private void ResetPos(object sender, EventArgs e)
{
Button b = (Button)sender;
if (!simulation_Manip27)
{
manip27.Motor m = (b.Tag.ToString() == "DC") ? (manip27.Motor)mDC : (manip27.Motor)mPAP;
m.resPos();
}
else
{
if (b.Tag.ToString() == "DC")
{
tBDCPosAct.Text = "0";
tBPosErr.Text = "0";
}
else
{
tBPAPPosTh.Text = "0";
};
}
}
private void MainForm_Load(object sender, EventArgs e)
{
try
{
if (!simulation_Manip27)
{
cG = new manip27.Controller(ControllerIP);
cG.Connect();
this.Text = cG.ControllerInfo;
mDC = new manip27.Motor(manip27.tMotorType.DC);
mPAP = new manip27.Motor(manip27.tMotorType.PAP);
updateTxtBox = true;
timer1.Start();
cBDCMode.SelectedIndex = 0;
cBDCMode_SelectionChangeCommitted(cBDCMode, e);
cBPAPMode.SelectedIndex = 0;
cBPAPMode_SelectionChangeCommitted(cBPAPMode, e);
cBPAPStep.Checked = true;
cBPAPStep_CheckedChanged(cBPAPStep, e);
}
else
{
timer1.Start();
cBDCMode.SelectedIndex = 0;
cBPAPMode.SelectedIndex = 0;
}
}
catch (System.Runtime.InteropServices.COMException ex)
{
MessageBox.Show(ex.Message + "\nVerifier que le système est enclenché et le câble réseau branché\n\nLe programme va se terminer");
System.Windows.Forms.Application.Exit();
}
}
private void UpdateValue(object sender, EventArgs e)
{
TextBox TB = (TextBox)sender;
if (!simulation_Manip27)
{
bool abs = (cBDCMode.SelectedIndex == 1) ? true : false;
manip27.Motor m = (TB.Name.Substring(2, 2) == "DC") ? (manip27.Motor)mDC : (manip27.Motor)mPAP;
if (m.MotorType == manip27.tMotorType.PAP)
{
abs = (cBPAPMode.SelectedIndex == 1) ? true : false;
}
try
{
switch (TB.Tag.ToString())
{
case "PR":
m.CPosition = Convert.ToInt32(TB.Text);
break;
case "SP":
m.CSpeed = Convert.ToInt32(TB.Text);
break;
case "AC":
m.CAcceleration = Convert.ToInt32(TB.Text);
break;
case "DC":
m.CDeceleration = Convert.ToInt32(TB.Text);
break;
case "KP":
m.KP = Convert.ToDouble(TB.Text);
break;
case "KD":
m.KD = Convert.ToDouble(TB.Text);
break;
case "KI":
m.KI = Convert.ToDouble(TB.Text);
break;
}
cG.SendValue(TB.Tag.ToString(), TB.Text, m.MotorType, abs);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
else
{
switch (TB.Tag.ToString())
{
case "PR":
if (TB.Name.Substring(2, 2) == "DC")
{
s.CPosition = Convert.ToInt32(TB.Text);
}
else
{
s.PAP_CPosition = Convert.ToInt32(TB.Text);
}
break;
case "SP":
if (TB.Name.Substring(2, 2) == "DC")
{
s.CSpeed = Convert.ToInt32(TB.Text);
}
else
{
s.PAP_CSpeed = Convert.ToInt32(TB.Text);
}
break;
case "AC":
if (TB.Name.Substring(2, 2) == "DC")
{
s.CAcceleration = Convert.ToInt32(TB.Text);
}
else
{
s.PAP_CAcceleration = Convert.ToInt32(TB.Text);
}
break;
case "DC":
if (TB.Name.Substring(2, 2) == "DC")
{
s.CDeceleration = Convert.ToInt32(TB.Text);
}
else
{
s.PAP_CDeceleration = Convert.ToInt32(TB.Text);
}
break;
case "KP":
s.KP = Convert.ToDouble(TB.Text);
break;
case "KD":
s.KD = Convert.ToDouble(TB.Text);
break;
case "KI":
s.KI = Convert.ToDouble(TB.Text);
break;
}
}
updateTxtBox = true;
}
