/// <summary>
/// Closes the stage down
/// </summary>
/// <param name="args"> argument values for stage</param>
static void stageclose(Form1 formObject)
{
Form1 form1 = formObject;
string testSerialNo = form1.arg[0];
// stop polling
bool ret = false;
ret = CKCubeDCServo.CC_StopPolling(testSerialNo);
short retb;
// close device
retb = CKCubeDCServo.CC_Close(testSerialNo);
}
/// <summary>
/// Move's stage to the input position
/// </summary>
/// <param name="position"> desired position </param>
/// <param name="testSerialNo"> stage serial number</param>
/// <param name="formObject"></param>
internal void StageMove(int position, string testSerialNo, Form1 formObject)
{
Form1 form1 = formObject;
CKCubeDCServo.CC_MoveToPosition(testSerialNo, position);//Move to position
//read current position and compare to desired position (more detailed explanation see stagepos
float pos = CKCubeDCServo.CC_GetPosition(testSerialNo);
while (pos != position)
{
Thread.Sleep(1000);
pos = CKCubeDCServo.CC_GetPosition(testSerialNo);
}
form1.TestBox_StagePosition.Text = Convert.ToString(pos / form1.motorFactor);
}
/// <summary>
/// Starts the stage
/// </summary>
/// <param name="formObject">the main form</param>
internal void stagestart(Form1 formObject)
{
Form1 form1 = formObject;
int velocity = 0; //initialises velocity variable
if (form1.arg.GetLength(0) > 2) //Checks velocity has been specified in arg
{
velocity = int.Parse(form1.arg[2]); //sets velocity to value specified in arg
}
if (CKCubeDCServo.TLI_BuildDeviceList() == 0) // Build list of connected device
{
// get device list size
short n = CKCubeDCServo.TLI_GetDeviceListSize();
// get TDC serial numbers
string[] serialNos;
CKCubeDCServo.TLI_GetDeviceListByTypes(out serialNos, new[] { 27 }, 1);
// output list of matching devices
foreach (string serialNo in serialNos)
{
// get device info from device
TestStruct s = new TestStruct();
int iSize = Marshal.SizeOf(typeof(TestStruct));
IntPtr iPtr = Marshal.AllocHGlobal(iSize);
CKCubeDCServo.TLI_GetDeviceInfo(serialNo, iPtr);
// get strings from device info structure
s = (TestStruct)(Marshal.PtrToStructure(iPtr, typeof(TestStruct)));
Marshal.FreeHGlobal(iPtr);
string x1 = new string(s.description);
x1 = x1.Substring(0, x1.IndexOf('\0'));
string x2 = new string(s.serialNo);
x2 = x2.Substring(0, x2.IndexOf('\0'));
// output
}
// if our device exists, test it
if (serialNos.AsEnumerable().Contains(form1.arg[0]))
{
// open device
if (CKCubeDCServo.CC_Open(form1.arg[0]) == 0)
{
//Console.SetOut(TextWriter.Null);
// start the device polling at 200ms intervals
CKCubeDCServo.CC_StartPolling(form1.arg[0], 200);
//Console.SetIn(TextWriter.Null);
float pos = CKCubeDCServo.CC_GetPosition(form1.arg[0]);
Thread.Sleep(3000);
// Home device
CKCubeDCServo.CC_Home(form1.arg[0]);
//checks whether stage is in position every second until in place
while (pos != 0)
{
Thread.Sleep(1000);
pos = CKCubeDCServo.CC_GetPosition(form1.arg[0]);
}
form1.TestBox_StagePosition.Text = Convert.ToString(pos / form1.motorFactor); //outputs position
// set velocity if desired
if (velocity > 0)
{
int currentVelocity = 0, currentAcceleration = 0;
CKCubeDCServo.CC_GetVelParams(form1.arg[0], ref currentVelocity, ref currentAcceleration);
CKCubeDCServo.CC_SetVelParams(form1.arg[0], velocity, currentAcceleration);
}
}
}
else
{
MessageBoxButtons buttons = MessageBoxButtons.OK;
DialogResult result;
result = MessageBox.Show("Motor Not Detected. Please connect motor and then retry", "Program will close", buttons);
form1.Close();
}
}
}
