public PhidgetMotor(MotorCallback p, int motorIndex = 0)
{
try
{
pCallback = p;
motoControl = new MotorControl();
m_motorIndex = motorIndex;
motoControl.Attach += new AttachEventHandler(motoControl_Attach);
motoControl.Detach += new DetachEventHandler(motoControl_Detach);
motoControl.Error += new ErrorEventHandler(motoControl_Error);
motoControl.CurrentChange += new CurrentChangeEventHandler(motoControl_CurrentChange);
motoControl.InputChange += new InputChangeEventHandler(motoControl_InputChange);
motoControl.VelocityChange += new VelocityChangeEventHandler(motoControl_VelocityChange);
motoControl.BackEMFUpdate += new BackEMFUpdateEventHandler(motoControl_BackEMFUpdate);
motoControl.EncoderPositionChange += new EncoderPositionChangeEventHandler(motoControl_EncoderPositionChange);
motoControl.SensorUpdate += new SensorUpdateEventHandler(motoControl_SensorUpdate);
NewMaxLength = 0;
NewMinLength = 0;
openCmdLine(motoControl);
}
catch (Exception err)
{
throw (new SystemException(err.Message));
}
}
//When the form is being close, make sure to stop all the motors and close the Phidget.
public void stopMotorControl()
{
/*
* motoControl.Attach -= motoControl_Attach;
* motoControl.Detach -= motoControl_Detach;
* motoControl.Error -= motoControl_Error;
*
* motoControl.InputChange -= motoControl_InputChange;
* motoControl.CurrentChange -= motoControl_CurrentChange;
* motoControl.VelocityChange -= motoControl_VelocityChange;
* motoControl.BackEMFUpdate -= motoControl_BackEMFUpdate;
* motoControl.EncoderPositionChange -= motoControl_EncoderPositionChange;
* motoControl.SensorUpdate -= motoControl_SensorUpdate;
*/
if (motoControl.Attached)
{
foreach (MotorControlMotor motor in motoControl.motors)
{
motor.Velocity = 0;
}
}
//run any events in the message queue - otherwise close will hang if there are any outstanding events
//Application.DoEvents();
motoControl.close();
motoControl = null;
}
/// <summary>
/// Metoda pro otaceni obrazkem motoru
/// </summary>
/// <param name="parameters">struktura s parametry otaceni</param>
public void rotateImage(MotorControl.RotParameters parameters)
{
rotParameters = parameters;
rotateTimer.Interval = rotParameters.speed; // nastaveni intervalu timeru podle rychlosti otaceni
if (rotParameters.sectors == false)
{
// pokud se ma otacet po krocich ( ne po sektorech )
rotate(); // otoceni o jeden krok a spusteni otaceni pres timer
rotParameters.steps--; // otoceno o jeden krok - dekrementace
}
else
{
// otaci se po sektorech
if (rotParameters.direction == MotorControl.Direction.Left)
{
// toci se vlevo
sectorSteps = (50 * (rotParameters.steps - 1)) + (50 - (position % 50));
rotParameters.steps = sectorSteps;
}
else
{
// toci se vpravo
sectorSteps = (50 * (rotParameters.steps - 1)) + ((position % 50) == 0 ? 50 : (position % 50));
rotParameters.steps = sectorSteps;
}
rotate(); // otoceni o jeden krok a spusteni otaceni pres timer
rotParameters.steps--; // otoceno o jeden krok - dekrementace
}
}
public MotorControl motoControl = null; //Declare a MotorControl object
public void setMotorState(Boolean state)
{
if (state == true)
{
if (motoControl == null)
{
//loadMotorControl();
motoControl = new MotorControl();
motoControl.open(-1);
}
int i = 0, k = 0;
for (i = 0; i < 999999; i++)
{
k++;
}
k--;
setVelocity(100);
}
else
{
if (motoControl != null)
{
//resetEncoder();
//stopMotorControl();
foreach (MotorControlMotor motor in motoControl.motors)
{
motor.Velocity = 0;
}
motoControl.close();
motoControl = null;
}
}
}
//When the form is being close, make sure to stop all the motors and close the Phidget.
