private void MotorListen() { rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node1, 0, ref spd1); //if (rc == 0) //{ txtspeed1.Text = spd1.ToString(); //} //Torque rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node1, 0, ref toe1); //if (rc == 0) //{ // //扭矩是千分比 double toe = (double)toe1 / 1000 * ServoMaxTorq; txtTorque1.Text = toe.ToString(); if (toe > ServoMaxTorq) { txtTorque1.BackColor = Color.Red; } else { txtTorque1.BackColor = Color.White; } //} motorTorque1.Add(toe); motorRpm1.Add(spd1 / 10); }
private void showMotorState() { rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node1, 0, ref cmd1); rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node2, 0, ref cmd2); //Command if (rc == 0) { txtcommand1.Text = cmd1.ToString(); txtcommand2.Text = cmd2.ToString(); } //Feedback rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, node1, 0, ref pos1); rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, node2, 0, ref pos2); if (rc == 0) { txtfeedback1.Text = pos1.ToString(); txtfeedback2.Text = pos2.ToString(); } //Speed rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node1, 0, ref spd1); rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node2, 0, ref spd2); if (rc == 0) { txtspeed1.Text = spd1.ToString(); txtspeed2.Text = spd2.ToString(); } //Torque rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node1, 0, ref toe1); rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node2, 0, ref toe2); if (rc == 0) { //扭矩是千分比 txtTorque1.Text = ((double)toe1 / 1000 * 7.16).ToString(); txtTorque2.Text = ((double)toe2 / 1000 * 7.16).ToString(); } //err rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, node1, 0, ref err1); rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, node1, 0, ref err2); if (rc == 0) { txtERR1.Text = err1.ToString(); txtERR2.Text = err2.ToString(); } }