private void saveAndSendAck(object sender, EventArgs e)
{
byte[] instruction, sendAckNak, dataWithoutHeader_1, dataWithoutHeader_2, dataWithoutHeader_3;
if (!UartCom.RxHandshake_16byte(InByte_16, out instruction))
{
UartCom.TxHandshake_16byte(out sendAckNak);
sPort.Write(sendAckNak, 0, 7);
return;
}
UartCom.DataHeader header = UartCom.classifyHeader_16byte(instruction, out dataWithoutHeader_1, out dataWithoutHeader_2, out dataWithoutHeader_3);
Realtime = UartCom.uARTBytetoFloat(dataWithoutHeader_1); //realtime
Measure = UartCom.uARTBytetoFloat(dataWithoutHeader_2); //measure
PWM = UartCom.uARTBytetoFloat(dataWithoutHeader_3); //PWM
UartCom.TxHandshake_16byte(out sendAckNak);
sPort.Write(sendAckNak, 0, 7);
if (status == GraphStatus.GraphRun)
{
graphUpdate();
}
if (cBoxLog.Checked == true)
{
logTable.Rows.Add(Realtime, Setpoint, Measure, PWM);
}
}
private void saveAndSendAck(object sender, EventArgs e)
{
byte[] instruction, dataWithoutHeader_1, dataWithoutHeader_2, dataWithoutHeader_3;
if (!UartCom.RxHandshake_16byte(InByte_16, out instruction))
{
return;
}
UartCom.DataHeader header = UartCom.classifyHeader_16byte(instruction, out dataWithoutHeader_1, out dataWithoutHeader_2, out dataWithoutHeader_3);
float displayValue1 = UartCom.uARTBytetoFloat(dataWithoutHeader_1); //realtime
float displayValue2 = UartCom.uARTBytetoFloat(dataWithoutHeader_2); //measure
float displayValue3 = UartCom.uARTBytetoFloat(dataWithoutHeader_3); //PWM
Realtime = displayValue1;
Measure = displayValue2;
PWM = displayValue3;
if (status == GraphStatus.GraphRun)
{
graphUpdate();
}
if (cBoxLog.Checked == true)
{
logTable.Rows.Add(Setpoint, Measure);
}
}
//private void readBuffer(ref byte[] outBuffer)
//{
// for (int ii = 0; ii <= 4; ii++)
// {
// outBuffer[ii] = Convert.ToByte(sPort.ReadByte());
// }
//}
private void saveData(object sender, EventArgs e)
{
byte[] instruction, dataWithoutHeader;
if (!UartCom.RxHandshake(InByte, out instruction))
{
return;
}
UartCom.DataHeader header = UartCom.classifyHeader(instruction, out dataWithoutHeader);
float displayValue = UartCom.uARTBytetoFloat(dataWithoutHeader);
switch (header)
{
//case UartCom.DataHeader.Realtime:
// //realtimestep = displayValue;
// break;
case UartCom.DataHeader.Setpoint:
Setpoint = displayValue;
tBoxDisplayGet.Text += UartCom.motorMessage[4];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
//case UartCom.DataHeader.Measure:
// Measure = displayValue;
// Realtime += Realtimestep;
// break;
case UartCom.DataHeader.Run:
tBoxDisplayGet.Text += UartCom.motorMessage[0];
tBoxDisplayGet.Text += Environment.NewLine;
lbRun.Text = "RUN";
lbRun.ForeColor = Color.Green;
break;
case UartCom.DataHeader.Stop:
tBoxDisplayGet.Text += UartCom.motorMessage[1];
tBoxDisplayGet.Text += Environment.NewLine;
lbRun.Text = "STOP";
lbRun.ForeColor = Color.Red;
break;
case UartCom.DataHeader.Velocity:
tBoxDisplayGet.Text += UartCom.motorMessage[2];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Position:
tBoxDisplayGet.Text += UartCom.motorMessage[3];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kp:
tBoxDisplayGet.Text += UartCom.motorMessage[5];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Ki:
tBoxDisplayGet.Text += UartCom.motorMessage[6];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kd:
tBoxDisplayGet.Text += UartCom.motorMessage[7];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
//case UartCom.DataHeader.Data:
// char transChar = (char)displayValue;
// tBoxDisplayGet.Text += Convert.ToString(transChar);
// break;
//case UartCom.DataHeader.Floattype:
// tBoxDisplayGet.Text += displayValue.ToString();
// tBoxDisplayGet.Text += Environment.NewLine;
// break;
case UartCom.DataHeader.Calib:
tBoxDisplayGet.Text += UartCom.motorMessage[8];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
default:
break;
}
}
//private void readBuffer(ref byte[] outBuffer)
//{
// for (int ii = 0; ii <= 4; ii++)
// {
// outBuffer[ii] = Convert.ToByte(sPort.ReadByte());
// }
//}
private void saveData(object sender, EventArgs e)
{
byte[] instruction, dataWithoutHeader;
if (!UartCom.RxHandshake(InByte, out instruction))
{
return;
}
UartCom.DataHeader header = UartCom.classifyHeader(instruction, out dataWithoutHeader);
float displayValue = UartCom.uARTBytetoFloat(dataWithoutHeader);
switch (header)
{
case UartCom.DataHeader.Realtime:
//realtimestep = displayValue;
break;
case UartCom.DataHeader.Setpoint:
Setpoint = displayValue;
tBoxDisplayGet.Text += UartCom.motorMessage[4];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Measure:
Measure = displayValue;
Realtime += Realtimestep;
break;
case UartCom.DataHeader.Run:
tBoxDisplayGet.Text += UartCom.motorMessage[0];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Stop:
tBoxDisplayGet.Text += UartCom.motorMessage[1];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Velocity:
tBoxDisplayGet.Text += UartCom.motorMessage[2];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Position:
tBoxDisplayGet.Text += UartCom.motorMessage[3];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kp:
tBoxDisplayGet.Text += UartCom.motorMessage[5];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Ki:
tBoxDisplayGet.Text += UartCom.motorMessage[6];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kd:
tBoxDisplayGet.Text += UartCom.motorMessage[7];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Data:
char transChar = (char)displayValue;
tBoxDisplayGet.Text += Convert.ToString(transChar);
break;
case UartCom.DataHeader.Floattype:
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Calib:
tBoxDisplayGet.Text += UartCom.motorMessage[8];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
default:
break;
}
if (status == GraphStatus.GraphRun)
{
graphUpdate();
}
if (cBoxLog.Checked == true)
{
logTable.Rows.Add(Setpoint, Measure);
}
}
