public int initialize()
{
int nRetVal = 0;
try
{
string strChannel = _channel.ToString("00");
// Set the motor parameters.
HelixGenModel theModel = ((HelixGen.App)(App.Current)).Model;
int nResult = initializeMotorParams(_channel, theModel.Config.m_R2Piston_Configuration);
if (nResult != 0)
{
// Initialization failed.
logger.Debug("deviceR2Piston::initialize failed.");
}
else
{
HelixGenModel _theModel = ((HelixGen.App)(App.Current)).Model;
clsAMB controller = _theModel.getMotorBoard(_controllerId);
// Move the pump to the initial position.
//RNNosition = 89000;
controller.SetDirectionPolarity(strChannel, "0");
controller.MoveHome(strChannel);
controller.WaitForCompletion(strChannel);
/*
* controller.SetDirectionPolarity(strChannel, "0");
* controller.MoveRelativePositive(strChannel, "2580");
* controller.WaitForCompletion(strChannel);*/
/*
* controller.SetDirectionPolarity(strChannel, "0");
* controller.MoveRelativePositive(strChannel, "50064");
* controller.WaitForCompletion(strChannel);*/
controller.SetResolution(theModel.Config.m_R2Piston_Configuration.m_nMotorChannel.ToString("00"),
theModel.Config.m_R2Piston_Configuration.m_uiMotorResolution.ToString());
// Position = 3;
// RNPosition = 50000;//9.9mm
// RNNosition = 89000;
}
}
catch (Exception)
{
nRetVal = 1;
}
return(nRetVal);
}
public int initialize()
{
int nRetVal = 0;
try
{
string strChannel = _channel.ToString("00");
// Set the motor parameters.
HelixGenModel theModel = ((HelixGen.App)(App.Current)).Model;
int nResult = initializeMotorParams(_channel, theModel.Config.m_ChassisPiston_Configuration);
if (nResult != 0)
{
// Initialization failed.
logger.Debug("deviceChassisPiston::initialize failed.");
}
else
{
clsAMB controller = theModel.getMotorBoard(theModel.Config.m_ChassisPiston_Configuration.m_strControllerName);
// Move the pump to the initial position.
/*
* controller.SetDirectionPolarity(strChannel, "0");
* controller.MoveRelativePositive(strChannel, "2700");
* controller.WaitForCompletion(strChannel);*/
// controller.SetDirectionPolarity(strChannel, "0");
controller.MoveHome(strChannel);
controller.WaitForCompletion(strChannel);
/*
* controller.SetDirectionPolarity(strChannel, "0");
* controller.MoveRelativePositive(strChannel, "5000");
* controller.WaitForCompletion(strChannel);
*/
controller.SetResolution(theModel.Config.m_ChassisPiston_Configuration.m_nMotorChannel.ToString("00"),
theModel.Config.m_ChassisPiston_Configuration.m_uiMotorResolution.ToString());
//Position = 1;
}
}
catch (Exception ex)
{
logger.Debug("deviceChassisPiston::initialize() Caught an exception: {0}", ex.Message);
nRetVal = 1;
}
return(nRetVal);
}
public void ZeroOptic()
{
HelixGenModel theModel = ((HelixGen.App)(App.Current)).Model;
clsAMB controller = theModel.getMotorBoard(_controllerId);
string strChannel = _channel.ToString("00");
/*
* for (int nLED = 0; nLED < 6; nLED++)
* {
* theModel.OpticsModel.SetLedCurrent(nLED + 1, 0.75);
* //theModel.OpticsModel.SetLedCurrent(nLED + 1, 0);
* }*/
// theModel.DeviceOpticsMotor.Position = 5;
controller.MoveHome(strChannel);
controller.WaitForCompletion(strChannel);
// double[,] allReadings = new double[6, 4];
// double[] baselines = new double[4];
for (int i = 0; i < 15; i++)
{
for (int Position = 2; Position < 6; Position++)
{
theModel.DeviceOpticsMotor.Position = Position;
double[] readings = theModel.opticsBoard.ReadPhotodetector();
if (i == 14)
{
theModel.optic_zero[Position - 2] = readings[2];
}
// for (int nCartridge = 0; nCartridge < 6; nCartridge++)
// allReadings[nCartridge, Position - 2] = readings[nCartridge];
//Thread.Sleep(3000);
}
controller.MoveHome(strChannel);
controller.WaitForCompletion(strChannel);
}
/*
* for (int nLED = 0; nLED < 6; nLED++)
* {
* theModel.OpticsModel.SetLedCurrent(nLED + 1, 0);
* //theModel.OpticsModel.SetLedCurrent(nLED + 1, 0);
* }*/
controller.MoveHome(strChannel);
controller.WaitForCompletion(strChannel);
}
private bool disposedValue = false; // To detect redundant calls
protected virtual void Dispose(bool disposing)
{
if (!disposedValue)
{
if (disposing)
{
// TODO: dispose managed state (managed objects).
}
// TODO: free unmanaged resources (unmanaged objects) and override a finalizer below.
