/// <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();
}
/// <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();
}
