public static void printStatus(Smc device)
{
SmcVariables vars = device.getSmcVariables();
Console.WriteLine("Model: " + Smc.productIdToLongModelString(device.productId));
Console.WriteLine("Serial Number: " + device.getSerialNumber());
Console.WriteLine("Firmware Version: " + device.getFirmwareVersionString());
Console.WriteLine("Last Reset: " + device.getResetCause());
Console.WriteLine();
printErrors(vars.errorStatus, "Errors currently stopping motor");
printErrors(vars.errorOccurred, "Errors that occurred since last check");
printSerialErrors(vars.serialErrorOccurred, "Serial errors that occurred since last check");
printLimitStatus(vars.limitStatus, "Active limits");
Console.WriteLine(channelStatusFormat, "Channel", "Unlimited", "Raw", "Scaled");
printChannelStatus(vars.rc1, "RC 1");
printChannelStatus(vars.rc2, "RC 2");
printChannelStatus(vars.analog1, "Analog 1");
printChannelStatus(vars.analog2, "Analog 2");
Console.WriteLine();
Console.WriteLine("Current Speed: " + vars.speed);
Console.WriteLine("Target Speed: " + vars.targetSpeed);
Console.WriteLine("Brake Amount: " + (vars.brakeAmount == 0xFF ? "N/A" : vars.brakeAmount.ToString()));
Console.WriteLine("VIN: " + vars.vinMv.ToString() + " mV");
Console.WriteLine("Temperature: " + Smc.temperatureToString(vars.temperature));
Console.WriteLine("RC Period: " + Smc.rcPeriodToString(vars.rcPeriod));
Console.WriteLine("Baud rate: " + (vars.baudRateRegister == 0 ? "N/A" : (Smc.convertBaudRegisterToBps(vars.baudRateRegister).ToString() + " bps")));
uint seconds = vars.timeMs / 1000;
uint minutes = seconds / 60;
uint hours = minutes / 60;
Console.WriteLine("Up time: {0}:{1:D2}:{2:D2}.{3:D3}", hours, minutes % 60, seconds % 60, vars.timeMs % 1000);
Console.WriteLine();
const string motorLimitFormat = "{0, -18} {1,9} {2,8}";
Console.WriteLine(motorLimitFormat, "Limit", "Forward", "Reverse");
Console.WriteLine(motorLimitFormat, "Max. speed", vars.forwardLimits.maxSpeed, vars.reverseLimits.maxSpeed);
Console.WriteLine(motorLimitFormat, "Starting speed", vars.forwardLimits.startingSpeed, vars.reverseLimits.startingSpeed);
Console.WriteLine(motorLimitFormat, "Max. acceleration",
Smc.accelDecelToString(vars.forwardLimits.maxAcceleration),
Smc.accelDecelToString(vars.reverseLimits.maxAcceleration));
Console.WriteLine(motorLimitFormat, "Max. deceleration",
Smc.accelDecelToString(vars.forwardLimits.maxDeceleration),
Smc.accelDecelToString(vars.reverseLimits.maxDeceleration));
Console.WriteLine(motorLimitFormat, "Brake duration", vars.forwardLimits.brakeDuration, vars.reverseLimits.brakeDuration);
}
public static void printStatus(Smc device)
{
SmcVariables vars = device.getSmcVariables();
SmcSettings settings = new SmcSettings(device.productId);
settings = device.getSmcSettings();
// Note: This format is kind of annoying but we use it for compatibility with old
// SmcCmd format. For future products, we should probably use YAML.
Console.WriteLine("Model: " + Smc.productIdToLongModelString(device.productId));
Console.WriteLine("Serial Number: " + device.getSerialNumber());
Console.WriteLine("Firmware Version: " + device.getFirmwareVersionString());
Console.WriteLine("Last Reset: " + device.getResetCause());
Console.WriteLine();
printErrors(vars.errorStatus, "Errors currently stopping motor");
printErrors(vars.errorOccurred, "Errors that occurred since last check");
printSerialErrors(vars.serialErrorOccurred, "Serial errors that occurred since last check");
printLimitStatus(vars.limitStatus, "Active limits");
Console.WriteLine(channelStatusFormat, "Channel", "Unlimited", "Raw", "Scaled");
printChannelStatus(vars.rc1, "RC 1");
printChannelStatus(vars.rc2, "RC 2");
printChannelStatus(vars.analog1, "Analog 1");
printChannelStatus(vars.analog2, "Analog 2");
Console.WriteLine();
Console.WriteLine("Current Speed: " + vars.speed);
Console.WriteLine("Target Speed: " + vars.targetSpeed);
string motorState;
if (vars.speed == 0)
{
if (vars.brakeAmount == 0)
{
motorState = "Coasting";
}
else
{
// brakeAmount should be 32.
motorState = "Braking";
}
}
else
{
motorState = "Driving";
}
Console.WriteLine("Motor State: " + motorState);
Console.WriteLine("VIN: " + vars.vinMv.ToString() + " mV");
Console.WriteLine("Temperature A: " + Smc.temperatureToAsciiString(vars.temperatureA));
Console.WriteLine("Temperature B: " + Smc.temperatureToAsciiString(vars.temperatureB));
UInt32 currentLimitMa = device.calculateCurrentLimit(
vars.currentLimit,
settings.currentOffsetCalibration,
settings.currentScaleCalibration);
Console.WriteLine("Current limit: " + currentLimitMa + " mA");
Console.WriteLine("Raw current: " + vars.rawCurrent);
Console.WriteLine("Current: " + vars.current + " mA");
Console.WriteLine("Current limiting consecutive count: " + vars.currentLimitingConsecutiveCount);
Console.WriteLine("Current limiting occurrence count: " + vars.currentLimitingOccurrenceCount);
Console.WriteLine("RC Period: " + Smc.rcPeriodToString(vars.rcPeriod));
Console.WriteLine("Baud rate: " + (vars.baudRateRegister == 0 ? "N/A" : (Smc.convertBaudRegisterToBps(vars.baudRateRegister).ToString() + " bps")));
uint seconds = vars.timeMs / 1000;
uint minutes = seconds / 60;
uint hours = minutes / 60;
Console.WriteLine("Up time: {0}:{1:D2}:{2:D2}.{3:D3}", hours, minutes % 60, seconds % 60, vars.timeMs % 1000);
Console.WriteLine();
const string motorLimitFormat = "{0, -18} {1,9} {2,8}";
Console.WriteLine(motorLimitFormat, "Limit", "Forward", "Reverse");
Console.WriteLine(motorLimitFormat, "Max. speed", vars.forwardLimits.maxSpeed, vars.reverseLimits.maxSpeed);
Console.WriteLine(motorLimitFormat, "Starting speed", vars.forwardLimits.startingSpeed, vars.reverseLimits.startingSpeed);
Console.WriteLine(motorLimitFormat, "Max. acceleration",
Smc.accelDecelToString(vars.forwardLimits.maxAcceleration),
Smc.accelDecelToString(vars.reverseLimits.maxAcceleration));
Console.WriteLine(motorLimitFormat, "Max. deceleration",
Smc.accelDecelToString(vars.forwardLimits.maxDeceleration),
Smc.accelDecelToString(vars.reverseLimits.maxDeceleration));
Console.WriteLine(motorLimitFormat, "Brake duration", vars.forwardLimits.brakeDuration, vars.reverseLimits.brakeDuration);
}
