/// <summary> Homes the given device. </summary>
/// <param name="device"> The device. </param>
public static bool Home_1(IGenericAdvancedMotor device)
{
Console.WriteLine("Homing device");
// create wait handler
ManualResetEvent waitEvent = new ManualResetEvent(false);
waitEvent.Reset();
// clear errors
device.ClearDeviceExceptions();
// call home function, passing in event handler
// could alternatively use method with in-built wait handler by passing a timeout instead of callback
device.Home(p => waitEvent.Set());
if (!waitEvent.WaitOne(60000))
{
// timed out
return(false);
}
// check for exceptions thrown by background thread during process
device.ThrowLastDeviceException();
// check status
bool homed = device.Status.IsHomed;
Console.WriteLine("Device Homed");
return(true);
}
/// <summary> Move to. </summary>
/// <param name="device"> The device. </param>
/// <param name="position"> The position. </param>
/// <param name="deviceUnitConverter"> The device unit converter. </param>
public static bool MoveTo_1(IGenericAdvancedMotor device, decimal position, DeviceUnitConverter deviceUnitConverter)
{
// create wait handler
ManualResetEvent waitEvent = new ManualResetEvent(false);
int iPos = deviceUnitConverter.RealToDeviceUnit(position, DeviceUnitConverter.UnitType.Length);
Console.WriteLine("Moving Device to {0} ({1})", position, iPos);
// call moveto function, passing in event handler
// could alternatively use method with in-built wait handler by passing a timeout instead of callback
waitEvent.Reset();
// clear errors
device.ClearDeviceExceptions();
device.MoveTo_DeviceUnit(iPos, p =>
{
Console.WriteLine("Message Id {0}", p);
waitEvent.Set();
});
if (!waitEvent.WaitOne(60000))
{
return(false);
}
// check for exceptions thrown by background thread during process
device.ThrowLastDeviceException();
StatusBase status = device.Status;
Decimal newPos = status.Position;
Console.WriteLine("Device Moved to {0}({1})", newPos, position);
return(true);
}
/// <summary> Homes the given device. </summary>
/// <param name="device"> The device. </param>
public static bool Home_3(IGenericAdvancedMotor device)
{
Console.WriteLine("Homing device");
// call home function, passing in event handler
device.Home(60000);
// check status
bool homed = device.Status.IsHomed;
Console.WriteLine("Device Homed");
return(true);
}
/// <summary> Move to. </summary>
/// <param name="device"> The device. </param>
/// <param name="position"> The position. </param>
/// <param name="deviceUnitConverter"> The device unit converter. </param>
public static bool MoveTo_3(IGenericAdvancedMotor device, decimal position, DeviceUnitConverter deviceUnitConverter)
{
int iPos = deviceUnitConverter.RealToDeviceUnit(position, DeviceUnitConverter.UnitType.Length);
Console.WriteLine("Moving Device to {0} ({1})", position, iPos);
device.MoveTo_DeviceUnit(iPos, 60000);
StatusBase status = device.Status;
Decimal newPos = status.Position;
Console.WriteLine("Device Moved to {0}({1})", newPos, position);
return(true);
}
public static void Move_Method2(IGenericAdvancedMotor device, decimal position)
{
Console.WriteLine("Moving Device to {0}", position);
_taskComplete = false;
_taskID = device.MoveTo(position, CommandCompleteFunction);
while (!_taskComplete)
{
Thread.Sleep(500);
StatusBase status = device.Status;
Console.WriteLine("Device Moving {0}", status.Position);
// will need some timeout functionality;
}
Console.WriteLine("Device Moved");
}
public static void Home_Method2(IGenericAdvancedMotor device)
{
Console.WriteLine("Homing device");
_taskComplete = false;
_taskID = device.Home(CommandCompleteFunction);
while (!_taskComplete)
{
Thread.Sleep(500);
StatusBase status = device.Status;
Console.WriteLine("Device Homing {0}", status.Position);
// will need some timeout functionality;
}
Console.WriteLine("Device Homed");
}
public static void Move_Method1(IGenericAdvancedMotor device, decimal position)
{
try
{
Console.WriteLine("Moving Device to {0}", position);
device.MoveTo(position, 60000);
}
catch (Exception)
