/// <summary>
/// Read the information of the firmware like version, compiled date
/// </summary>
void ReadFirmwareInfo()
{
var ret = _controller.ReadFWInfo();
if (ret)
{
Messenger.Default.Send(
new NotificationMessage <string>(
string.Format("{0}", _controller.FirmwareInfo.ToString()),
"MSG"));
}
else
{
Messenger.Default.Send(
new NotificationMessage <string>(
string.Format("Unable to read firmware info."),
"Error"));
}
}
/// <summary>
/// Initialize the motion controller
/// </summary>
/// <returns></returns>
protected override bool CustomInitProcess()
{
_controller.OpenDevice();
if (_controller.IsConnected)
{
if (_controller.ReadFWInfo())
{
LogHelper.WriteLine("{0}, firmware version {1}", this, _controller.FirmwareInfo);
// pass the configurations to the instance of irixi motion controller class
for (int i = 0; i < this.AxisCollection.Count; i++)
{
var axis = this.AxisCollection[i.ToString()] as IrixiAxis;
var axis_of_sdk = _controller.AxisCollection[i];
axis_of_sdk.SoftCCWLS = 0;
axis_of_sdk.SoftCWLS = axis.UnitHelper.MaxSteps;
axis_of_sdk.MaxSteps = axis.UnitHelper.MaxSteps;
axis_of_sdk.MaxSpeed = axis.MaxSpeed;
axis_of_sdk.AccelerationSteps = axis.AccelerationSteps;
// reverse the drive directoin
if (axis.ReverseDriveDirecton)
{
_controller.ReverseMoveDirection(i, true);
}
}
return(true);
}
else
{
LogHelper.WriteLine("{0}, unable to read the firmware info, {1}", this, _controller.LastError);
return(false);
}
}
else
{
this.LastError = _controller.LastError;
return(false);
}
}
