public void GetEncoderCounts()
{
StepperController sc = new StepperController(IP);
sc.EnableMotor();
//sc.ResetEncoderPosition(0);
sc.SetFormatDecimal();
sc.StartListening();
sc.GetEncoderCounts();
sc.GetEncoderPosition();
Thread.Sleep(100);
Debug.Print($"Encoder position= {sc.Sm.EncoderPosition}");
Debug.Print($"Encoder counts= {sc.Sm.EncoderCounts}");
sc.StartJog(5, 5, 5);
Thread.Sleep(1000);
sc.StopJog();
sc.GetEncoderPosition();
sc.GetEncoderCounts();
Thread.Sleep(2000);
double newCounts = sc.Sm.EncoderCounts;
double newPosition = sc.Sm.EncoderPosition;
Debug.Print($"Encoder position= {sc.Sm.EncoderPosition}");
Debug.Print($"Encoder counts= {sc.Sm.EncoderCounts}");
Thread.Sleep(1000);
Assert.AreEqual(sc.Sm.EncoderPosition, newPosition);
Assert.AreEqual(sc.Sm.EncoderCounts, newCounts);
Thread.Sleep(1000);
sc.StopListening();
sc.Dispose();
}
public void SetStepsToAcceptableValue()
{
StepperController sc = new StepperController(IP);
sc.StartListening();
int expectedStepsPerRev = 20000;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 10000;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 200;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 51101;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 51099;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 205;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
sc.Dispose();
}
public void MinStepsPerRevCoerced()
{
StepperController sc = new StepperController(IP);
sc.StartListening();
sc.SetNumberStepsPerRevolution(1);
Assert.AreEqual(sc.MinStepsPerRev, sc.Sm.StepsPerRev);
sc.Dispose();
}
public void ActiveStepChanged(object sender, ActiveStepChangedEventArgs e)
{
Stepper stepper = (Stepper)sender;
_stepperController = stepper.Controller;
int activeStepIndex = stepper.Steps.IndexOf(e.Step);
ActiveItem = Items[activeStepIndex];
}
public StepperStepViewModel()
{
m_controller = null;
m_step = null;
m_number = 0;
m_needsSpacer = false;
m_isActive = false;
}
/// <summary>
/// Creates a new <see cref="TabControlStepper" />.
/// </summary>
public TabControlStepper()
: base()
{
Controller = new StepperController();
Loaded += LoadedHandler;
Unloaded += UnloadedHandler;
CommandBindings.Add(new CommandBinding(StepperCommands.BackCommand, BackHandler));
CommandBindings.Add(new CommandBinding(StepperCommands.CancelCommand, CancelHandler));
CommandBindings.Add(new CommandBinding(StepperCommands.ContinueCommand, ContinueHandler));
CommandBindings.Add(new CommandBinding(StepperCommands.StepSelectedCommand, StepSelectedHandler, CanExecuteStepSelectedHandler));
}
public void TestCwLimit()
{
Random random = new Random();
double revsPerSecond = 2;
StepperController sc = new StepperController(IP);
sc.StartListening();
sc.SetFormatDecimal();
sc.SetVelocity(5);
sc.ResetEncoderPosition(0);
double numberTurns = random.NextDouble() * 2.5;
double cwLimitCounts = Math.Floor(sc.MaxStepsPerRev * numberTurns);
sc.SetCwLimit(cwLimitCounts);
sc.SetVelocity(revsPerSecond);
sc.ResetEncoderPosition(0);
sc.EnableMotor();
sc.SetNumberStepsPerRevolution(sc.MaxStepsPerRev);
// move to number of turns + ten percent
double calculatedPosition = Math.Floor((cwLimitCounts * 1.1));
sc.MoveToAbsolutePosition((long)calculatedPosition);
Thread.Sleep(2500);
sc.GetEncoderPosition();
Thread.Sleep(500);
Debug.Print($"Limit ={cwLimitCounts}");
Debug.Print($"Calculated ={calculatedPosition}");
Debug.Print($"Encoder Position = {sc.Sm.EncoderPosition}");
// over position is limited by software limit
Assert.AreNotEqual(calculatedPosition, sc.Sm.EncoderPosition);
// software limit and encoder position match
Assert.AreEqual(cwLimitCounts, sc.Sm.EncoderPosition);
// remove software limit
sc.ClearCwLimit();
sc.MoveToAbsolutePosition((long)calculatedPosition);
// over position is not limited by software limit and matches the encoder position
Assert.AreEqual(calculatedPosition, sc.Sm.EncoderPosition);
sc.Dispose();
}
/// <summary>
/// Creates a new <see cref="Stepper" />.
