public void GetAlarmCodes()
{
StepperController sc = new StepperController(IP);
sc.StartListening();
BitArray bA = new BitArray(BitConverter.GetBytes(0));
AlarmCode blankAlarmCode = new AlarmCode(bA);
sc.GetAlarmCode();
Thread.Sleep(500);
Assert.IsNotNull(sc.Sm.AlarmCode);
sc.Sm.AlarmCode.CwLimit = true;
Assert.AreNotEqual(blankAlarmCode.CwLimit, sc.Sm.AlarmCode.CwLimit);
sc.ClearAlarms();
sc.GetAlarmCode();
Thread.Sleep(500);
Assert.AreEqual(blankAlarmCode.CwLimit, sc.Sm.AlarmCode.CwLimit);
sc.Dispose();
}
private static void Main()
{
// Configure Log4Net
XmlConfigurator.Configure(new FileInfo("log4net.config"));
// Configure PostSharp Logging to use Log4Net
StepperController sc = new StepperController("10.10.10.10");
try
{
// stop the drive from moving
sc.Stop();
sc.EnableMotor();
sc.ClearAlarms();
sc.GetModel();
sc.GetStatus();
sc.StartListening();
sc.SetFormatDecimal();
Thread.Sleep(500);
Thread.Sleep(2000);
Console.WriteLine("Resetting position to 0");
sc.ResetEncoderPosition(0);
//Console.WriteLine("Moving...");
//System.Threading.Thread.Sleep(2000);
//sc.StartJog(-0.5, 25, 25);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(2.5);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(.5);
//System.Threading.Thread.Sleep(2500);
//sc.StopJog();
//Console.WriteLine("Move complete.");
//Console.WriteLine("Status: " + sc.GetStatus());
Thread.Sleep(1000);
//Console.WriteLine("Current Position: " + sc.GetEncoderPosition());
// stop the drive from moving
sc.Stop();
sc.ClearAlarms();
// set the number of steps per rev
sc.SetNumberStepsPerRevolution(51200);
// set revolutions per second
sc.SetVelocity(25);
sc.GetModel();
Console.WriteLine($"Model: {sc.Sm.Model}");
sc.GetStatus();
sc.GetEncoderPosition();
Console.WriteLine("Resetting position to 0");
sc.ResetEncoderPosition(0);
sc.EnableMotor();
// read 15 positions
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine("read 15 positions. 1 revolution = 51200 steps " +
"\nmin number: -2147483648" +
"\nmax number: 2147483647");
int maxPositions = 15;
for (int i = 0; i < maxPositions; i++)
{
try
{
Console.WriteLine($"Enter a position #{i} of {maxPositions}");
long position = (long)Convert.ToDouble(Console.ReadLine());
sc.MoveToAbsolutePosition(position);
sc.GetEncoderPosition();
Console.WriteLine($"Current Position: {sc.Sm.EncoderPosition}");
}
catch (Exception e)
{
StepperController.Log.Error(e.Message);
Console.WriteLine(e);
}
}
}
catch (Exception e)
{
StepperController.Log.Error(e.Message);
Console.WriteLine(e);
}
finally
{
sc.Stop();
sc.DisableMotor();
sc.StopListening();
}
}