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
motoControl.Attach -= motoControl_Attach;
motoControl.Detach -= motoControl_Detach;
motoControl.Error -= motoControl_Error;
motoControl.InputChange -= motoControl_InputChange;
motoControl.CurrentChange -= motoControl_CurrentChange;
motoControl.VelocityChange -= motoControl_VelocityChange;
motoControl.BackEMFUpdate -= motoControl_BackEMFUpdate;
motoControl.EncoderPositionChange -= motoControl_EncoderPositionChange;
motoControl.SensorUpdate -= motoControl_SensorUpdate;
if (motoControl.Attached)
{
foreach (MotorControlMotor motor in motoControl.motors)
{
motor.Velocity = 0;
}
}
//run any events in the message queue - otherwise close will hang if there are any outstanding events
Application.DoEvents();
motoControl.close();
motoControl = null;
}
private void _close()
{
try
{
m_runmotor = false;
motoControl.Attach -= motoControl_Attach;
motoControl.Detach -= motoControl_Detach;
motoControl.Error -= motoControl_Error;
motoControl.InputChange -= motoControl_InputChange;
motoControl.CurrentChange -= motoControl_CurrentChange;
motoControl.VelocityChange -= motoControl_VelocityChange;
motoControl.BackEMFUpdate -= motoControl_BackEMFUpdate;
motoControl.EncoderPositionChange -= motoControl_EncoderPositionChange;
motoControl.SensorUpdate -= motoControl_SensorUpdate;
if (motoControl.Attached)
{
foreach (MotorControlMotor motor in motoControl.motors)
{
motor.Velocity = 0;
}
}
Thread.Sleep(0);
//run any events in the message queue - otherwise close will hang if there are any outstanding events
motoControl.close();
motoControl = null;
}
catch (Exception err)
{
throw (new SystemException(err.Message));
}
}
private Navigation()
{
board = new CentralBoard();
motor = new MotorControl();
dynamixel = DX.i;
running = false;
Moving = false;
Speed = 0;
}
private static void CheckMotorControl(BlockConfigModalParameters parameters, GameObject blockObject)
{
MotorControl motorControl = blockObject.GetComponent <MotorControl>();
if (motorControl != null)
{
parameters.panelParametersList.Add(new MotorBlockConfigPanelParameters(motorControl));
}
}
public MotorController()
{
_motorControl = new MotorControl();
_motorControl.open();
_leftmotor = new Motor();
_leftmotor.index = 0;
_leftmotor.MotorSide = Side.Left;
_leftmotor.Location = MotorControllerLocation.Front;
_rightmotor = new Motor();
_rightmotor.index = 1;
_rightmotor.MotorSide = Side.Right;
_rightmotor.Location = MotorControllerLocation.Front;
}
//MotorControl Detach event handler...Clear all the fields and disable all the controls
void motoControl_Detach(object sender, DetachEventArgs e)
{
MotorControl detached = (MotorControl)sender;
attachedTxt.Text = detached.Attached.ToString();
nameTxt.Clear();
serialTxt.Clear();
versiontxt.Clear();
numMotorsTxt.Clear();
numInputsTxt.Clear();
numEncodersTxt.Clear();
numSensorsTxt.Clear();
//Shrink window and hide some groups
this.Bounds = new Rectangle(this.Location, new Size(this.Width, 535));
digitalInputsGroup.Visible = false;
encodersGroup.Visible = false;
sensorsGroup.Visible = false;
//Clear everything in the motor group
motorCmb.Items.Clear();
vMaxTxt.Clear();
vCurrentTxt.Clear();
AccelTxt.Clear();
brakingTxt.Clear();
cChangeTxt.Clear();
backEmfTxt.Clear();
backEmfSensingCheck.Checked = false;
velocityTrk.Value = 0;
accelTrk.Value = accelTrk.Minimum;
brakingTrk.Value = 0;
supplyVoltageTimer.Stop();
voltageTxt.Clear();
for (int i = 0; i < 4; i++)
{
((CheckBox)digitalInputsGroup.Controls["input" + i + "Chk"]).Visible = false;
}
//Disable everything
motorCmb.Enabled = false;
backEmfSensingCheck.Enabled = false;
velocityTrk.Enabled = false;
accelTrk.Enabled = false;
brakingTrk.Enabled = false;
}
//initialize the MotorConrol object and hook the event handlers
private void Form1_Load(object sender, EventArgs e)
{
motoControl = new MotorControl();
