/// <summary>
/// Create a controlled z actuator
/// </summary>
/// <param name="controller">RCCM Trio controller object</param>
/// <param name="axisNum">Number of port where axis is connected to Trio controller</param>
/// <param name="rccm">The RCCM object</param>
/// <param name="stage">Enum value of the set of fine actuators containing this actuator</param>
public TrioStepperZMotor(TrioController controller, short axisNum, RCCMSystem rccm, RCCMStage stage)
{
this.controller = controller;
this.axisNum = axisNum;
this.Jogging = false;
// Create height function reference from lens controller height property
if (stage == RCCMStage.RCCM1)
{
this.height = delegate() { return(rccm.LensController.Height1); };
}
else
{
this.height = delegate() { return(rccm.LensController.Height2); };
}
// Create function reference that computes height of panel at current location
this.minPosition = delegate()
{
PointF pos = rccm.GetNFOVLocation(stage, CoordinateSystem.Local);
return(rccm.GetPanelDistance(pos.X, pos.Y));
};
this.commandHeight = this.height();
// Start background thread
this.bw = new BackgroundWorker();
this.bw.DoWork += new DoWorkEventHandler(this.heightAdjustLoop);
this.adjustThreadExited = new AutoResetEvent(false);
this.adjust = true;
this.adjustThreadPaused = false;
this.bw.RunWorkerAsync();
}
/// <summary>
/// Initialize motors according to settings
/// </summary>
/// <param name="axTrioPC">ActiveX control for communicating with trio controller</param>
private void initializeMotion(AxTrioPC axTrioPC)
{
// Create handler for Trio controller communication
this.triopc = new TrioController(axTrioPC);
// Initialize each motor and apply settings
this.motors = new Dictionary <string, Motor>();
foreach (string motorName in RCCMSystem.AXES)
{
// If controller is not open, all motors must be virtual
if (!this.triopc.Open && ((string)Program.Settings.json[motorName]["type"]).Contains("stepper"))
{
this.motors.Add(motorName, new VirtualMotor());
continue;
}
switch ((string)Program.Settings.json[motorName]["type"])
{
case "virtual":
this.motors.Add(motorName, new VirtualMotor());
break;
case "stepper":
this.motors.Add(motorName, new TrioStepperMotor(this.triopc, (short)Program.Settings.json[motorName]["axis number"]));
break;
case "stepper z 1":
TrioStepperZMotor zMotor1 = new TrioStepperZMotor(this.triopc, (short)Program.Settings.json[motorName]["axis number"],
this, RCCMStage.RCCM1);
this.motors.Add(motorName, zMotor1);
this.LensController.Motor1 = zMotor1;
break;
case "stepper z 2":
TrioStepperZMotor zMotor2 = new TrioStepperZMotor(this.triopc, (short)Program.Settings.json[motorName]["axis number"],
this, RCCMStage.RCCM2);
this.motors.Add(motorName, zMotor2);
this.LensController.Motor2 = zMotor2;
break;
default:
throw new NotImplementedException("Unknown motor type setting encountered for " + motorName);
}
}
// Apply settings
ApplyMotorSettings();
}
/// <summary>
/// Create a trio motor object. Settings are not initialized in this function
/// </summary>
/// <param name="controller"></param>
/// <param name="axisNum"></param>
public TrioStepperMotor(TrioController controller, short axisNum)
{
this.controller = controller;
this.axisNum = axisNum;
this.Jogging = false;
}