// TODO: set large fields to null.
_motorBoard = null;
disposedValue = true;
}
}
public int initialize1()
{
int nRetVal = 0;
try
{
string strChannel = _channel.ToString("00");
// Set the motor parameters.
HelixGenModel theModel = ((HelixGen.App)(App.Current)).Model;
HelixGenModel _theModel = ((HelixGen.App)(App.Current)).Model;
clsAMB controller = _theModel.getMotorBoard(_controllerId);
// Move the pump to the initial position.
//RNNosition = 89000;
controller.SetDirectionPolarity(strChannel, "0");
controller.MoveRelativePositive(strChannel, "12080");
controller.WaitForCompletion(strChannel);
/*
* controller.SetDirectionPolarity(strChannel, "0");
* controller.MoveRelativePositive(strChannel, "68100");
* controller.WaitForCompletion(strChannel);*/
controller.SetResolution(theModel.Config.m_R2Piston_Configuration.m_nMotorChannel.ToString("00"),
theModel.Config.m_R2Piston_Configuration.m_uiMotorResolution.ToString());
// Position = 3;
// RNPosition = 50000;//9.9mm
// RNNosition = 89000;
}
catch (Exception)
{
nRetVal = 1;
}
return(nRetVal);
}
public devicePump(motorBoardModel motorBoardIn, int diochannel)
{
_motorBoard = motorBoardIn.board;
_diochannel = diochannel;
// The Motorboard value cannot be null.
if (motorBoardIn == null)
{
throw new Exception("Error; devicePump::devicePump the value motorBoardIn cannot be null.");
}
// Check the range values on the channel argument.
if (diochannel < 1 || diochannel > 8)
{
throw new Exception(string.Format("Error; devicePump::devicePump the value for diochannel ({0}) must be between 1 and 8 (inclusive).",
diochannel.ToString()));
}
}
protected int initializeMotorParams(int axis, Configuration.CSystem_MotorBoardConfigurationItem configIn)
{
HelixGenModel _theModel = ((HelixGen.App)(App.Current)).Model;
clsAMB controller = _theModel.getMotorBoard(_controllerId);
int nRetVal = 0;
// Set the parameters for the board on this axis.
int iaxis = axis - 1;
controller.axisparams_current[iaxis].strStartSpeed = configIn.m_uiMotorStartSpeed.ToString();
controller.axisparams_current[iaxis].strMaxSpeed = configIn.m_uiMotorMaxSpeed.ToString();
controller.axisparams_current[iaxis].strAcceleration = configIn.m_uiMotorAccel.ToString();
controller.axisparams_current[iaxis].strDeceleration = configIn.m_uiMotorDecel.ToString();
controller.axisparams_current[iaxis].strJerk = configIn.m_uiMotorJerk.ToString();
controller.axisparams_current[iaxis].strMoveCurrent = configIn.m_uiMotorMoveCurrent.ToString();
controller.axisparams_current[iaxis].strHoldCurrent = configIn.m_uiMotorHoldCurrent.ToString();
controller.axisparams_current[iaxis].strResolution = configIn.m_uiMotorResolution.ToString();
controller.axisparams_current[iaxis].strDirectionPolarity = configIn.m_uiMotorDirection.ToString();
controller.axisparams_current[iaxis].strHomeTimeout = configIn.m_uiMotorHomeTimeout.ToString();
controller.axisparams_current[iaxis].strProfileMode = configIn.m_uiMotorProfileMode.ToString();
controller.axisparams_current[iaxis].strEncoderPresent = configIn.m_bEncoderEnabled ? "1" : "0";
controller.axisparams_current[iaxis].strEncoderEncoderMonitorTimer_ms = configIn.m_uiEncoderMonitorTimer_ms.ToString();
controller.axisparams_current[iaxis].strEncoderMonitorPulseChangeThreshold = configIn.m_uiEncoderMonitorPulseChangeThreshold.ToString();
controller.axisparams_current[iaxis].strEncoderMonitorErrorCountThreshold = configIn.m_uiEncoderMonitorErrorCountThreshold.ToString();
controller.axisparams_current[iaxis].strEncoderDirectionPolarity = configIn.m_uiEncoderDirectionPolarity.ToString();
controller.axisparams_current[iaxis].strLostStepsLimit = configIn.m_uiMotorMaxNumLostSteps.ToString();
controller.axisparams_current[iaxis].strEncoderStartOffset = configIn.m_iEncoderStartOffset.ToString();
controller.axisparams_current[iaxis].strEncoderControllerConversionFactor = configIn.m_fEncoderScalingFactor.ToString();
// Kick the parameters in.
controller.LoadParametersIntoController(axis.ToString("00"));
return(nRetVal);
}
/// <summary>
///
/// </summary>
/// <param name="motorBoardIn">A reference to the corresponding motor board.</param>
/// <param name="channel">The channel number on the motorboard. Should be 1...4 (inclusive)</param>
/// <param name="positions">An array of absolute positions that correspond to the pump positions.</param>
/// <param name="npositions">The number of positions used for this pump. Note that this should be the
/// size of the positions array.</param>
public devicePistonPump(clsAMB motorBoardIn, int channel, int[] positions, string controllerId)
{
_motorBoard = motorBoardIn;
_channel = channel;
_positions = positions;
_npositions = positions.Count();
_controllerId = controllerId;
// The Motorboard value cannot be null.
