private void ShowMessage()
{
if (MessageDialog == null)
{
MessageDialog = new frmMessageDialog("Ready!!!", false);
MessageDialog.Show();
}
}
//Read Current Feedback Parameters
public objServoResult ReadFeedBack()
{
Result = SerialMotorControl.ReadFeedback(serialPort, FeedbackParams, ReadSuccess, currentByte1, streamArray, currentSpeed, currentPulse, currentTorque, currentContactStatus, ref ErrorCode, TimeOutCounter, ServoResult, sb, ByteString);
if (Result.IsSuccess == false)
{
frmMessageDialog ErrorMessage = new frmMessageDialog();
ErrorMessage.lblDialogText.Text = "Error Occured. Error Code: \"" + Result.ErrorCode.ToString() + "\"";
ErrorMessage.Show();
return Result;
}
else if (FeedbackParams[3] == 0x0B)
{
Result.IsSuccess = false;
Result.ErrorCode = 5;
Result.ErrorMessage = "Emergency Stop Activated!";
return Result;
}
else
{
FeedbackTorque = (FeedbackParams[2] / 100 / 100) * CalibrationSettings.Default.RatedMotorTorque * CalibrationSettings.Default.GearRatio;
FeedbackSpeed = FeedbackParams[0] / (CalibrationSettings.Default.GearRatio * 10);
FeedbackPower = Math.Abs(FeedbackTorque * FeedbackSpeed * 2 * Math.PI / 60);
FeedbackPulse = FeedbackParams[1];
FeedbackContactStatus = FeedbackParams[3];
DataSampleCalculations();
return Result;
}
}
