private void executeAddStepper(object o)
{
if (StepperList.Count == 0)
{
MessageBoxResult result = MessageBox.Show(
Translations.Main.EnablePulseEngineWarning,
Translations.Main.EnablePulseEngineWarningCaption,
MessageBoxButton.YesNo,
MessageBoxImage.Question);
if (result != MessageBoxResult.Yes)
{
return;
}
InitPulseEngine();
}
PoKeysStepper poStepper = new PoKeysStepper();
poStepper.setOwner(this);
StepperList.Add(poStepper);
InitStepperAxis(poStepper);
RaisePropertyChanged("StepperSlotsAvailable");
}
private void EndHoming()
{
_homingTimer.Stop();
_homingTimer = null;
_homingTimeoutTimer.Stop();
_homingTimeoutTimer = null;
_isHoming = false;
owner.PokeysDevice.PEv2_GetStatus(ref _PEconfig);
//
// Stop the Pulse Engine so we can set each axis (stepper) postion to zero since we are HOMED
//
_PEconfig.PulseEngineStateSetup = (byte)ePoKeysPEState.peSTOPPED;
owner.PokeysDevice.PEv2_SetState(ref _PEconfig);
if (_homingAxis == -1)
{
foreach (PoKeysStepper stepper in StepperList)
{
if ((!stepper.StepperId.HasValue) || (stepper.StepperId.GetValueOrDefault() <= 0))
{
continue;
}
int i = stepper.StepperId.GetValueOrDefault() - 1;
_PEconfig.param2 = (byte)(1 << i); // Set param2 bit to indicate which stepper
_PEconfig.PositionSetup[i] = 0; // Set axis (stepper) position to Zero
_PEconfig.ReferencePositionSpeed[i] = 0;
owner.PokeysDevice.PEv2_SetPositions(ref _PEconfig);
_PEconfig.MaxAcceleration[i] = (float)(stepper.MaxAcceleration / 1000000);
_PEconfig.MaxDecceleration[i] = (float)(stepper.MaxDecceleration / 1000000);
_PEconfig.param1 = (byte)i; // Set parameter param1 to the bit mask to indicate what have the above Axis Configs set
owner.PokeysDevice.PEv2_SetAxisConfiguration(ref _PEconfig); // Configure the axis
}
}
else
{
_PEconfig.param2 = (byte)(1 << _homingAxis); // Set param2 bit to indicate which stepper
_PEconfig.PositionSetup[_homingAxis] = 0; // Set axis (stepper) position to Zero
_PEconfig.ReferencePositionSpeed[_homingAxis] = 0;
owner.PokeysDevice.PEv2_SetPositions(ref _PEconfig);
_PEconfig.MaxAcceleration[_homingAxis] = (float)(StepperList.First(s => s.StepperId == _homingStepper).MaxAcceleration / 1000000);
_PEconfig.MaxDecceleration[_homingAxis] = (float)(StepperList.First(s => s.StepperId == _homingStepper).MaxDecceleration / 1000000);
_PEconfig.param1 = (byte)_homingAxis; // Set parameter param1 to the bit mask to indicate what have the above Axis Configs set
owner.PokeysDevice.PEv2_SetAxisConfiguration(ref _PEconfig); // Configure the axis
}
_homingAxis = -2;
_homingStepper = -1;
//
// Set Pulse Engine back to RUNNING
_PEconfig.PulseEngineStateSetup = (byte)ePoKeysPEState.peRUNNING;
owner.PokeysDevice.PEv2_SetState(ref _PEconfig);
//
// Get Pulse Engine Statue and Check to confirm we are RUNNING
//
owner.PokeysDevice.PEv2_GetStatus(ref _PEconfig);
if (_PEconfig.PulseEngineState != (byte)ePoKeysPEState.peRUNNING)
{
//
// Not sure what we do in F4toPokeys if this happens
//
Error = Translations.Main.StepperHomingError;
return;
}
}