/// </summary>
public Stepper()
: base()
{
m_controller = new StepperController();
Steps = new ObservableCollection <IStep>();
Loaded += LoadedHandler;
Unloaded += UnloadedHandler;
CommandBindings.Add(new CommandBinding(BackCommand, BackHandler));
CommandBindings.Add(new CommandBinding(CancelCommand, CancelHandler));
CommandBindings.Add(new CommandBinding(ContinueCommand, ContinueHandler));
CommandBindings.Add(new CommandBinding(StepSelectedCommand, StepSelectedHandler, CanExecuteStepSelectedHandler));
}
public void ActiveStepChanged(object sender, ActiveStepChangedEventArgs e)
{
Stepper stepper = (Stepper)sender;
_stepperController = stepper.Controller;
int activeStepIndex = stepper.Steps.IndexOf(e.Step);
if (Items.Count > activeStepIndex)
{
ActiveItem = Items[activeStepIndex];
}
else
{
_stepperController.Back();
}
}
/// <summary>
/// Disconnect the current stepper. If stepper has been stopped
/// or no serial port exists, nothing will happen.
/// </summary>
private void _DisconnectStepper()
{
// Check if stpper exists
if (_Stepper == null)
{
return;
}
// Close the stepper
if (_Stepper.IsOpen)
{
_Stepper.Close();
_ConsolePrintMessage("Stepper on " + _Stepper.PortName + " is closed.", MessageLevel.Info);
}
else
{
_ConsolePrintMessage("Stepper serial port is closed.", MessageLevel.Info);
}
// Reset the reference to the stepper
_Stepper = null;
}
/// <summary>
/// Connect to the specific serial port of the stepper. If no
/// availale serial port exists, nothing will happen.
/// </summary>
/// <param name="index">Index of the serial port to connect to.</param>
private void _ConnectStepper(int index)
{
// Check if there is available serial port
if (_SerialPortList == null || _SerialPortList.Length == 0)
{
return;
}
// Ensure the previous stepper stopped
_DisconnectStepper();
// Select the specific serial port
try
{
_Stepper = new StepperController(_SerialPortList[index]);
}
catch (Exception e)
{
_ConsolePrintMessage("private void _ConnectStepper(int): " + e.Message, MessageLevel.Error);
return;
}
// Set the baud rate
_Stepper.BaudRate = _StepperBaudRate;
// Append handlers to the events
_Stepper.RotationStarted -= _StepperRotationStartedEventHandler;
_Stepper.RotationStarted += _StepperRotationStartedEventHandler;
_Stepper.RotationFinished -= _StepperRotationFinishedEventHandler;
_Stepper.RotationFinished += _StepperRotationFinishedEventHandler;
_Stepper.OperationFailed -= _StepperOperationFailedEventHandler;
_Stepper.OperationFailed += _StepperOperationFailedEventHandler;
// Connect to the stepper port
_Stepper.Open();
// CONSOLE: Connect stepper message
_ConsolePrintMessage("Successfully connect to the stepper on " + _Stepper.PortName + ".", MessageLevel.Info);
}
public void RotateTenRevolutions()
{
double revsPerSecond = 5;
StepperController sc = new StepperController(IP);
sc.StartListening();
sc.SetFormatDecimal();
sc.SetVelocity(revsPerSecond);
sc.ResetEncoderPosition(0);
sc.EnableMotor();
sc.SetNumberStepsPerRevolution(sc.MaxStepsPerRev);
double calculatedPosition = sc.MaxStepsPerRev * 10;
sc.MoveToAbsolutePosition((long)calculatedPosition);
Thread.Sleep(2500);
sc.GetEncoderPosition();
Thread.Sleep(500);
Debug.Print($"Calculated ={calculatedPosition}");
Debug.Print($"Encoder Position = {sc.Sm.EncoderPosition}");
Assert.AreEqual(calculatedPosition, sc.Sm.EncoderPosition);
sc.StopListening();
sc.Dispose();
}
public void GetAlarmCodes()
{
StepperController sc = new StepperController(IP);
sc.StartListening();
BitArray bA = new BitArray(BitConverter.GetBytes(0));
AlarmCode blankAlarmCode = new AlarmCode(bA);
sc.GetAlarmCode();
Thread.Sleep(500);
Assert.IsNotNull(sc.Sm.AlarmCode);
sc.Sm.AlarmCode.CwLimit = true;
Assert.AreNotEqual(blankAlarmCode.CwLimit, sc.Sm.AlarmCode.CwLimit);
sc.ClearAlarms();
sc.GetAlarmCode();
Thread.Sleep(500);
Assert.AreEqual(blankAlarmCode.CwLimit, sc.Sm.AlarmCode.CwLimit);
sc.Dispose();
}
private static void Main()
{
// Configure Log4Net
XmlConfigurator.Configure(new FileInfo("log4net.config"));
// Configure PostSharp Logging to use Log4Net
StepperController sc = new StepperController("10.10.10.10");
try
{
// stop the drive from moving
sc.Stop();
sc.EnableMotor();
sc.ClearAlarms();
sc.GetModel();
