static void Main(string[] args)
{
// get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage = TDC_Console_net_managed [serial_no] [position: optional (0 - 1715200)] [velocity: optional (0 - 3838091)]");
Console.ReadKey();
return;
}
// get position
int position = 250000;
if (argc > 1)
{
position = int.Parse(args[1]);
}
// get velocity
int velocity = 0;
if (argc > 2)
{
velocity = int.Parse(args[2]);
}
// get serial no
string serialNo = args[0];
try
{
// build device list
InstrumentManager.BuildDeviceList();
}
catch (Exception ex)
{
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available TCube DC Servos and check our serial number is correct
string[] serialNumbers = InstrumentManager.GetDeviceListByType(83);
if (!serialNumbers.Contains(serialNo))
{
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
// display info about device
InstrumentManager.DeviceInfo di = InstrumentManager.GetDeviceInfo(serialNo);
Console.WriteLine("Device {0} = {1}", di.SerialNumber(), di.Description());
// open device
Console.WriteLine("Opening device {0}", serialNo);
TCubeDCServo device = new TCubeDCServo(serialNo);
short err = device.Open();
if (err != 0)
{
Console.WriteLine("Failed to open device {0}: error code = {1}", serialNo, err);
Console.ReadKey();
return;
}
// register a callback function to receive device messages
device.RegisterMessageCallback(new TCubeDCServo.CallbackDelegate(MessageWaitingCallback));
device.StartPolling(250);
Thread.Sleep(500);
device.EnableLastMsgTimer(true, 2000);
// home the device
Console.WriteLine("Homing device");
device.ClearMessageQueue();
device.Home();
if (!WaitForMessage(device, MotorMessageType, MotorHomed))
{
return;
}
Console.WriteLine("Device Homed");
// if position is set
if (position != 0)
{
// update velocity if required
if (velocity != 0)
{
TCubeDCServo.VelocityParameters velPars = device.GetVelParams();
velPars.maxVelocity = velocity;
device.SetVelParams(velPars);
}
// move to defined position
Console.WriteLine("Moving Device to {0}", position);
device.ClearMessageQueue();
device.MoveToPosition(position);
if (!WaitForMessage(device, MotorMessageType, MotorMoved))
{
return;
}
int newPos = GetPosition(device);
Console.WriteLine("Device Moved to {0}({1})", newPos, position);
}
Console.ReadKey();
return;
}