private void fmMain_FormClosing(object sender, FormClosingEventArgs e)
{
Thread.Sleep(500);
for (byte i = 0; i < EziMOTIONPlusRLib.MAX_SLAVE_NUMS; i++)
{
if (EziMOTIONPlusRLib.FAS_IsSlaveExist(VarGlobal.PortNo, i) != 0)
{
int nRtn = EziMOTIONPlusRLib.FAS_ServoEnable(VarGlobal.PortNo, i, 0);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoEnable() \nReturned: " + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
}
}
private void btnStart_Click(object sender, EventArgs e)
{
byte SlaveNo;
int nRtn;
if (m_bConnected == false)
{
return;
}
if (textSlaveNo.Text.Length <= 0)
{
textSlaveNo.Focus();
return;
}
SlaveNo = byte.Parse(textSlaveNo.Text);
nRtn = EziMOTIONPlusRLib.FAS_ServoEnable(m_nPortNo, SlaveNo, 1);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMessage;
strMessage = "FAS_ServoEnable() \nReturned:" + nRtn.ToString();
MessageBox.Show(strMessage, "Function Failed");
}
}
private void backgroundWorker1_DoWork(object sender, DoWorkEventArgs e)
{
var woker = sender as BackgroundWorker;
Invoke(new MethodInvoker(delegate
{
if (comboBoxPortNo.Text.Length <= 0)
{
comboBoxPortNo.Focus();
return;
}
if (comboBoxAdamCOM.Text.Length <= 0)
{
comboBoxAdamCOM.Focus();
return;
}
}));
//Connect ezi step plus R
while (_mConnected == false)
{
Invoke(new MethodInvoker(delegate
{
_portNo = byte.Parse(comboBoxPortNo.Text);
_adamCOM = int.Parse(comboBoxAdamCOM.Text);
dwBaud = uint.Parse(comboBaudrate.Text);
}));
if (EziMOTIONPlusRLib.FAS_Connect(_portNo, dwBaud) == 0)
{
//error connect
//MessageBox.Show("Error Connect!");
if (SuccessConnect != null)
{
//VarGlobal._portNo = 0;
SuccessConnect(CheckConnection.fail);
this.Close();
}
}
else
{
for (byte i = 1; i <= 3; i++)
{
if (EziMOTIONPlusRLib.FAS_IsSlaveExist(_portNo, i) != 0)
{
int nRnt_1 = EziMOTIONPlusRLib.FAS_GetAxisStatus(_portNo, i, ref dwAxisStatus);
if (nRnt_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetAxisStatus() \nReturned: " + nRnt_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
//reset alarm if there is alarm
if ((dwAxisStatus & 0x00000001) != 0) // FFLAG_ERRORALL is ON
{
int nRnt_2 = EziMOTIONPlusRLib.FAS_StepAlarmReset(_portNo, i, 1);
if (nRnt_2 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoAlarmReset() \nReturned: " + nRnt_2.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
}
//all servo on
int nRnt_3 = EziMOTIONPlusRLib.FAS_ServoEnable(_portNo, i, 1);
if (nRnt_3 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoEnable() \nReturned: " + nRnt_3.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
}
VarGlobal._3AxisReady += 1;
}
if (VarGlobal._3AxisReady >= 3)
{
_mConnected = true;
while (_count <= 100 && _mConnected == true)
{
Thread.Sleep(100);
woker.ReportProgress(_count);
_count += 10;
}
}
else
{
MessageBox.Show("Error occur!");
}
}
}
if (SuccessConnect != null)
{
VarGlobal.PortNo = _portNo;
VarGlobal.m_Connected = _mConnected;
VarGlobal.AdamCOM = _adamCOM;
SuccessConnect(CheckConnection.success);
}
}
