static void Main()
{
List<DeviceListItem> list = Jrk.getConnectedDevices();
while(true) {
string line;
while((line=Console.ReadLine())!=null) {
string[] p = line.Split();
if(p.Length==1) {
ushort id = Convert.ToUInt16(p[0]);
if(id>=list.Count){Console.WriteLine(-1);continue;};
jrk = new Jrk(list[id]);
double current = 0.0;
for(int i=0; i<100; i++)
current += jrk.getVariables().current;
Console.WriteLine(current);
jrk.disconnect();
}
if(p.Length==2) {
ushort id = Convert.ToUInt16(p[0]);
if(id>=list.Count)continue;
ushort v = Convert.ToUInt16(Convert.ToDouble(p[1])*40.95);
if(v>4095)v=4095;
jrk = new Jrk(list[id]);
jrk.setTarget(v);
jrk.disconnect();
}
}
}
}
/// <summary>
/// Steps through a simple sequence, setting the target to
/// 1500, 2000, and 2500 with 1 second between frames.
/// This function is run every 100 ms when the motion sequence
/// is activated.
/// </summary>
void RunSequence()
{
if (sequenceCounter < 10)
{
jrk.setTarget(1500);
}
else if (sequenceCounter < 20)
{
jrk.setTarget(2000);
}
else if (sequenceCounter < 30)
{
jrk.setTarget(2500);
}
else
{
sequenceCounter = 0;
}
// increment the counter by 1 every 100 ms
sequenceCounter += 1;
}
// Starts the motor
public static void startMotors()
{
if (NumOfConnectedJrks > 0)
{
UInt16 target = Jrk1.getVariables().target;
Jrk1.setTarget(target);
}
if (NumOfConnectedJrks > 1)
{
UInt16 target = Jrk2.getVariables().target;
Jrk2.setTarget(target);
}
if (NumOfConnectedJrks > 2)
{
UInt16 target = Jrk3.getVariables().target;
Jrk3.setTarget(target);
}
if (NumOfConnectedJrks > 3)
{
UInt16 target = Jrk4.getVariables().target;
Jrk4.setTarget(target);
}
}
static void MainWithExceptions(string[] args)
{
// If no arguments are given, just show the help message.
if (args.Length == 0)
{
Console.Write(helpMessage());
Environment.Exit(2);
}
// Parse the arguments.
Dictionary <String, String> opts = new Dictionary <string, string>();
string name = null;
foreach (string rawArg in args)
{
string arg = rawArg;
// Transform the short names in to the long names.
switch (arg)
{
case "-l": arg = "--list"; break;
case "-d": arg = "--device"; break;
case "-s": arg = "--status"; break;
}
Match m = Regex.Match(arg, "^--(.*)");
if (m.Success)
{
name = m.Groups[1].ToString();
opts[name] = ""; // start it off with no string value
}
else if (name != null)
{
// This argument is right after a -- argument, so this argument
// is its value.
opts[name] = arg;
name = null;
}
else
{
throw new ArgumentException("Unexpected argument \"" + arg + "\".");
}
}
if (opts.ContainsKey("list"))
{
if (args.Length > 1)
{
throw new ArgumentException("If --list is present, it must be the only option.");
}
listDevices();
return;
}
// Otherwise, we have to connect to a device.
List <DeviceListItem> list = Jrk.getConnectedDevices();
// Make sure there is a device available..
if (list.Count == 0)
{
throw new Exception("No jrks found.");
}
DeviceListItem item = null;
if (!opts.ContainsKey("device"))
{
// No serial number specified: connect to the first item in the list.
item = list[0];
}
else
{
// Serial number specified.
// Remove the leading # sign. It is not standard to put it there,
// but if someone writes it, this program should still work.
string check_serial_number = opts["device"].TrimStart('#');
// Find the device with the specified serial number.
foreach (DeviceListItem check_item in list)
{
if (check_item.serialNumber == check_serial_number)
{
item = check_item;
break;
}
}
if (item == null)
{
throw new Exception("Could not find a jrk with serial number " + opts["device"] + ".\n" +
"To list devices, use the --list option.");
}
}
// Connect to the device.
jrk = new Jrk(item);
if (opts.ContainsKey("bootloader"))
{
jrk.startBootloader();
return;
}
if (opts.ContainsKey("restoredefaults"))
{
jrk.setJrkParameter(jrkParameter.PARAMETER_INITIALIZED, 0xFF);
jrk.reinitialize();
Thread.Sleep(1000);
}
if (opts.ContainsKey("configure"))
{
string filename = opts["configure"];
Stream stream = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(stream);
ConfigurationFile.load(sr, jrk);
sr.Close();
stream.Close();
jrk.reinitialize();
}
if (opts.ContainsKey("getconf"))
{
string filename = opts["getconf"];
Stream stream = File.Open(filename, FileMode.Create);
StreamWriter sw = new StreamWriter(stream);
ConfigurationFile.save(sw, jrk);
sw.Close();
stream.Close();
}
if (opts.ContainsKey("clearerrors"))
{
jrk.clearErrors();
}
if (opts.ContainsKey("target"))
{
UInt16 target = stringToU12(opts["target"]);
jrk.setTarget(target);
}
if (opts.ContainsKey("run"))
{
UInt16 target = jrk.getVariables().target;
jrk.setTarget(target);
}
if (opts.ContainsKey("stop"))
{
jrk.motorOff();
}
if (opts.ContainsKey("status"))
{
displayStatus(jrk);
}
if (opts.ContainsKey("stream"))
{
streamVariables(jrk, opts);
}
jrk.disconnect();
}