{
Console.WriteLine("Failed to move to position");
Console.ReadKey();
return;
}
Console.WriteLine("Device Moved");
}
public static void Home_Method1(IGenericAdvancedMotor device)
{
try
{
Console.WriteLine("Homing device");
device.Home(60000);
}
catch (Exception)
{
Console.WriteLine("Failed to home device");
Console.ReadKey();
return;
}
Console.WriteLine("Device Homed");
}
/// <summary> Homes the given device. </summary>
/// <param name="device"> The device. </param>
public static bool Home_2(IGenericAdvancedMotor device)
{
Console.WriteLine("Homing device");
// call home function, passing in message complete handler provided by device
Action <UInt64> workDone = device.InitializeWaitHandler();
// call home function, passing in event handler
device.Home(workDone);
device.Wait(60000);
// check status
bool homed = device.Status.IsHomed;
Console.WriteLine("Device Homed");
return(true);
}
/// <summary> Move to. </summary>
/// <param name="device"> The device. </param>
/// <param name="position"> The position. </param>
/// <param name="deviceUnitConverter"> The device unit converter. </param>
public static bool MoveTo_2(IGenericAdvancedMotor device, decimal position, DeviceUnitConverter deviceUnitConverter)
{
int iPos = deviceUnitConverter.RealToDeviceUnit(position, DeviceUnitConverter.UnitType.Length);
Console.WriteLine("Moving Device to {0} ({1})", position, iPos);
// call moveto function, passing in message complete handler provided by device
Action <UInt64> workDone = device.InitializeWaitHandler();
device.MoveTo_DeviceUnit(iPos, workDone);
device.Wait(60000);
StatusBase status = device.Status;
Decimal newPos = status.Position;
Console.WriteLine("Device Moved to {0}({1})", newPos, position);
return(true);
}
/// <summary> Tests limit parameters. </summary>
/// <param name="device"> The device. </param>
public static void TestLimitParameters(IGenericAdvancedMotor device)
{
try
{
LimitSwitchParameters_DeviceUnit originalLimitParameters = device.GetLimitSwitchParams_DeviceUnit();
LimitSwitchParameters realLP = device.GetLimitSwitchParams();
realLP.AnticlockwisePosition += 2.0m;
realLP.ClockwisePosition += 2.0m;
device.SetLimitSwitchParams(realLP);
Thread.Sleep(250);
realLP = device.GetLimitSwitchParams();
device.SetLimitSwitchParams_DeviceUnit(originalLimitParameters);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to update settings {0} - {1}", ex.DeviceID, ex.Message);
}
}
/// <summary> Tests homing parameters. </summary>
/// <param name="device"> The device. </param>
public static void TestHomingParameters(IGenericAdvancedMotor device)
{
try
{
HomeParameters_DeviceUnit originalHomeParameters = device.GetHomingParams_DeviceUnit();
HomeParameters realHP = device.GetHomingParams();
realHP.Velocity += 0.5m;
realHP.OffsetDistance += 1.0m;
device.SetHomingParams(realHP);
Thread.Sleep(250);
realHP = device.GetHomingParams();
device.SetHomingParams_DeviceUnit(originalHomeParameters);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to update settings {0} - {1}", ex.DeviceID, ex.Message);
}
}
/// <summary> Tests jog parameters. </summary>
/// <param name="device"> The device. </param>
public static void TestJogParameters(IGenericAdvancedMotor device)
{
try
{
JogParameters_DeviceUnit originalJogParameters = device.GetJogParams_DeviceUnit();
JogParameters realJP = device.GetJogParams();
realJP.StepSize += 1.0m;
realJP.VelocityParams.MaxVelocity += 0.5m;
realJP.VelocityParams.Acceleration += 0.5m;
device.SetJogParams(realJP);
Thread.Sleep(250);
realJP = device.GetJogParams();
device.SetJogParams_DeviceUnit(originalJogParameters);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to update settings {0} - {1}", ex.DeviceID, ex.Message);
}
}
static void Main(string[] args)
{
TCubeDCServo.RegisterDevice();
KCubeDCServo.RegisterDevice();
// get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage = DC_Console_net_managed [serial_no] [position: optional (0 - 50)] [velocity: optional (0 - 5)]");
Console.ReadKey();
return;
}
decimal position = 0m;
if (argc > 1)