if (motorBoardIn == null)
{
throw new Exception("Error; devicePistonPump::devicePistonPump the value motorBoardIn cannot be null.");
}
// Check the range values on the channel argument.
if (channel < 1 || channel > 4)
{
throw new Exception(string.Format("Error; devicePistonPump::devicePistonPump the value for channel ({0}) must be between 1 and 4 (inclusive).",
channel.ToString()));
}
}
public int initialize()
{
int nRetVal = 0;
try
{
string strChannel = _channel.ToString("00");
// Set the motor parameters.
HelixGenModel theModel = ((HelixGen.App)(App.Current)).Model;
int nResult = initializeMotorParams(_channel, theModel.Config.m_Slider_Configuration);
if (nResult != 0)
{
// Initialization failed.
logger.Debug("deviceSlider::initialize failed.");
}
else
{
clsAMB controller = theModel.getMotorBoard(_controllerId);
// Move the pump to the initial position.
controller.SetDirectionPolarity(strChannel, "0");
controller.MoveHome(strChannel);
controller.WaitForCompletion(strChannel);
controller.MoveRelativePositive(strChannel, "4510");
controller.WaitForCompletion(strChannel);
/*
* //controller.SetDirectionPolarity(strChannel, "0");
* controller.MoveRelativePositive(strChannel, "9500");
* controller.WaitForCompletion(strChannel);
*
*
* controller.SetDirectionPolarity(strChannel, "1");
* //controller.MoveRelativePositive(strChannel, "6156");
* controller.MoveRelativePositive(strChannel, "5800");
* controller.WaitForCompletion(strChannel);
*
* controller.MoveRelativePositive(strChannel, "4300");
* controller.WaitForCompletion(strChannel);
*
* controller.SetDirectionPolarity(strChannel, "0");
*/
/* controller.MoveToAbsolutePosition(strChannel,
* "11114");
* controller.WaitForCompletion(strChannel);*/
//controller.SetDirectionPolarity(strChannel, "1");
controller.SetResolution(theModel.Config.m_Slider_Configuration.m_nMotorChannel.ToString("00"),
theModel.Config.m_Slider_Configuration.m_uiMotorResolution.ToString());
//Position = 2;
// Position = 1;
//RNPosition = 9614;
//RNNosition = 6307;
//RNNosition = 3307;
}
}
catch (Exception ex)
{
logger.Debug("deviceSlider::initialize() Caught an exception: {0}", ex.Message);
nRetVal = 1;
}
return(nRetVal);
}
public int initialize()
{
int nRetVal = 0;
try
{
string strChannel = _channel.ToString("00");
// Set the motor parameters.
HelixGenModel theModel = ((HelixGen.App)(App.Current)).Model;
int nResult = initializeMotorParams(_channel, theModel.Config.m_OpticsMotor_Configuration);
if (nResult != 0)
{
// Initialization failed.
logger.Debug("deviceOpticsMotor::initialize failed.");
}
else
{
clsAMB controller = theModel.getMotorBoard(_controllerId);
// Move the pump to the initial position.
string value;
controller.GetHomeSwitchStatus(strChannel, out value);
if (Int32.Parse(value) == 0)
{
controller.MoveHome(strChannel);
controller.WaitForCompletion(strChannel);
}
// theModel.DeviceOpticsMotor.Position = 4;
/*
* for (int nLED = 0; nLED < 6; nLED++)
* {
* theModel.OpticsModel.SetLedCurrent(nLED + 1, 0.75);
* //theModel.OpticsModel.SetLedCurrent(nLED + 1, 0);
* }
*/
// controller.SetStartSpeed(strChannel, "400");//200,400
// controller.SetMaxSpeed(strChannel, "1200");//200,1600
/*
* controller.SetDirectionPolarity(strChannel, "0");
* controller.MoveRelativePositive(strChannel, "100000000");
* controller.WaitForCompletion(strChannel);
* controller.MoveRelativeNegative(strChannel, "0");
* controller.WaitForCompletion(strChannel);
*/
controller.SetResolution(theModel.Config.m_OpticsMotor_Configuration.m_nMotorChannel.ToString("00"),
theModel.Config.m_OpticsMotor_Configuration.m_uiMotorResolution.ToString());
//if(isFirstIn)
//ZeroOptic();
isFirstIn = false;
// theModel.OpticsModel.TriggerPhotodetector();
// Position = 1;
/*
* controller.MoveToAbsolutePosition(strChannel,
* "132");
* controller.WaitForCompletion(strChannel);*/
}
}
catch (Exception)
{
nRetVal = 1;
}
return(nRetVal);
}
public motorBoardModel2(HelixGenModel modelIn)
{
_model = modelIn;
_motorBoard = new clsAMB();
}