motoControl.Attach += new AttachEventHandler(motoControl_Attach);
motoControl.Detach += new DetachEventHandler(motoControl_Detach);
motoControl.Error += new ErrorEventHandler(motoControl_Error);
motoControl.CurrentChange += new CurrentChangeEventHandler(motoControl_CurrentChange);
motoControl.InputChange += new InputChangeEventHandler(motoControl_InputChange);
motoControl.VelocityChange += new VelocityChangeEventHandler(motoControl_VelocityChange);
motoControl.BackEMFUpdate += new BackEMFUpdateEventHandler(motoControl_BackEMFUpdate);
motoControl.EncoderPositionChange += new EncoderPositionChangeEventHandler(motoControl_EncoderPositionChange);
motoControl.SensorUpdate += new SensorUpdateEventHandler(motoControl_SensorUpdate);
openCmdLine(motoControl);
}
public override void Init(BlockConfigPanelParameters parameters)
{
base.Init(parameters);
var panelParameters = parameters as MotorBlockConfigPanelParameters;
motorControl = panelParameters.motorControl;
motorControl.MotorVelocityChanged += UpdateTextFields;
motorControl.MotorForceChanged += UpdateTextFields;
motorControl.FreespinChanged += UpdateTextFields;
motorControl.Reverced += UpdateTextFields;
motorControl.ForwardAxisKeyChanged += UpdateTextFields;
motorControl.BackAxisKeyChanged += UpdateTextFields;
motorControl.IsFixableValueChanged += UpdateTextFields;
motorControl.MotorDamperChanged += UpdateTextFields;
UpdateTextFields();
}
void MotorSettings_SaveSettings(object sender, MotorSettingsEventArgs e)
{
if (_selectedMotorControl == null)
{
return;
}
MotorSettings.SaveSettings -= MotorSettings_SaveSettings;
_selectedMotorControl.MotorMovementType = e.MotorMovementType;
_selectedMotorControl.DegreeMovement = e.DegreeMovement;
_selectedMotorControl.PowerRatingMovement = e.PowerRatingMovement;
_selectedMotorControl.TimeToMoveInSeconds = e.TimeToMoveInSeconds;
_selectedMotorControl.UpdateUx();
_selectedMotorControl = null;
}
//initialize the MotorConrol object and hook the event handlers
public void loadMotorControl()
{
motoControl = new MotorControl();
/*
* motoControl.Attach += new AttachEventHandler(motoControl_Attach);
* motoControl.Detach += new DetachEventHandler(motoControl_Detach);
* motoControl.Error += new ErrorEventHandler(motoControl_Error);
*
* motoControl.CurrentChange += new CurrentChangeEventHandler(motoControl_CurrentChange);
* motoControl.InputChange += new InputChangeEventHandler(motoControl_InputChange);
* motoControl.VelocityChange += new VelocityChangeEventHandler(motoControl_VelocityChange);
* motoControl.BackEMFUpdate += new BackEMFUpdateEventHandler(motoControl_BackEMFUpdate);
* motoControl.EncoderPositionChange += new EncoderPositionChangeEventHandler(motoControl_EncoderPositionChange);
* motoControl.SensorUpdate += new SensorUpdateEventHandler(motoControl_SensorUpdate);
* openCmdLine(motoControl);
*/
motoControl.open(-1);
}
private void MotorSettingClicked(object sender, RoutedEventArgs routedEventArgs)
{
var control = sender as MotorControl;
if (control != null)
{
MotorSettings.SaveSettings += MotorSettings_SaveSettings;
_selectedMotorControl = control;
MotorSettings.Show(
control.BrickInputPort,
_brick.Ports[control.BrickInputPort].Type,
control.MotorMovementType,
control.DegreeMovement,
control.PowerRatingMovement,
control.TimeToMoveInSeconds);
}
}
private void MotorSettingClicked(object sender, RoutedEventArgs routedEventArgs)
{
var control = sender as MotorControl;
if (control != null)
{
MotorSettings.SaveSettings += MotorSettings_SaveSettings;
_selectedMotorControl = control;
MotorSettings.Show(
control.BrickInputPort,
_brick.Ports[control.BrickInputPort].Type,
control.MotorMovementType,
control.DegreeMovement,
control.PowerRatingMovement,
control.TimeToMoveInSeconds);
}
}
//MotorControl Attach event handler...populate the fields and controls
void motoControl_Attach(object sender, AttachEventArgs e)
{
MotorControl attached = (MotorControl)sender;
