public void SetPinData(PoKeysStepper stepper, byte pinID, byte pinFunction)
{
if ((owner == null) || (!owner.Connected))
{
return;
}
if (!owner.PokeysDevice.SetPinData((byte)(stepper.PinHomeSwitch - 1), pinFunction))
{
stepper.Error = string.Format(Translations.Main.DigitalInputErrorSetIOType, stepper.PinHomeSwitch);
return;
}
owner.PokeysDevice.SaveConfiguration();
pinFunction = 0;
if (!owner.PokeysDevice.GetPinData((byte)(stepper.PinHomeSwitch - 1), ref pinFunction))
{
stepper.Error = Translations.Main.DigitalInputErrorGetIOType;
return;
}
if (((pinFunction & 0x2) == 0) && ((pinFunction & 0x82) == 0))
{
stepper.Error = Translations.Main.DigitalInputErrorBadIOType;
return;
}
}
internal void StartHomingSingle(PoKeysStepper stepper)
{
if (_isHoming)
{
return;
}
if (!stepper.StepperId.HasValue)
{
return;
}
if ((owner == null) || (!owner.Connected))
{
return;
}
int i = stepper.StepperId.GetValueOrDefault() - 1;
_PEconfig.PulseEngineStateSetup = (byte)ePoKeysPEState.peSTOPPED;
_PEconfig.PulseEngineStateSetup = (byte)ePoKeysPEState.peRUNNING;
owner.PokeysDevice.PEv2_SetState(ref _PEconfig);
stepper.Error = null;
_PEconfig.ReferencePositionSpeed[i] = stepper.ForwardHomingSteps;
if (!owner.PokeysDevice.PEv2_Move(ref _PEconfig))
{
stepper.Error = string.Format(Translations.Main.StepperMoveError, stepper.StepperId);
}
if (!string.IsNullOrEmpty(stepper.Error))
{
return;
}
Thread.Sleep(500);
_PEconfig.MaxAcceleration[i] = (float)(stepper.HomingMaxAcceleration / 1000000);
_PEconfig.MaxDecceleration[i] = (float)(stepper.HomingMaxDecceleration / 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
Thread.Sleep(500);
_homingTimer = new DispatcherTimer();
_homingTimer.Tick += _homingTimer_Tick;
_homingTimer.Interval = _homingTimerInterval;
_PEconfig.HomingStartMaskSetup = (byte)(1 << i); // Select Axis for Homing
_homingAxis = i;
_homingStepper = stepper.StepperId.GetValueOrDefault();
owner.PokeysDevice.PEv2_StartHoming(ref _PEconfig); // Initiate the HOMING
_homingTimeoutTimer = new Stopwatch();
_isHoming = true;
_homingTimeoutTimer.Start();
_homingTimer.Start();
}
private bool InitStepperAxis(PoKeysStepper stepper)
{
if ((owner == null) || (!owner.Connected))
{
return(false);
}
//
// Now configure and Set Axis Configurations for all steppers
//
SetAxisParameters(stepper);
return(true);
}
private bool MoveInitialHoming(PoKeysStepper stepper, int stepperPos)
{
if ((owner == null) || (!owner.Connected))
{
return(false);
}
int stepperId = stepper.StepperId.GetValueOrDefault() - 1;
try
{
_PEconfig.ReferencePositionSpeed[stepperId] = stepperPos;
if (!owner.PokeysDevice.PEv2_Move(ref _PEconfig))
{
stepper.Error = string.Format(Translations.Main.StepperMoveError, stepper.StepperId);
return(false);
}
return(true);
}
catch { return(false); }
}
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");
}
internal void SetAxisParameters(PoKeysStepper stepper)
{
if ((!stepper.StepperId.HasValue) || (stepper.StepperId.GetValueOrDefault() <= 0))
{
return;
}
stepper.Error = null;
int i = stepper.StepperId.GetValueOrDefault() - 1;
_PEconfig.AxisEnabledInvertMask[i] = 1; // Use inverted axis enabled signal for PoStep drivers
_PEconfig.AxesConfig[i] = (int)(ePEv2_AxisConfig.aoENABLED |
ePEv2_AxisConfig.aoINTERNAL_PLANNER |
ePEv2_AxisConfig.aoPOSITION_MODE); // Use Position mode
if (stepper.SoftLimitEnabled)
{
_PEconfig.AxesConfig[i] |= (int)ePEv2_AxisConfig.aoSOFT_LIMIT_ENABLED;
}
if (stepper.Inverted)
{
_PEconfig.AxesConfig[i] |= (int)ePEv2_AxisConfig.aoINVERTED;
}
if (stepper.HomeInverted)
{
_PEconfig.AxesConfig[i] |= (int)ePEv2_AxisConfig.aoINVERTED_HOME;
}
_PEconfig.AxesSwitchConfig[i] = 0;
if (stepper.HasHomeSwitch)
{
_PEconfig.AxesSwitchConfig[i] |= (int)ePEv2_AxisSwitchOptions.aoSWITCH_HOME;
}
if (stepper.HomePinInverted)
{
_PEconfig.AxesSwitchConfig[i] |= (int)ePEv2_AxisSwitchOptions.aoSWITCH_INVERT_HOME;
}
if ((stepper.PinHomeSwitch > 0) && stepper.HasHomeSwitch)
{
byte pinFunction = 0;
// if (stepper.HomePinInverted)
// pinFunction = 0x82;
// else
pinFunction = 0x2;
SetPinData(stepper, (byte)stepper.PinHomeSwitch, pinFunction);
_PEconfig.PinHomeSwitch[i] = (byte)(stepper.PinHomeSwitch);
}
_PEconfig.HomingSpeed[i] = (byte)stepper.HomingSpeed;
_PEconfig.HomingReturnSpeed[i] = (byte)stepper.HomingReturnSpeed;
_PEconfig.MaxSpeed[i] = (float)(stepper.MaxSpeed / 1000);
_PEconfig.MaxAcceleration[i] = (float)(stepper.MaxAcceleration / 1000000);
_PEconfig.MaxDecceleration[i] = (float)(stepper.MaxDecceleration / 1000000);
_PEconfig.SoftLimitMaximum[i] = stepper.SoftLimitMaximum;
_PEconfig.SoftLimitMinimum[i] = stepper.SoftLimitMinimum;
_PEconfig.param1 = (byte)i; // Set parameter param1 to the bit mask to indicate what have the above Axis Configs set
// Write (Set) above Axis Configuration
//
owner.PokeysDevice.PEv2_SetAxisConfiguration(ref _PEconfig); // Configure the axis
}
