private void CreateConfigs()
{
// start the device polling.
// Polling requests a status update every specified number of milliseconds.
this.currentMotor.StartPolling(250);
// needs a delay so that the current enabled state can be obtained
// ????
Thread.Sleep(500);
// enable the channel otherwise any move is ignored
this.currentMotor.EnableDevice();
// needs a delay to give time for the device to be enabled
Thread.Sleep(500);
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real world unit parameters
// Sets up proper unit conversion for the correct device. Only call this function ONCE
MotorConfiguration motorSettings = this.currentMotor.LoadMotorConfiguration(this.serialNo);
// Simply retrieves the "motor device settings"
KCubeDCMotorSettings currentDeviceSettings = this.currentMotor.MotorDeviceSettings as KCubeDCMotorSettings;
// display info about device
// Retrieves a device info block
DeviceInfo deviceInfo = this.currentMotor.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", deviceInfo.SerialNumber, deviceInfo.Name);
// Getting the homing velocity
uint homeVel = currentMotor.GetHomingVelocity_DeviceUnit();
// After the device is opened we want to save the velocity
// Retrieves the "velocity parameters" in real world units
VelocityParameters_DeviceUnit velPars = this.currentMotor.GetVelocityParams_DeviceUnit();
// Restricts the velocity allowed to be the user-defined velocity
decimal dVelocity = this.velocity;
velPars.MaxVelocity = (int)(homeVel);
this.currentMotor.SetVelocityParams_DeviceUnit(velPars);
}
/// <summary> Tests velocity parameters. </summary>
/// <param name="device"> The device. </param>
public static void TestVelocityParameters(IGenericAdvancedMotor device)
{
try
{
VelocityParameters_DeviceUnit originalVelocityParameters = device.GetVelocityParams_DeviceUnit();
VelocityParameters realVP = device.GetVelocityParams();
realVP.Acceleration += 0.5m;
realVP.MaxVelocity += 0.5m;
device.SetVelocityParams(realVP);
Thread.Sleep(250);
realVP = device.GetVelocityParams();
device.SetVelocityParams_DeviceUnit(originalVelocityParameters);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to update settings {0} - {1}", ex.DeviceID, ex.Message);
}
}