attachedTxt.Text = attached.Attached.ToString();
nameTxt.Text = attached.Name;
serialTxt.Text = attached.SerialNumber.ToString();
versiontxt.Text = attached.Version.ToString();
numMotorsTxt.Text = attached.motors.Count.ToString();
numInputsTxt.Text = attached.inputs.Count.ToString();
numEncodersTxt.Text = attached.encoders.Count.ToString();
numSensorsTxt.Text = attached.sensors.Count.ToString();
//Re-size according to capabilities
if (attached.inputs.Count > 0)
{
this.Bounds = new Rectangle(this.Location, new Size(this.Width, 585));
digitalInputsGroup.Visible = true;
for (int i = 0; i < attached.inputs.Count; i++)
{
((CheckBox)digitalInputsGroup.Controls["input" + i + "Chk"]).Visible = true;
}
}
if (attached.encoders.Count > 0)
{
this.Bounds = new Rectangle(this.Location, new Size(this.Width, 641));
encodersGroup.Visible = true;
encoderPosition.Text = motoControl.encoders[0].Position.ToString();
}
if (attached.sensors.Count > 0)
{
this.Bounds = new Rectangle(this.Location, new Size(this.Width, 695));
sensorsGroup.Visible = true;
ratiometricCheck.Checked = motoControl.Ratiometric;
}
//Set accel range (varies according to controller)
accelTrk.SetRange((int)Math.Round(attached.motors[0].AccelerationMin), (int)attached.motors[0].AccelerationMax);
accelTrk.TickFrequency = ((int)attached.motors[0].AccelerationMax - (int)Math.Round(attached.motors[0].AccelerationMin)) / 10;
accelTrk.Value = accelTrk.Minimum;
//Enable everything
motorCmb.Enabled = true;
velocityTrk.Enabled = true;
accelTrk.Enabled = true;
if (attached.ID == Phidget.PhidgetID.MOTORCONTROL_1MOTOR)
{
backEmfSensingCheck.Enabled = true;
brakingTrk.Enabled = true;
}
supplyVoltageTimer.Start();
for (int i = 0; i < attached.motors.Count; i++)
{
motorCmb.Items.Add(i);
}
motorCmb.SelectedIndex = 0;
}
public void InitializeMotor(String portName)
{
modCom = new ModbusCommunication(portName);
motorControl = new MotorControl(modCom);
USBConnected = true;
}
public void CloseController()
{
_motorControl.close();
_motorControl = null;
}
void MotorSettings_SaveSettings(object sender, MotorSettingsEventArgs e)
{
if (_selectedMotorControl == null)
return;
MotorSettings.SaveSettings -= MotorSettings_SaveSettings;
_selectedMotorControl.MotorMovementType = e.MotorMovementType;
_selectedMotorControl.DegreeMovement = e.DegreeMovement;
_selectedMotorControl.PowerRatingMovement = e.PowerRatingMovement;
_selectedMotorControl.TimeToMoveInSeconds = e.TimeToMoveInSeconds;
_selectedMotorControl.UpdateUx();
_selectedMotorControl = null;
}
public MotorBlockConfigPanelParameters(MotorControl motorControl)
{
this.motorControl = motorControl;
}
// osetreni udalosti stisku tlacitka otaceni motorem
private void rotateMotor(MotorControl.RotParameters rotParameters)
{
FtCommunication.Connection connection = ftCom.getConnection();
// pokud pripojene zarizeni neni dostupne, vypise chybove hlaseni a aktualizuje seznam zarizeni
if (!ftCom.getConnection(lbDevice.SelectedItem.ToString()))
{
MessageBox.Show("Zařízení '" + lbDevice.SelectedItem + "' není dostupné!", "Chyba připojení", MessageBoxButtons.OK, MessageBoxIcon.Error);
btFindDevice_Click(btFindDevice,EventArgs.Empty); // vola event stisknuti tlacitka najit zarizeni - aktualizuje seznam zarizeni
return;
}
// pokud zarizeni prave pracuje, nebo jsou hodnoty kroku nulove pozadavek na otoceni se neposle
if ((deviceWorkingState == true) || (rotParameters.steps == 0))
{
return;
}
else
{
changeWorkingState(true); // signalizuje, ze soustava pracuje
connection.ftStatus = new FTDI.FT_STATUS[1];
connection.ftStatus[0] = ftCom.rotateMotor(rotParameters); // vola metodu pro odeslani parametru otoceni motorem seriovou linkou
// pokud odeslani probehlo OK
if (connection.ftStatus[0] == FTDI.FT_STATUS.FT_OK)
{
rotateMotorImage(rotParameters); // vola metodu pro otaceni obrazky motoru podle zadanych parametru
}
else
{
