private void VerifyACK()
{
if (this.InvokeRequired)
{
SetTextCallback d = new SetTextCallback(VerifyACK);
this.Invoke(d, new object[] { });
}
else
{
SerialPortTerminal.AppendText(BitConverter.ToString(receiveBuffer) + "\n");
if ((receiveBuffer[0] == stx) & (receiveBuffer[1] == ack[1]) & (receiveBuffer[2] == etx))
{
timer1.Enabled = false;
}
else
{
serialPort.DiscardInBuffer();
}
}
}
private void ProcessData()
{
if (this.InvokeRequired)
{
SetTextCallback d = new SetTextCallback(ProcessData);
this.Invoke(d, new object[] { });
}
else
{
SerialPortTerminal.AppendText(BitConverter.ToString(receiveBuffer) + "\n");
time += 0.025;
if (VerifyFrame(receiveBuffer))
{
currentPosition = BitConverter.ToDouble(receiveBuffer, 1);
currentSpeed = BitConverter.ToDouble(receiveBuffer, 9);
positionGraphControl.UpdateGraph(PositionGraph, 1, time, currentPosition, graphMode);
speedGraphControl.UpdateGraph(SpeedGraph, 1, time, currentSpeed, graphMode);
if (PositionRadioButton.Checked)
{
dataTable.Rows.Add(time, "Position", positionSetpoint, currentPosition, currentSpeed);
positionGraphControl.UpdateGraph(PositionGraph, 0, time, positionSetpoint, graphMode);
}
if (SpeedRadioButton.Checked)
{
dataTable.Rows.Add(time, "Speed", speedSetpoint, currentPosition, currentSpeed);
speedGraphControl.UpdateGraph(SpeedGraph, 0, time, speedSetpoint, graphMode);
}
PowerTextBox.Text = Convert.ToString(Math.Round(BitConverter.ToDouble(receiveBuffer, 17), 2)) + "%";
CurrentPositionTextBox.Text = Convert.ToString(currentPosition);
CurrentSpeedTextBox.Text = Convert.ToString(currentSpeed);
//serialPort.Write(ack, 0, 3);
//SerialPortTerminal.AppendText(BitConverter.ToString(ack) + "\n");
}
else
{
serialPort.DiscardInBuffer();
}
}
}