sc.GetStatus();
sc.StartListening();
sc.SetFormatDecimal();
Thread.Sleep(500);
Thread.Sleep(2000);
Console.WriteLine("Resetting position to 0");
sc.ResetEncoderPosition(0);
//Console.WriteLine("Moving...");
//System.Threading.Thread.Sleep(2000);
//sc.StartJog(-0.5, 25, 25);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(2.5);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(.5);
//System.Threading.Thread.Sleep(2500);
//sc.StopJog();
//Console.WriteLine("Move complete.");
//Console.WriteLine("Status: " + sc.GetStatus());
Thread.Sleep(1000);
//Console.WriteLine("Current Position: " + sc.GetEncoderPosition());
// stop the drive from moving
sc.Stop();
sc.ClearAlarms();
// set the number of steps per rev
sc.SetNumberStepsPerRevolution(51200);
// set revolutions per second
sc.SetVelocity(25);
sc.GetModel();
Console.WriteLine($"Model: {sc.Sm.Model}");
sc.GetStatus();
sc.GetEncoderPosition();
Console.WriteLine("Resetting position to 0");
sc.ResetEncoderPosition(0);
sc.EnableMotor();
// read 15 positions
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine("read 15 positions. 1 revolution = 51200 steps " +
"\nmin number: -2147483648" +
"\nmax number: 2147483647");
int maxPositions = 15;
for (int i = 0; i < maxPositions; i++)
{
try
{
Console.WriteLine($"Enter a position #{i} of {maxPositions}");
long position = (long)Convert.ToDouble(Console.ReadLine());
sc.MoveToAbsolutePosition(position);
sc.GetEncoderPosition();
Console.WriteLine($"Current Position: {sc.Sm.EncoderPosition}");
}
catch (Exception e)
{
StepperController.Log.Error(e.Message);
Console.WriteLine(e);
}
}
}
catch (Exception e)
{
StepperController.Log.Error(e.Message);
Console.WriteLine(e);
}
finally
{
sc.Stop();
sc.DisableMotor();
sc.StopListening();
}
}
private static void Main(string[] args)
{
StepperController sc = new StepperController("10.10.10.10");
try
{
// stop the drive from moving
sc.Stop();
//for (int i = 0; i < 10; i++)
//{
// SendScript(sc);
// System.Threading.Thread.Sleep(2000);
//}
//System.Threading.ThreadPool.QueueUserWorkItem((obj) =>
//{
// while (true)
// {
// Console.WriteLine("Status: " + sc.GetStatus());
// Console.WriteLine("Alarm: " + sc.GetAlarmCode());
// System.Threading.Thread.Sleep(1000);
// }
//});
Console.WriteLine("Model: " + sc.GetModel());
Console.WriteLine("Status: " + sc.GetStatus());
sc.DisableMotor();
//System.Threading.Thread.Sleep(2000);
//Console.WriteLine("Current Position: " + sc.GetEncoderPosition());
//Console.WriteLine("Resetting position to 0");
//sc.ResetEncoderPosition(0);
//Console.WriteLine("Current Position: " + sc.GetEncoderPosition());
//sc.EnableMotor();
//Console.WriteLine("Moving...");
//sc.MoveToAbsolutePosition(20000);
//Console.WriteLine("Move complete.");
//System.Threading.Thread.Sleep(2000);
//sc.StartJog(10, 25, 25);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(25);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(3);
//System.Threading.Thread.Sleep(2500);
//sc.StopJog();
//Console.WriteLine("Status: " + sc.GetStatus());
//System.Threading.Thread.Sleep(1000);
//Console.WriteLine("Current Position: " + sc.GetEncoderPosition());
// stop the drive from moving
sc.Stop();
// set the number of steps per rev
sc.SetNumberStepsPerRevolution(51200);
// set revolutions per second
sc.SetVelocity(25);
Console.WriteLine($"Model: {sc.GetModel()}");
Console.WriteLine($"Status: {sc.GetStatus()} Position: {sc.GetEncoderPosition()} ");
Console.WriteLine("Resetting position to 0");
sc.ResetEncoderPosition(0);
sc.EnableMotor();
string stopText = string.Empty;
// read 15 positions
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine("read 15 positions. 1 revolution = 51200 steps " +
"\nmin number: -2147483648" +
"\nmax number: 2147483647");
int maxPositions = 15;
for (int i = 0; i < maxPositions; i++)
{
try
{
Console.WriteLine($"Enter a position #{i} of {maxPositions}");
sc.EnableMotor();
var position = (long)Convert.ToDouble(Console.ReadLine());
sc.MoveToAbsolutePosition(position);
Console.WriteLine($"Current Position: {sc.GetEncoderPosition()}");
}
catch (Exception e)
{
Console.WriteLine(e);
}
}
}
catch (Exception e)
{
Console.WriteLine(e);
}
finally
{
sc.Stop();
sc.DisableMotor();
}
}
