine.Text = "Off-Line";
textBoxOnLine.BackColor = Color.Gray;
this.Enabled = false;
if (timerPolling.Interval != 5000)
{
// Poll much more slowly if we are not connected
timerPolling.Interval = 5000;
}
// Attempt to reconnect
try
{
MyController.Connect();
}
catch (Exception)
{
}
}
}
private void setting_Changed(object sender, EventArgs e)
{
try
{
if (MyController.Generation == 1)
{
int status1 = MyController.Read(Controller.regStatus_1);
int status2 = MyController.Read(Controller.regStatus_2);
if (((status1 | status2) & 0x0ff) != 0)
{
MessageBox.Show("Motion must be stopped before setup parameters may be modified.");
Close();
return;
}
}
int regVal = MyController.Read(Controller.regSetupConfig_1);
if (comboBoxZeroPosition1.SelectedIndex == 1)
{
regVal |= 0x01;
}
else
{
regVal &= ~((int)0x01);
}
if (checkBoxThruHome1.Checked)
{
regVal |= 0x02;
}
else
{
regVal &= ~((int)0x02);
}
if (MyController.Generation == 2 && checkBoxDisableAxis1.Checked)
{
regVal |= 0x04;
}
else
{
regVal &= ~((int)0x04);
}
MyController.Write(Controller.regSetupConfig_1, regVal);
regVal = MyController.Read(Controller.regSetupConfig_2);;
if (comboBoxZeroPosition2.SelectedIndex == 1)
{
regVal |= 0x01;
}
else
{
regVal &= ~((int)0x01);
}
if (checkBoxThruHome2.Checked)
{
regVal |= 0x02;
}
else
{
regVal &= ~((int)0x02);
}
if (checkBoxDisableAxis2.Checked)
{
regVal |= 0x04;
}
else
{
regVal &= ~((int)0x04);
}
MyController.Write(Controller.regSetupConfig_2, regVal);
}
catch (Exception)
{
// Problem writing new parameter values, probably a limit check, display generic error.
MessageBox.Show("Error writing register.");
return;
}
}
private void InitializeControls()
{
int row = 0;
int col = 1;
tableLayoutPanel1.Controls.Add(MakeLabel("Zoom"), col++, row);
tableLayoutPanel1.Controls.Add(MakeLabel("Focus"), col++, row);
row++;
col = 0;
if ((MyController.ProductID == 0x4001) && (MyController.ProductSubclass == 3))
{
tableLayoutPanel1.Controls.Add(MakeLabel("Deceleration"), col++, row);
}
else
{
tableLayoutPanel1.Controls.Add(MakeLabel("Acceleration"), col++, row);
}
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupAcceleration_1), col++, row);
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupAcceleration_2), col++, row);
row++;
col = 0;
if ((MyController.ProductID == 0x4001) && (MyController.ProductSubclass == 3))
{
tableLayoutPanel1.Controls.Add(MakeLabel("Gain"), col++, row);
}
else
{
tableLayoutPanel1.Controls.Add(MakeLabel("Initial Velocity"), col++, row);
}
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupInitialVelocity_1), col++, row);
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupInitialVelocity_2), col++, row);
row++;
col = 0;
if ((MyController.ProductID == 0x4001) && (MyController.ProductSubclass == 3))
{
tableLayoutPanel1.Controls.Add(MakeLabel("Max Torque %"), col++, row);
}
else
{
tableLayoutPanel1.Controls.Add(MakeLabel("Maximum Velocity"), col++, row);
}
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupMaxVelocity_1), col++, row);
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupMaxVelocity_2), col++, row);
row++;
col = 0;
tableLayoutPanel1.Controls.Add(MakeLabel("Reverse Backlash"), col++, row);
