public void GetEncoderCounts()
{
StepperController sc = new StepperController(IP);
sc.EnableMotor();
//sc.ResetEncoderPosition(0);
sc.SetFormatDecimal();
sc.StartListening();
sc.GetEncoderCounts();
sc.GetEncoderPosition();
Thread.Sleep(100);
Debug.Print($"Encoder position= {sc.Sm.EncoderPosition}");
Debug.Print($"Encoder counts= {sc.Sm.EncoderCounts}");
sc.StartJog(5, 5, 5);
Thread.Sleep(1000);
sc.StopJog();
sc.GetEncoderPosition();
sc.GetEncoderCounts();
Thread.Sleep(2000);
double newCounts = sc.Sm.EncoderCounts;
double newPosition = sc.Sm.EncoderPosition;
Debug.Print($"Encoder position= {sc.Sm.EncoderPosition}");
Debug.Print($"Encoder counts= {sc.Sm.EncoderCounts}");
Thread.Sleep(1000);
Assert.AreEqual(sc.Sm.EncoderPosition, newPosition);
Assert.AreEqual(sc.Sm.EncoderCounts, newCounts);
Thread.Sleep(1000);
sc.StopListening();
sc.Dispose();
}
public void SetStepsToAcceptableValue()
{
StepperController sc = new StepperController(IP);
sc.StartListening();
int expectedStepsPerRev = 20000;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 10000;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 200;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 51101;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 51099;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
expectedStepsPerRev = 205;
sc.SetNumberStepsPerRevolution(expectedStepsPerRev);
Assert.AreEqual(expectedStepsPerRev, sc.Sm.StepsPerRev);
sc.Dispose();
}
public void MinStepsPerRevCoerced()
{
StepperController sc = new StepperController(IP);
sc.StartListening();
sc.SetNumberStepsPerRevolution(1);
Assert.AreEqual(sc.MinStepsPerRev, sc.Sm.StepsPerRev);
sc.Dispose();
}
public void TestCwLimit()
{
Random random = new Random();
double revsPerSecond = 2;
StepperController sc = new StepperController(IP);
sc.StartListening();
sc.SetFormatDecimal();
sc.SetVelocity(5);
sc.ResetEncoderPosition(0);
double numberTurns = random.NextDouble() * 2.5;
double cwLimitCounts = Math.Floor(sc.MaxStepsPerRev * numberTurns);
sc.SetCwLimit(cwLimitCounts);
sc.SetVelocity(revsPerSecond);
sc.ResetEncoderPosition(0);
sc.EnableMotor();
sc.SetNumberStepsPerRevolution(sc.MaxStepsPerRev);
// move to number of turns + ten percent
double calculatedPosition = Math.Floor((cwLimitCounts * 1.1));
sc.MoveToAbsolutePosition((long)calculatedPosition);
Thread.Sleep(2500);
sc.GetEncoderPosition();
Thread.Sleep(500);
Debug.Print($"Limit ={cwLimitCounts}");
Debug.Print($"Calculated ={calculatedPosition}");
Debug.Print($"Encoder Position = {sc.Sm.EncoderPosition}");
// over position is limited by software limit
Assert.AreNotEqual(calculatedPosition, sc.Sm.EncoderPosition);
// software limit and encoder position match
Assert.AreEqual(cwLimitCounts, sc.Sm.EncoderPosition);
// remove software limit
sc.ClearCwLimit();
sc.MoveToAbsolutePosition((long)calculatedPosition);
// over position is not limited by software limit and matches the encoder position
Assert.AreEqual(calculatedPosition, sc.Sm.EncoderPosition);
sc.Dispose();
}
public void RotateTenRevolutions()
{
double revsPerSecond = 5;
StepperController sc = new StepperController(IP);
sc.StartListening();
sc.SetFormatDecimal();
sc.SetVelocity(revsPerSecond);
sc.ResetEncoderPosition(0);
sc.EnableMotor();
sc.SetNumberStepsPerRevolution(sc.MaxStepsPerRev);
double calculatedPosition = sc.MaxStepsPerRev * 10;
sc.MoveToAbsolutePosition((long)calculatedPosition);
Thread.Sleep(2500);
sc.GetEncoderPosition();
Thread.Sleep(500);
Debug.Print($"Calculated ={calculatedPosition}");
Debug.Print($"Encoder Position = {sc.Sm.EncoderPosition}");
Assert.AreEqual(calculatedPosition, sc.Sm.EncoderPosition);
sc.StopListening();
sc.Dispose();
}
public void GetAlarmCodes()
{
StepperController sc = new StepperController(IP);
sc.StartListening();
BitArray bA = new BitArray(BitConverter.GetBytes(0));
AlarmCode blankAlarmCode = new AlarmCode(bA);
sc.GetAlarmCode();
Thread.Sleep(500);
Assert.IsNotNull(sc.Sm.AlarmCode);
sc.Sm.AlarmCode.CwLimit = true;
Assert.AreNotEqual(blankAlarmCode.CwLimit, sc.Sm.AlarmCode.CwLimit);
sc.ClearAlarms();
sc.GetAlarmCode();
Thread.Sleep(500);
Assert.AreEqual(blankAlarmCode.CwLimit, sc.Sm.AlarmCode.CwLimit);
sc.Dispose();
}
private static void Main()
{
// Configure Log4Net
XmlConfigurator.Configure(new FileInfo("log4net.config"));
// Configure PostSharp Logging to use Log4Net
StepperController sc = new StepperController("10.10.10.10");
try
{
// stop the drive from moving
sc.Stop();
sc.EnableMotor();
sc.ClearAlarms();
sc.GetModel();
sc.GetStatus();
sc.StartListening();
sc.SetFormatDecimal();
Thread.Sleep(500);
Thread.Sleep(2000);
Console.WriteLine("Resetting position to 0");
sc.ResetEncoderPosition(0);
//Console.WriteLine("Moving...");
//System.Threading.Thread.Sleep(2000);
//sc.StartJog(-0.5, 25, 25);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(2.5);
//System.Threading.Thread.Sleep(2500);
//sc.ChangeJogSpeed(.5);
//System.Threading.Thread.Sleep(2500);
//sc.StopJog();
//Console.WriteLine("Move complete.");
//Console.WriteLine("Status: " + sc.GetStatus());
Thread.Sleep(1000);
//Console.WriteLine("Current Position: " + sc.GetEncoderPosition());
// stop the drive from moving
sc.Stop();
sc.ClearAlarms();
// set the number of steps per rev
sc.SetNumberStepsPerRevolution(51200);
// set revolutions per second
sc.SetVelocity(25);
sc.GetModel();
Console.WriteLine($"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();
}
}