private void textBoxSlavePos_Submit(object sender)
{
TextBox tb = sender as TextBox;
UInt32 n;
if (ParseCheck.UIntTryParseNotZero(tb.Text, out n) && n != 0 && alias == 0)
{
slaveNumber = n;
Reset();
UpdateData();
}
else
{
tb.Text = slaveNumber.ToString();
}
}
private void textBoxAxisNumberSubmit(object sender)
{
TextBox tb = sender as TextBox;
UInt32 n;
if (ParseCheck.UIntTryParseNotZero(tb.Text, out n))
{
axisNumber = n;
Reset();
UpdateConfig();
}
else
{
tb.Text = axisNumber.ToString();
}
}
private void textBoxChannel_Submit(object sender)
{
TextBox tb = sender as TextBox;
UInt32 n;
if (ParseCheck.UIntTryParseNotZero(tb.Text, out n) && n != 0)
{
channelNumber = n;
Reset();
UpdateData();
}
else
{
tb.Text = channelNumber.ToString();
}
}
private void textBoxAlias_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, UInt32.TryParse);
}
private void textBoxTargetPos_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserDouble(sender, Double.TryParse);
}
private void textBoxVelocityLimit_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserDouble(sender, Double.TryParse);
}
private void textBoxSDOSubIndexC_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, ParseCheck.UIntTryParseFromHex);
}
private void textBoxProfileDeceleration_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, ParseCheck.UIntTryParseNotZero);
}
private void textBoxHMAcceleration_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, UInt32.TryParse);
}
private void textBoxCloseLoopFilter_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserDouble(sender, ParseCheck.DoubleTryParseNotNeg);
}
private void textBoxExtEncoderChannel_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, UInt32.TryParse);
}
private void textBoxExtEncoderDirection_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserInt(sender, ParseCheck.IntTryParseNotZero);
}
private void textBoxHomeOffset_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserDouble(sender, Double.TryParse);
}
private void textBoxAxisNumber_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, ParseCheck.UIntTryParseNotZero);
}
private void textBoxSDOValueC_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserInt(sender, Int32.TryParse);
}
private void textBoxMaxPosDeviation_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserDouble(sender, ParseCheck.DoubleTryParseNotNeg);
}
private void textBoxTargetTorque_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserInt(sender, Int32.TryParse);
}
private void textBoxIgnorableDistance_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserDouble(sender, ParseCheck.DoubleTryParsePos);
}
private void textBoxProfileVelocity_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, UInt32.TryParse);
}
private void textBoxAmax_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserDouble(sender, ParseCheck.DoubleTryParsePos);
}
private void textBoxTorqueSlope_TextChanged(object sender, EventArgs e)
{
ParseCheck.TextBoxCheckByParserUInt(sender, ParseCheck.UIntTryParseNotZero);
}
private void buttonSDOExecute_Click(object sender, EventArgs e)
{
string cmd;
bool upload;
switch (comboBoxSDOOperation.SelectedIndex)
{
case 0:
cmd = "sdo-upload-u8";
upload = true;
break;
case 1:
cmd = "sdo-upload-u16";
upload = true;
break;
case 2:
cmd = "sdo-upload-u32";
upload = true;
break;
case 3:
cmd = "sdo-upload-i8";
upload = true;
break;
case 4:
cmd = "sdo-upload-i16";
upload = true;
break;
case 5:
cmd = "sdo-upload-i32";
upload = true;
break;
case 6:
cmd = "sdo-download-u8";
upload = false;
break;
case 7:
cmd = "sdo-download-u16";
upload = false;
break;
case 8:
cmd = "sdo-download-u32";
upload = false;
break;
case 9:
cmd = "sdo-download-i8";
upload = false;
break;
case 10:
cmd = "sdo-download-i16";
upload = false;
break;
case 11:
cmd = "sdo-download-i32";
upload = false;
break;
default:
return;
}
UInt32 idx;
UInt32 subidx;
if (ParseCheck.UIntTryParseFromHex(textBoxSDOIndexC.Text, out idx) && ParseCheck.UIntTryParseFromHex(textBoxSDOSubIndexC.Text, out subidx))
{
if (upload)
{
botnana.EvaluateScript(subidx.ToString() + @" " + idx.ToString() + @" " + slaveNumber.ToString() + @" " + cmd);
}
else
{
botnana.EvaluateScript(textBoxSDOValueC.Text + @" " + subidx.ToString() + @" " + idx.ToString() + @" " + slaveNumber.ToString() + @" " + cmd);
}
UpdateData();
}
}
