Ejemplo n.º 1
0
        /// <summary>
        /// Initialize Controller object and perfor tests
        /// </summary>
        /// <param name="args">N/A</param>
        static void Main(string[] args)
        {
            //Create an instance of the _Controller
            //The same instance should be used throughout the app 
            _Controller = new KMotion_dotNet.KM_Controller();
            //Add all various callbacks
            AddHandlers();
            Console.WriteLine(String.Format("Board Type = [{0}]", _Controller.BoardType));

 
            //Load a C program
            //
            
            // Figure out what directory we are installed into
            string codeBase = Assembly.GetExecutingAssembly().CodeBase;
            UriBuilder uri = new UriBuilder(codeBase);
            string path = Uri.UnescapeDataString(uri.Path);
            path = Path.GetDirectoryName(path);
            path = Path.GetDirectoryName(path);
            path = Path.GetDirectoryName(path); 

            // pick one of the examples
            String TheCFile = path  + @"\C Programs\KSTEP\InitKStep3Axis.c";
 
            //************NEW program execution model***********
            String result = _Controller.ExecuteProgram(1, TheCFile, false);
            if (result != "") MessageBox.Show(result);

            //Also have a look at these::
            //_Controller.ExecuteProgram(1); 
            //_Controller.WaitForThreadComplete(1, 400);
            //_Controller.KillProgramThreads(1);
            //_Controller.KillProgramThreads(3, 5, 6);

            // Put a 64 bit float value into KFLOP UserData
            // vars 26&27 and read it back.
            // in KFLOP read it with:
            //  printf("UserData %f\n", *(double*)&persist.UserData[13 * 2]);

            _Controller.SetUserDataDouble(13, 123.456789);
            double d = _Controller.GetUserDataDouble(13);

            //Get Firmware version
            Console.WriteLine(_Controller.GetCommandValue<string>("Version", false));
            

            RunMain_StatusExample();
            //RunHomingRoutineExample();
            RunIOExample();
            //RunAxisExample();
            RunCoordinatedMotionExample();
            //RunInterpreterExample(); 
            
            _Controller.Dispose();
            
            Console.ReadLine();
        }
Ejemplo n.º 2
0
        /// <summary>
        /// Initialize Controller object and perfor tests
        /// </summary>
        /// <param name="args">N/A</param>
        static void Main(string[] args)
        {
            //Create an instance of the _Controller
            //The same instance should be used throughout the app
            _Controller = new KMotion_dotNet.KM_Controller();
            //Add all various callbacks
            AddHandlers();
            Console.WriteLine(String.Format("Board Type = [{0}]", _Controller.BoardType));


            //Load a C program
            //

            // Figure out what directory we are installed into
            string     codeBase = Assembly.GetExecutingAssembly().CodeBase;
            UriBuilder uri      = new UriBuilder(codeBase);
            string     path     = Uri.UnescapeDataString(uri.Path);

            path = Path.GetDirectoryName(path);
            path = Path.GetDirectoryName(path);
            path = Path.GetDirectoryName(path);

            // pick one of the examples
            String TheCFile = path + @"\C Programs\KSTEP\InitKStep3Axis.c";

            //************NEW program execution model***********
            String result = _Controller.ExecuteProgram(1, TheCFile, false);

            if (result != "")
            {
                MessageBox.Show(result);
            }

            //Also have a look at these::
            //_Controller.ExecuteProgram(1);
            //_Controller.WaitForThreadComplete(1, 400);
            //_Controller.KillProgramThreads(1);
            //_Controller.KillProgramThreads(3, 5, 6);

            // Put a 64 bit float value into KFLOP UserData
            // vars 26&27 and read it back.
            // in KFLOP read it with:
            //  printf("UserData %f\n", *(double*)&persist.UserData[13 * 2]);

            _Controller.SetUserDataDouble(13, 123.456789);
            double d = _Controller.GetUserDataDouble(13);

            //Get Firmware version
            Console.WriteLine(_Controller.GetCommandValue <string>("Version", false));


            RunMain_StatusExample();
            //RunHomingRoutineExample();
            RunIOExample();
            //RunAxisExample();
            RunCoordinatedMotionExample();
            //RunInterpreterExample();

            _Controller.Dispose();

            Console.ReadLine();
        }