private void StepperBoard_Attach(object sender, AttachEventArgs e)
{
for (int i = 0; i < _stepperBoard.steppers.Count; i++)
{
if (_motorCount == 0)
{
_steppers[i].MinAcceleration = _stepperBoard.steppers[i].AccelerationMin;
_steppers[i].MaxAcceleration = _stepperBoard.steppers[i].AccelerationMax;
_steppers[i].Acceleration = _steppers[i].MaxAcceleration;
_steppers[i].MinVelocity = _stepperBoard.steppers[i].VelocityMin;
_steppers[i].MaxVelocity = _stepperBoard.steppers[i].VelocityMax;
_steppers[i].VelocityLimit = _steppers[i].MaxVelocity;
RegisterBindings(i);
}
_stepperBoard.steppers[i].VelocityLimit = _steppers[i].VelocityLimit;
_stepperBoard.steppers[i].Acceleration = _steppers[i].Acceleration;
}
if (_motorCount == 0)
{
_motorCount = _stepperBoard.steppers.Count;
ConfigManager.LogManager.LogDebug("Detaching phidget stepper board after config. (SerialNumber=\"" + _serialNumber + "\")");
_stepperBoard.close();
_stepperBoard = null;
}
}
public void close()
{
stepper.steppers[0].Engaged = false;
//close the Stepper object
stepper.close();
//set the object to null to get it out of memory
stepper = null;
}
private void DoneButton_Click(object sender, RoutedEventArgs e)
{
// Remove event handler and close Phidget
ifKit.InputChange -= new InputChangeEventHandler(ifKit_InputChange);
ifKit.close();
// Go to Return Summary Page
ReturnSummary page = new ReturnSummary(_aaExchange);
this.NavigationService.Navigate(page);
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
stepper.Attach -= stepper_Attach;
stepper.Detach -= stepper_Detach;
stepper.Error -= stepper_Error;
stepper.CurrentChange -= stepper_CurrentChange;
stepper.PositionChange -= stepper_PositionChange;
stepper.VelocityChange -= stepper_VelocityChange;
//run any events in the message queue - otherwise close will hang if there are any outstanding events
Application.DoEvents();
if (stepper.Attached)
{
for (int i = 0; i < stepper.steppers.Count; i++)
{
stepper.steppers[i].Engaged = false;
}
}
stepper.close();
}
static void Main(string[] args)
{
try
{
//Declare a Stepper object
Stepper stepper = new Stepper();
//Hook the basic event handlers
stepper.Attach += new AttachEventHandler(stepper_Attach);
stepper.Detach += new DetachEventHandler(stepper_Detach);
stepper.Error += new ErrorEventHandler(stepper_Error);
//Hook the Stepper specific event handlers
stepper.CurrentChange += new CurrentChangeEventHandler
(stepper_CurrentChange);
stepper.InputChange += new InputChangeEventHandler
(stepper_InputChange);
stepper.PositionChange += new StepperPositionChangeEventHandler
(stepper_PositionChange);
stepper.VelocityChange += new VelocityChangeEventHandler
(stepper_VelocityChange);
//Open the Stepper object for device connections
stepper.open();
//get the program to wait for a Stepper device to be attached
Console.WriteLine("Waiting for a Stepper to be attached....");
stepper.waitForAttachment();
Console.WriteLine("Now the velocity will be set");
Console.WriteLine("The motor will run until it reaches the set goal position");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the max velocity to start the stepper motor moving until it hits
//the goal position
stepper.steppers[0].VelocityLimit = 100.00; //Max velocity
Console.WriteLine("Stepper motor velocity set to: {0}",
stepper.steppers[0].VelocityLimit.ToString());
stepper.steppers[0].Acceleration = stepper.steppers[0].AccelerationMin; //ensure the value is between the AccelerationMin and AccelerationMax
Console.WriteLine("Stepper motor acceleration set to: {0}",
stepper.steppers[0].Acceleration.ToString());
stepper.steppers[0].TargetPosition = 0;
stepper.steppers[0].Engaged = true;
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
Console.WriteLine("Will now move to position 2000.");
Console.WriteLine("Please wait until the motor stops.");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the goal position to 2000
stepper.steppers[0].TargetPosition = 2000;
Console.WriteLine("Press any key to end....");
Console.ReadLine();
stepper.steppers[0].Engaged = false;
//close the Stepper object
stepper.close();
//set the object to null to get it out of memory
stepper = null;
//if no exceptions were thrown at this point it is safe to terminate
Console.WriteLine("ok");
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
static void Main(string[] args)
{
try
{
//Declare a Stepper object
Stepper stepper = new Stepper();
//Hook the basic event handlers
stepper.Attach += new AttachEventHandler(stepper_Attach);
stepper.Detach += new DetachEventHandler(stepper_Detach);
stepper.Error += new ErrorEventHandler(stepper_Error);
//Hook the Stepper specific event handlers
stepper.CurrentChange += new CurrentChangeEventHandler
(stepper_CurrentChange);
stepper.InputChange += new InputChangeEventHandler
(stepper_InputChange);
stepper.PositionChange += new StepperPositionChangeEventHandler
(stepper_PositionChange);
stepper.VelocityChange += new VelocityChangeEventHandler
(stepper_VelocityChange);
//Open the Stepper object for device connections
stepper.open();
//get the program to wait for a Stepper device to be attached
Console.WriteLine("Waiting for a Stepper to be attached....");
stepper.waitForAttachment();
Console.WriteLine("Now the velocity will be set");
Console.WriteLine("The motor will run until it reaches the set goal position");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the max velocity to start the stepper motor moving until it hits
//the goal position
stepper.steppers[0].VelocityLimit = 100.00; //Max velocity
Console.WriteLine("Stepper motor velocity set to: {0}",
stepper.steppers[0].VelocityLimit.ToString());
stepper.steppers[0].Acceleration = stepper.steppers[0].AccelerationMin; //ensure the value is between the AccelerationMin and AccelerationMax
Console.WriteLine("Stepper motor acceleration set to: {0}",
stepper.steppers[0].Acceleration.ToString());
stepper.steppers[0].TargetPosition = 0;
stepper.steppers[0].Engaged = true;
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
Console.WriteLine("Will now move to position 2000.");
Console.WriteLine("Please wait until the motor stops.");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the goal position to 2000
stepper.steppers[0].TargetPosition = 2000;
Console.WriteLine("Press any key to end....");
Console.ReadLine();
stepper.steppers[0].Engaged = false;
//close the Stepper object
stepper.close();
//set the object to null to get it out of memory
stepper = null;
//if no exceptions were thrown at this point it is safe to terminate
Console.WriteLine("ok");
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}