/// <summary>
/// emergency stop
/// </summary>
/// <returns>bool that indicates, if operation was successful</returns>
public bool StopImmediately()
{
try
{
//motor must be in PositionMode to set velocity of wheels to 0
ActivatePositionMode();
//velocity of motors is set to 0
_ppm1.HaltPositionMovement();
_ppm2.HaltPositionMovement();
//returns true, if StopImmediately() was successful
return(true);
}
//an error may occur
catch (Exception e)
{
ConsoleFormatter.Error("Failed to stop the engine.", "Message: " + e.Message);
//returns false, if StopImmediately() fails
return(false);
}
}
/// <summary>
/// Zastaví motor
/// </summary>
public void halt()
{
try
{
switch (mode)
{
case MotorMode.position:
positionHandler.HaltPositionMovement();
break;
case MotorMode.velocity:
velocityHandler.HaltVelocityMovement();
break;
}
}
catch (DeviceException e)
{
state = MotorState.error;
stateObserver.motorStateChanged(MotorState.error, String.Format("{0}\nError: {1}", e.ErrorMessage, errorDictionary.getComunicationErrorMessage(e.ErrorCode)), id, 0, 0, 0, 0);
motorErrorOccuredObserver();
}
}
/// <summary>
/// Handles the Click event of the buttonHalt control.
/// </summary>
/// <param name="sender">The source of the event.</param>
/// <param name="ea">The <see cref="System.EventArgs"/> instance containing the event data.</param>
private void ButtonHaltClick(object sender, EventArgs ea)
{
try
{
ProfilePositionMode ppm = _epos.Operation.ProfilePositionMode;
ppm.ActivateProfilePositionMode();
textBoxAOM.Text = _epos.Operation.OperationMode.GetOperationModeAsString();
ppm.HaltPositionMovement();
}
catch (DeviceException e)
{
StopRefresh();
ShowMessageBox(e.ErrorMessage, e.ErrorCode);
}
catch (Exception e)
{
StopRefresh();
MessageBox.Show(e.Message);
}
}