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupReverseBacklash_1), col++, row);
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupReverseBacklash_2), col++, row);
row++;
col = 0;
tableLayoutPanel1.Controls.Add(MakeLabel("Forward Backlash"), col++, row);
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupForwardBacklash_1), col++, row);
tableLayoutPanel1.Controls.Add(MakeNumeric(Controller.regSetupForwardBacklash_2), col++, row);
row++;
col = 0;
tableLayoutPanel1.Controls.Add(MakeLabel("Down Through Home"), col++, row);
checkBoxThruHome1 = new CheckBox();
int config1 = MyController.Read(Controller.regSetupConfig_1);
checkBoxThruHome1.Checked = ((config1 & 0x02) != 0);
checkBoxThruHome1.CheckedChanged += new EventHandler(this.setting_Changed);
checkBoxThruHome1.Anchor = AnchorStyles.Left | AnchorStyles.Bottom;
tableLayoutPanel1.Controls.Add(checkBoxThruHome1, col++, row);
checkBoxThruHome2 = new CheckBox();
int config2 = MyController.Read(Controller.regSetupConfig_2);
checkBoxThruHome2.Checked = ((config2 & 0x02) != 0);
checkBoxThruHome2.CheckedChanged += new EventHandler(this.setting_Changed);
checkBoxThruHome2.Anchor = AnchorStyles.Left | AnchorStyles.Bottom;
tableLayoutPanel1.Controls.Add(checkBoxThruHome2, col++, row);
row++;
col = 0;
tableLayoutPanel1.Controls.Add(MakeLabel("Zero Position is"), col++, row);
comboBoxZeroPosition1 = new ComboBox();
comboBoxZeroPosition1.DropDownStyle = ComboBoxStyle.DropDownList;
comboBoxZeroPosition1.Items.Add("Near");
comboBoxZeroPosition1.Items.Add("Far");
comboBoxZeroPosition1.SelectedIndex = (config1 & 0x01) == 0 ? 0 : 1;
comboBoxZeroPosition1.SelectedIndexChanged += new EventHandler(this.setting_Changed);
tableLayoutPanel1.Controls.Add(comboBoxZeroPosition1, col++, row);
comboBoxZeroPosition2 = new ComboBox();
comboBoxZeroPosition2.DropDownStyle = ComboBoxStyle.DropDownList;
comboBoxZeroPosition2.Items.Add("Near");
comboBoxZeroPosition2.Items.Add("Far");
comboBoxZeroPosition2.SelectedIndex = (config2 & 0x01) == 0 ? 0 : 1;
comboBoxZeroPosition2.SelectedIndexChanged += new EventHandler(this.setting_Changed);
tableLayoutPanel1.Controls.Add(comboBoxZeroPosition2, col++, row);
row++;
col = 0;
tableLayoutPanel1.Controls.Add(MakeLabel("Disable Axis"), col++, row);
if (MyController.Generation == 2)
{
checkBoxDisableAxis1 = new CheckBox();
checkBoxDisableAxis1.Checked = ((config1 & 0x04) != 0);
checkBoxDisableAxis1.CheckedChanged += new EventHandler(this.setting_Changed);
checkBoxDisableAxis1.Anchor = AnchorStyles.Left | AnchorStyles.Bottom;
tableLayoutPanel1.Controls.Add(checkBoxDisableAxis1, col++, row);
}
else
{
col++;
}
checkBoxDisableAxis2 = new CheckBox();
checkBoxDisableAxis2.Checked = ((config2 & 0x04) != 0);
checkBoxDisableAxis2.CheckedChanged += new EventHandler(this.setting_Changed);
checkBoxDisableAxis2.Anchor = AnchorStyles.Left | AnchorStyles.Bottom;
tableLayoutPanel1.Controls.Add(checkBoxDisableAxis2, col++, row);
}
/// <summary>
/// Poll for axis motor status and update appropriate motor position and
/// status controls. Must be called periodically to keep controls up to date.