{
position = decimal.Parse(args[1]);
}
decimal velocity = 0m;
if (argc > 2)
{
velocity = decimal.Parse(args[2]);
}
string serialNo = args[0];
try
{
// build device list
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available KCube DC Servos and check our serial number is correct
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(new List <int> {
KCubeDCServo.DevicePrefix, TCubeDCServo.DevicePrefix
});
if (!serialNumbers.Contains(serialNo))
{
if (serialNumbers.Count > 0)
{
serialNo = serialNumbers[0];
Console.WriteLine("using serial number {0}", serialNo);
}
else
{
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
}
// create the device
IGenericCoreDeviceCLI device = DeviceFactory.CreateDevice(serialNo);
IGenericAdvancedMotor motor = device as IGenericAdvancedMotor;
if (motor == null)
{
Console.WriteLine("{0} is not a DCServo", serialNo);
Console.ReadKey();
return;
}
// connect device
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
if (!motor.IsSettingsInitialized())
{
motor.WaitForSettingsInitialized(5000);
}
// display info about device
DeviceInfo di = device.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", di.SerialNumber, di.Name);
// start the device polling
motor.StartPolling(250);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to open device {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
DeviceUnitConverter deviceUnitConverter;
try
{
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real unit parameters
MotorConfiguration motorSettings = motor.GetMotorConfiguration(serialNo);
motorSettings.DeviceSettingsName = "PRM1-Z8";
motorSettings.UpdateCurrentConfiguration();
MotorDeviceSettings motorDeviceSettings = motor.MotorDeviceSettings;
motor.SetSettings(motorDeviceSettings, true, false);
// test code to test get / sert of parameters using real world units
TestVelocityParameters(motor);
TestJogParameters(motor);
TestHomingParameters(motor);
TestLimitParameters(motor);
if (device is TCubeDCServo)
{
TestPotentiometerParameters(device as TCubeDCServo); // TDC Only
}
motorSettings.UpdateCurrentConfiguration();
deviceUnitConverter = motor.UnitConverter;
}
catch (DeviceException ex)
{
Console.WriteLine("Failed prepare settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
if (!Home_1(motor))
{
Console.WriteLine("Failed to home device");
Console.ReadKey();
return;
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Home device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
// if position is set
if (position != 0)
{
// update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = motor.GetVelocityParams();
velPars.MaxVelocity = velocity;
motor.SetVelocityParams(velPars);
}
if (!MoveTo_1(motor, position, deviceUnitConverter))
{
Console.WriteLine("Failed to set position");
Console.ReadKey();
}
}
else
{
char c = '\0';
do
{
do
{
Console.WriteLine("Press a key");
Console.WriteLine("0 to exit");
Console.WriteLine("1 to test StopImmediate()");
Console.WriteLine("2 to test Stop(5000)");
Console.WriteLine("3 to test Stop(WaitEvent)");
c = Console.ReadKey().KeyChar;
} while (c < '0' || c > '3');
if (c != '0')
{
motor.MoveContinuous(MotorDirection.Forward);
Console.WriteLine("Press any key to stop");
Console.ReadKey();
StatusBase status;
if (c == '1')
{
motor.Stop(5000);
}
if (c == '2')
{
motor.StopImmediate();
}
if (c == '3')
{
ManualResetEvent waitEvent = new ManualResetEvent(false);
waitEvent.Reset();
motor.Stop(p =>
{
Console.WriteLine("Message Id {0}", p);
waitEvent.Set();
});
if (!waitEvent.WaitOne(5000))
{
Console.WriteLine("Failed to Stop");
}
}
do
{
status = motor.Status;
Console.WriteLine("Status says {0} ({1:X})", status.IsInMotion ? "Moving" : "Stopped", status.Status);
Thread.Sleep(50);
} while (status.IsInMotion);
}
} while (c != '0');
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Move device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
device.Disconnect(true);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Disconnect {0} - {1}", ex.DeviceID, ex.Message);
}
Console.ReadKey();
}
