static void SendToAll(BusGroup busGroup, Messages.RegisterType registerType, int value, bool blocking)
{
var motors = busGroup.GetAllMotors();
foreach (var motor in motors.Values)
{
motor.SetRegister(registerType, value, blocking);
}
Finalise(busGroup);
}
static void SendToAllPrimary(BusGroup busGroup, int value, bool blocking)
{
var motors = busGroup.GetAllMotors();
foreach (var motor in motors.Values)
{
motor.SetPrimaryRegister(value, blocking);
}
Finalise(busGroup);
}
static void Main(string[] args)
{
var busGroup = new BusGroup();
Console.WriteLine("Opening bus...");
busGroup.Open(500000);
// Refresh the motors (for debugging)
busGroup.Refresh();
{
var motors = busGroup.GetAllMotors();
Console.WriteLine("Found {0} motors", motors.Count);
if (motors.Count == 0)
{
busGroup.Close();
return;
}
}
// Enable Torque
ForceSendToAll(busGroup, Messages.RegisterType.ControlMode, 1, true);
// Disable screen (movements are smoother)
ForceSendToAll(busGroup, Messages.RegisterType.InterfaceEnabled, 0, true);
// Perform movement N times
int N = 1000;
for (int n = 0; n < N; n++)
{
Console.WriteLine("Iteration {0}/{1}...", n, N);
int i = 0;
int limit = 1 << 10;
int amp = 13;
for (; i < limit; i++)
{
var pos = i << amp;
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", pos, limit << amp);
}
ForceSendToAllPrimary(busGroup, pos, false);
Thread.Sleep(10);
}
for (; i >= 0; i--)
{
var pos = i << amp;
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", pos, limit << amp);
}
ForceSendToAllPrimary(busGroup, pos, false);
Thread.Sleep(10);
}
Console.WriteLine("Wrote {0} messages total", txCountTotal);
}
Console.WriteLine("Closing bus...");
busGroup.Close();
}
static void Main(string[] args)
{
GCAN.Initializer.RegisterDevices();
var busGroup = new BusGroup();
Console.WriteLine("Opening bus...");
busGroup.Open(500000);
// Refresh the motors (for debugging)
Console.WriteLine("Finding motors...");
busGroup.Refresh(80);
// Print found motors
var foundMotors = busGroup.GetAllMotors();
Console.WriteLine("Found {0} motors : ", foundMotors.Count);
foreach (var it in foundMotors)
{
Console.WriteLine("{0} : {1}", it.Key, it.Value);
}
if (foundMotors.Count == 0)
{
busGroup.Close();
return;
}
// Print gaps in ID range
var foundIDs = foundMotors.Keys.ToList();
if (foundMotors.Count > 0)
{
var startID = foundIDs[0];
var endID = foundIDs[foundMotors.Count - 1];
Console.WriteLine("Missing contiguous IDs between {0} -> {1}:", startID, endID);
for (int id = startID; id <= endID; id++)
{
if (!foundIDs.Contains(id))
{
Console.Write("{0}, ", id);
}
}
}
Thread.Sleep(2000);
// Enable Torque
SendToAll(busGroup, Messages.RegisterType.ControlMode, 1, true);
// Disable screen (movements are smoother)
SendToAll(busGroup, Messages.RegisterType.InterfaceEnabled, 0, true);
// Perform movement N times
int N = 1000;
for (int n = 0; n < N; n++)
{
Console.WriteLine("Iteration {0}/{1}...", n, N);
int i = 0;
int limit = 1 << 21;
int step = 1 << 10;
for (; i < limit; i += step)
{
var stepStart = DateTime.Now;
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", i, limit);
}
SendToAllPrimary(busGroup, i, true);
var delayTime = 50 - (DateTime.Now - stepStart).TotalMilliseconds;
if (delayTime < 0)
{
Console.WriteLine("T");
}
else
{
Thread.Sleep((int)delayTime);
}
}
for (; i >= 0; i -= step)
{
if (i % 4 == 0)
{
Console.WriteLine("Moving to {0}/{1}", i, limit);
}
SendToAllPrimary(busGroup, i, true);
//Thread.Sleep(100);
}
Console.WriteLine("Wrote {0} messages total", txCountTotal);
}
Console.WriteLine("Closing bus...");
busGroup.Close();
}
static void Main(string[] args)
{
// Register GCAN
GCAN.Initializer.RegisterDevices();
//// do the same as VVVV example
//{
// Console.WriteLine("First try");
// var busGroup = new BusGroup();
// busGroup.Open(500000);
// busGroup.Refresh(80);
// var motors = busGroup.GetAllMotors();
// Console.WriteLine("Found {0} motors", motors.Count);
// busGroup.Close();
//}
// do our actual program test
{
var busGroup = new BusGroup();
Console.WriteLine("Opening bus");
busGroup.Open(500000);
Console.WriteLine("Found {0} buses :", busGroup.Buses.Count);
foreach (var bus in busGroup.Buses)
{
Console.WriteLine(bus.DevicePath);
}
Console.WriteLine();
Console.WriteLine("Finding motors");
Console.WriteLine();
busGroup.Refresh(80);
// Print found motors
var foundMotors = busGroup.GetAllMotors();
Console.WriteLine("Found {0} motors : ", foundMotors.Count);
foreach (var it in foundMotors)
{
Console.WriteLine(it.Value);
}
Console.WriteLine();
// Print gaps in ID range
var foundIDs = foundMotors.Keys.ToList();
if (foundMotors.Count > 0)
{
var startID = foundIDs[0];
var endID = foundIDs[foundMotors.Count - 1];
Console.WriteLine("Missing contiguous IDs between {0} -> {1} (if any):", startID, endID);
for (int id = startID; id <= endID; id++)
{
if (!foundIDs.Contains(id))
{
Console.Write("{0}, ", id);
}
}
}
Console.WriteLine();
var errors = busGroup.GetAllErrors();
foreach (var error in errors)
{
Console.WriteLine(error);
}
busGroup.Close();
}
}