changeWorkingState(false); // signalizuje, ze zarizeni nepracuje
MessageBox.Show("Chyba komunikace se zařízením '" + connection.ftStatus[0].ToString() + "'.", "Chyba komunikace", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
addLog("Otočení motorem " + rotParameters.motorNum.ToString(), connection.ftStatus[0].ToString());
}
}
static void Main(string[] args)
{
try
{
//Initiallize the MotorControl object
motoControl = new MotorControl();
//Hook the basic event handlers
motoControl.Attach += new AttachEventHandler(motoControl_Attach);
motoControl.Detach += new DetachEventHandler(motoControl_Detach);
motoControl.Error += new ErrorEventHandler(motoControl_Error);
//Hook the phidget specific event handlers
motoControl.CurrentChange += new CurrentChangeEventHandler
(motoControl_CurrentChange);
motoControl.InputChange += new InputChangeEventHandler
(motoControl_InputChange);
motoControl.VelocityChange += new VelocityChangeEventHandler
(motoControl_VelocityChange);
//open the object for MotorControl device connections
motoControl.open();
//Wait for a MotorControl device to be attached
Console.WriteLine("Waiting for MotorControl to be attached....");
motoControl.waitForAttachment();
//Set the acceleration to 100 for this example and intialize the velocity
//to 0.00 (stopped)
motoControl.motors[0].Acceleration = 100.00;
motoControl.motors[0].Velocity = 0.00;
//Prompt for user inpu to continue
Console.WriteLine("Press any button to continue...");
Console.Read();
//Slowly speed the motor to full speed going one direction
double i;
for (i = 0.00; i < 100; i++)
{
Thread.Sleep(100);
motoControl.motors[0].Velocity = i;
}
//Slowly speed down and start accelerating in the other direction
for (i = 100; i > -100; i--)
{
Thread.Sleep(100);
motoControl.motors[0].Velocity = i;
}
//Stop the motor
motoControl.motors[0].Velocity = 0.00;
//Prompt the user for input to terminate
Console.WriteLine("Press any key to end...");
Console.Read();
//User input was read so we can terminate, close the MotorControl object
motoControl.close();
//Set the MotorControl object to null to get it out of memory
motoControl = null;
//If no exceptions were thrown by this point it is ok to terminate
Console.WriteLine("ok");
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
}
void motoControl_Attach(object sender, AttachEventArgs e)
{
MotorControl attached = (MotorControl)sender;
pCallback("motoControl_Attach", "");
}
//initialize the MotorConrol object and hook the event handlers
private void Form1_Load(object sender, EventArgs e)
{
motoControl = new MotorControl();
motoControl.Attach += new AttachEventHandler(motoControl_Attach);
motoControl.Detach += new DetachEventHandler(motoControl_Detach);
motoControl.Error += new ErrorEventHandler(motoControl_Error);
motoControl.CurrentChange += new CurrentChangeEventHandler(motoControl_CurrentChange);
motoControl.InputChange += new InputChangeEventHandler(motoControl_InputChange);
motoControl.VelocityChange += new VelocityChangeEventHandler(motoControl_VelocityChange);
motoControl.BackEMFUpdate += new BackEMFUpdateEventHandler(motoControl_BackEMFUpdate);
motoControl.EncoderPositionChange += new EncoderPositionChangeEventHandler(motoControl_EncoderPositionChange);
motoControl.SensorUpdate += new SensorUpdateEventHandler(motoControl_SensorUpdate);
openCmdLine(motoControl);
}
// metoda pro otaceni obrazky motoru podle zadanych parametru
private void rotateMotorImage(MotorControl.RotParameters rotParameters)
{
switch (rotParameters.motorNum)
{
case MotorControl.MotorNum.Motor1:
motorVisualization1.rotateImage(rotParameters);
break;
case MotorControl.MotorNum.Motor2:
motorVisualization2.rotateImage(rotParameters);
break;
case MotorControl.MotorNum.Motor3:
motorVisualization3.rotateImage(rotParameters);
break;
case MotorControl.MotorNum.Motor4:
motorVisualization4.rotateImage(rotParameters);