/// </summary>
public void UpdateAxis()
{
int regVal;
if (MyController.Connected)
{
try
{
int status = MyController.Read(Controller.regStatus_1 + RegOffset);
if (MyController.ProductID == PRODUCT_GEN_2_CONTROLLER)
{
groupBoxAxis.Text = Axis == 0 ? ZOOM_STR : FOCUS_STR;
if (((uint)status & STATUS_BITS_INSUFFICIENT_VOLTAGE) != 0)
{
groupBoxAxis.Text += " (";
groupBoxAxis.Text += INSUFFICIENT_VOLTAGE_STR;
groupBoxAxis.Text += " )";
}
// If this is a Gen 2 two-phase controller, then the motor type should be identifible.
else if ((MyController.ProductSubclass == 2) ||
(MyController.ProductSubclass == 3) ||
(MyController.ProductSubclass == 1) ||
(MyController.ProductSubclass == (unchecked ((int)0xffffffd9))))
{
uint motorId = ((uint)status & STATUS_MOTOR_TYPE_BITS) >> STATUS_MOTOR_TYPE_SHIFT;
groupBoxAxis.Text += " (";
switch (motorId)
{
case TWO_PHASE_AM0820_MOTOR:
groupBoxAxis.Text += AM0820_MOTOR_STR;
break;
case TWO_PHASE_AM1524_MOTOR:
groupBoxAxis.Text += AM1524_MOTOR_STR;
break;
case TWO_PHASE_UNKNOWN_MOTOR: // Intentional fall through
case TWO_PHASE_UNKNOWN_OPEN_SHORT: // Intentional fall through
default:
groupBoxAxis.Text += UNKNOWN_MOTOR_STR;
break;
}
groupBoxAxis.Text += ")";
}
}
Idle = (((uint)status & 0x000000ff) == 0) ? true : false;
buttonAtHome.BackColor = (((uint)status & 0x00000100) != 0) ? Color.Red : Color.LightGray;
buttonAtLimit.BackColor = (((uint)status & 0x00000200) != 0) ? Color.Red : Color.LightGray;
// Fetch motor limit position value.
regVal = MyController.Read(Controller.regSetupLimit_1 + RegOffset);
if (regVal == 0)
{
this.Enabled = false;
return;
}
else
{
this.Enabled = true;
}
if (MotorLimit != regVal)
{
MotorLimit = regVal;
this.textBoxLimit.Text = MotorLimit.ToString();
this.numericUpDownStepMin.Minimum = 1;
this.numericUpDownStepMin.Maximum = MotorLimit / 10;
this.numericUpDownStepMin.Value = MotorLimit / 100;
this.numericUpDownStepMax.Minimum = 1;
this.numericUpDownStepMax.Maximum = MotorLimit / 4;
this.numericUpDownStepMax.Value = MotorLimit / 10;
this.numericUpDownTarget1.Minimum = 0;
this.numericUpDownTarget1.Maximum = MotorLimit;
this.numericUpDownTarget2.Minimum = 0;
this.numericUpDownTarget2.Maximum = MotorLimit;
this.numericUpDownTarget3.Minimum = 0;
this.numericUpDownTarget3.Maximum = MotorLimit;
this.numericUpDownTarget4.Minimum = 0;
this.numericUpDownTarget4.Maximum = MotorLimit;
this.vProgressPosition.Maximum = MotorLimit;
this.vProgressPosition.Minimum = 0;
//regVal = MyController.Read(Controller.regTarget_1 + RegOffset);
//SetTargetPostion(regVal);
}
MotorPosition = MyController.Read(Controller.regCurrent_1 + RegOffset);
vProgressPosition.Value = Math.Min(Math.Max(0, MotorPosition), vProgressPosition.Maximum);
textBoxPosition.Text = MotorPosition.ToString();
if (AutoStepping)
{
if (MotorTarget == MotorPosition || Idle)
{
if (numericUpDownDwellTime.Value == 0)
{
AutoStep();
}
else if (!timerDwell.Enabled)
{
timerDwell.Interval = (int)numericUpDownDwellTime.Value * 1000;
timerDwell.Start();
}
}
}
if (Idle)
{
if (HomeRequested)
{
HomeRequested = false;
MyController.Write(Controller.regLimit_1 + RegOffset, 0);
}
else if (LimitRequested)
{
LimitRequested = false;
MyController.Write(Controller.regLimit_1 + RegOffset, 1);
}
else if (MoveRequested)
{
MoveRequested = false;
MyController.Write(Controller.regTarget_1 + RegOffset, MotorTarget);
}
else if (!AutoStepping)
{
MotorTarget = MotorPosition;
}
}
}
catch (Exception)
{
}
}
else
{
Stop();
this.Enabled = false;
}
}