public override void Initialize()
{
initializeTwisterPositions();
try
{
TwisterClsServer = new clsServer();
string iniFile = TwisterClsServer.ApplicationPath + "\\" + InitiationFile;//"Twister.ini";//hope this is right one
TwisterClsServer.ConfigureRobot(iniFile, ref SimulationMode);
TwisterClsServer.Initialize();
//THE TWISTER SERVE MUST BE INITIALIZED BEFORE IT WILL GIVE A ROBOT REF PROPERLY
RobotServ = TwisterClsServer.GetRobotRef();//this line must follow the server initialization
RobotServ.HomeAllAxes();
//BIG ERROR IF NOT FOLLOWED!!!!
short windowState = 1;//0 normal, 1 minimized, 2 maximized
TwisterClsServer.ShowWindow(ref windowState);
RobotServ.SpeedAsPercentMax = (short)50;
StatusOK = true;
}
catch(Exception thrown)
{
StatusOK = false;
throw new InstrumentError("Could not initialize Twister: "+thrown.Message, false, this);
}
}