break;
}
}
/// <summary>
/// Metoda pro otaceni motorem podle zadanych parametru, seriovou linkou posle tri bajty s parametry otaceni
/// </summary>
/// <param name="rotParameters">Struktura s nastavenymi parametry otaceni</param>
/// <returns>Ft status</returns>
public FTDI.FT_STATUS rotateMotor(MotorControl.RotParameters rotParameters)
{
ftDevice.Purge(FTDI.FT_PURGE.FT_PURGE_RX & FTDI.FT_PURGE.FT_PURGE_TX); // vycisti prijmaci a vysilacu buffer zarizeni
// 1. bajt = hlavicka
// 2. bajt = cislo ovladace, smer otaceni, zpusob otaceni
// 3. bajt = rychlost otaceni, dolni polovina
// 4. bajt = rychlost otaceni, horni polovina
// 5. bajt = pocet kroku nebo sektoru, dolni polovina
// 6. bajt = pocet kroku nebo sektoru, horni polovina
// 7. bajt = stop bajt, obshuje kontrolni soucet soucet
byte[] dataToWrite = new byte[7];
uint bytesWriten = 0;
string dataToRead;
uint bytesRead = 0;
// sestaveni dat pro odeslani
// halvicka v prvnim bajtu
dataToWrite[0] = (byte)'H';
// pridani informace o cisle ovladace motoru do druheho bajtu
switch (rotParameters.motorNum)
{
case MotorControl.MotorNum.Motor1:
dataToWrite[1] = 0x00; // data = 0b00000000
break;
case MotorControl.MotorNum.Motor2:
dataToWrite[1] = 0x40; // data = 0b01000000
break;
case MotorControl.MotorNum.Motor3:
dataToWrite[1] = 0x80; // data = 0b10000000
break;
case MotorControl.MotorNum.Motor4:
dataToWrite[1] = 0xc0; // data = 0b11000000
break;
}
// pridani informace o smeru otaceni motorem, 0 = vlevo, 1 vpravo do druheho bajtu
if (rotParameters.direction == MotorControl.Direction.Left)
{
dataToWrite[1] = (byte)(dataToWrite[1] & 0xdf); // data = 0bxx0xxxxx
}
else
{
dataToWrite[1] = (byte)(dataToWrite[1] | 0x20); // data = 0bxx1xxxxx
}
// pridani informace o zpusobu otaceni, po krocich vs. sektorech do druheho bajtu
// pokud je pocet kroku i pocet sektoru = 0, nedela nic a vrati OK
if (rotParameters.steps == 0)
{
return FTDI.FT_STATUS.FT_OK;
}
else
{
// jinak pokud je pocet sektoru = 0 , nastavi info bit na 0
if (rotParameters.sectors == false)
{
// otaceni po krocich
dataToWrite[1] = (byte)(dataToWrite[1] & 0xef); // data = 0bxxx0xxxx
}
else
{
// otaceni po sektorech , nastavi info bit na 1
dataToWrite[1] = (byte)(dataToWrite[1] | 0x10); // data = 0bxxx1xxxx
}
}
// pridani informace o rychlosti otaceni motorem do tretiho a ctvrteho bajtu
dataToWrite[2] = (byte)(rotParameters.speed); // dolni byte rychlosti
dataToWrite[3] = (byte)(rotParameters.speed >> 8); // horni polovina rychlosti
// prida pocet kroku nebo sektoru o ktery se bude motorem otacet do pateho a sesteho bajtu
dataToWrite[4] = (byte)(rotParameters.steps); // dolni polovina poctu kroku/sektoru
dataToWrite[5] = (byte)(rotParameters.steps >> 8); // horni polovina poctu kroku/sektoru
// pridani kontrolniho souctu do 7 bajtu
for (int i = 0; i < 6; i++)
{
dataToWrite[6] += (byte)(dataToWrite[i]);
}
EventWaitHandle waitRxChar = new EventWaitHandle(false, EventResetMode.AutoReset); // handle udalosti cekani na prijeti znaku seriovou linkou
ftDevice.SetEventNotification(FTDI.FT_EVENTS.FT_EVENT_RXCHAR, waitRxChar); // nastaveni hlaseni udalosti od prijeti znaku seriovou linkou
thread = new Thread(waitingThread);
// vypocet a ulozeni potrebne minimalni doby cekani na prijeti stavu opto nez skonci otaceni
threadDelay = (rotParameters.sectors == true ? rotParameters.steps * rotParameters.speed * 50 : rotParameters.steps * rotParameters.speed) + 3000;
ftDevice.Write(dataToWrite, 7, ref bytesWriten); // zapise sestavene bajty na seriovou linku
// ceka na prijeti znaku seriovou linkou, pokud se nedocka, vraci ERROR
if (waitRxChar.WaitOne(1000, true) == false)
{
return FTDI.FT_STATUS.FT_IO_ERROR;
}
else
{
ftDevice.Read(out dataToRead, 3, ref bytesRead); // precte odpoved
thread.Start(); // spousti vlakno cekajci prichozi data
// Kontrola komunikace, pokud odeslani a zpracovani dat probelo OK tak..
if (dataToRead == "OK\n")
{
return FTDI.FT_STATUS.FT_OK;
}
else
{
// prijaty znak neni OK
thread.Abort();
return FTDI.FT_STATUS.FT_IO_ERROR;
}
}
}
//When the form is being close, make sure to stop all the motors and close the Phidget.
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
motoControl.Attach -= motoControl_Attach;
motoControl.Detach -= motoControl_Detach;
motoControl.Error -= motoControl_Error;
motoControl.InputChange -= motoControl_InputChange;
motoControl.CurrentChange -= motoControl_CurrentChange;
motoControl.VelocityChange -= motoControl_VelocityChange;
motoControl.BackEMFUpdate -= motoControl_BackEMFUpdate;
motoControl.EncoderPositionChange -= motoControl_EncoderPositionChange;
motoControl.SensorUpdate -= motoControl_SensorUpdate;
if (motoControl.Attached)
{
foreach (MotorControlMotor motor in motoControl.motors)
{
motor.Velocity = 0;
}
}
//run any events in the message queue - otherwise close will hang if there are any outstanding events
Application.DoEvents();
motoControl.close();
motoControl = null;
}
static void Main(string[] args)
{
try
{
//Initiallize the MotorControl object
motoControl = new MotorControl();
//Hook the basic event handlers
motoControl.Attach += new AttachEventHandler(motoControl_Attach);
motoControl.Detach += new DetachEventHandler(motoControl_Detach);
motoControl.Error += new ErrorEventHandler(motoControl_Error);
//Hook the phidget specific event handlers
motoControl.CurrentChange += new CurrentChangeEventHandler
(motoControl_CurrentChange);
motoControl.InputChange += new InputChangeEventHandler
(motoControl_InputChange);
motoControl.VelocityChange += new VelocityChangeEventHandler
(motoControl_VelocityChange);
//open the object for MotorControl device connections
motoControl.open();
//Wait for a MotorControl device to be attached
Console.WriteLine("Waiting for MotorControl to be attached....");
motoControl.waitForAttachment();
//Set the acceleration to 100 for this example and intialize the velocity
//to 0.00 (stopped)
motoControl.motors[0].Acceleration = 100.00;
motoControl.motors[0].Velocity = 0.00;
//Prompt for user inpu to continue
Console.WriteLine("Press any button to continue...");
Console.Read();
//Slowly speed the motor to full speed going one direction
double i;
for (i = 0.00; i < 100; i++)
{
Thread.Sleep(100);
motoControl.motors[0].Velocity = i;
}
//Slowly speed down and start accelerating in the other direction
for (i = 100; i > -100; i--)
{
Thread.Sleep(100);
motoControl.motors[0].Velocity = i;
}
//Stop the motor
motoControl.motors[0].Velocity = 0.00;
//Prompt the user for input to terminate
Console.WriteLine("Press any key to end...");
Console.Read();
//User input was read so we can terminate, close the MotorControl object
motoControl.close();
//Set the MotorControl object to null to get it out of memory
motoControl = null;
//If no exceptions were thrown by this point it is ok to terminate
Console.WriteLine("ok");
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
}
