/// <summary>
/// Test the validity of the serial number
/// </summary>
/// <param name="serialNo">serialNo to be tested (it is a string)</param>
/// <returns></returns>
private bool TestSerial(string serialNo)
{
// Get available Benchtop Stepper Motor and check our serial number is correct - by using the device prefix
char pref = serialNo[0];
List <string> serialNumbers;
switch (pref)
{
case '4':
serialNumbers = DeviceManagerCLI.GetDeviceList(BenchtopStepperMotor.DevicePrefix40);
break;
case '7':
serialNumbers = DeviceManagerCLI.GetDeviceList(BenchtopStepperMotor.DevicePrefix70);
break;
default:
return(false);
}
if (!serialNumbers.Contains(serialNo))
{
// The requested serial number is not a BSC203 or is not connected
return(false);
}
return(true);
}
public MLSStageAgent(string serial = "73000001", bool simmode = true)
{
this._isConnected = false;
this.IsXHomed = false;
this.IsYHomed = false;
this.XEnabled = false;
this.YEnabled = false;
this.SerialNumber = serial;
this.IsSimulation = simmode;
this.TekMSO54 = new SAWCaptureAgent();
// Build the device list and connect to the microscope stage
try
{
// Do some simulation specific stuff if that's going on.
if (this.IsSimulation == true)
{
SimulationManager.Instance.InitializeSimulations();
}
else
{
DeviceManagerCLI.BuildDeviceList();
}
}
catch (Exception ex)
{
Console.WriteLine("An error occured when trying to build the device list for the stage.");
Console.WriteLine("Exception: {0}", ex.Message);
Console.WriteLine("Press <ENTER> to continue execution.");
Console.ReadLine();
}
}
public void InitializeMotor()
{
try
{
// Tell the device manager to get the list of all devices connected to the computer
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
// an error occurred - see ex for details
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available KCube DC Servos and check our serial number is correct
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(KCubeDCServo.DevicePrefix);
if (!serialNumbers.Contains(this.serialNo))
{
// the requested serial number is not a KDC101 or is not connected
Console.WriteLine("{0} is not a valid serial number", this.serialNo);
Console.ReadKey();
return;
}
// Have to create the motor device based on the serial number (assuming the serial number is accurate)
this.CreateDevice();
// Have to open a connection to the device to begin using it
this.OpenConnection();
// Collect the motor settings to display some information
this.CreateConfigs();
}
private void connectKDC()
{
try
{
Cursor = Cursors.Wait;
// get list of devices
DeviceManagerCLI.BuildDeviceList();
// tell the device manager the Device Types we are interested in
List <string> devices = DeviceManagerCLI.GetDeviceList();
if (devices.Count == 0)
{
MessageBox.Show("Motor not found");
Cursor = Cursors.Arrow;
return;
}
// populate the combo box
_devices.ItemsSource = devices;
_devices.SelectedIndex = 0;
// get first serial number for example
motorNO = devices[0];
// create the device
ConnectDevice(motorNO);
Cursor = Cursors.Arrow;
}
catch (Exception err)
{
MessageBox.Show(err.Message);
}
}
private void MainWindow_OnLoaded(object sender, RoutedEventArgs e)
{
// register Device DLLs so they can ba accessed by the DeviceManager
// These Devices are self referencing and do not need to be referenced by the project
// This info could be supplied from a config file.
string path = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);
DeviceManager.RegisterLibrary(null, Path.Combine(path, "Thorlabs.MotionControl.TCube.BrushlessMotorUI.DLL"), "TCubeBrushlessMotorUI");
DeviceManager.RegisterLibrary(null, Path.Combine(path, "Thorlabs.MotionControl.Benchtop.BrushlessMotorUI.DLL"), "BenchtopBrushlessMotorUI");
DeviceManager.RegisterLibrary(null, Path.Combine(path, "Thorlabs.MotionControl.TCube.DCServoUI.DLL"), "TCubeDCServoUI");
// get list of devices
DeviceManagerCLI.BuildDeviceList();
List <string> devices = DeviceManagerCLI.GetDeviceList(new List <int> {
47, 67, 73, 83
});
if (devices.Count == 0)
{
MessageBox.Show("No Devices");
return;
}
// populate combo box
_devices.ItemsSource = devices;
_devices.SelectedIndex = 0;
// get first serial number for example
string serialNo = devices[0];
// create device
ConnectDevice(serialNo);
}
private void buttonConnect_Click(object sender, EventArgs e)
{
if (_benchtopStepperMotor != null)
{
MessageBox.Show("Device already connected");
return;
}
// All of this operation has been placed inside a single "catch-all"
// exception handler. This is to reduce the size of the example code.
// Normally you would have a try...catch per API call and catch the
// specific exceptions that could be thrown (details of which can be
// found in the Kinesis .NET API document).
try
{
// Instructs the DeviceManager to build and maintain the list of
// devices connected.
DeviceManagerCLI.BuildDeviceList();
_benchtopStepperMotor = BenchtopStepperMotor.CreateBenchtopStepperMotor(SerialNumber);
// Establish a connection with the device.
_benchtopStepperMotor.Connect(SerialNumber);
}
catch (Exception ex)
{
MessageBox.Show("Unable to connect to device\n" + ex);
}
}
public void Connect()
{
connected = false;
serialNo = main.Properties.Settings.Default.serial;
DeviceManagerCLI.BuildDeviceList();
device = KCubeSolenoid.CreateKCubeSolenoid(serialNo);
try
{
device.Connect(serialNo);
}
catch (DeviceNotReadyException)
{
connected = false;
return;
}
device.WaitForSettingsInitialized(5000);
device.StartPolling(250);
device.EnableDevice();
connected = true;
if (device.GetOperatingState() == SolenoidStatus.OperatingStates.Active)
{
solenoidStatus = true;
}
if (device.GetOperatingState() == SolenoidStatus.OperatingStates.Inactive)
{
solenoidStatus = false;
}
}
// ----------------------------------------------------------------------
// Stage
// ----------------------------------------------------------------------
private void buttonConnect_Click(object sender, RoutedEventArgs e)
{
//PosX = 100.999;
//return;
if (m_deviceX != null)
{
return;
}
if (m_xbox != null)
{
FindXBoxController();
}
// Try to create synthetic stages (but Create will fail!)d
//var sx = DeviceManagerCLI.RegisterSimulation(xAxisID, typeID, "X axis");
//var sy = DeviceManagerCLI.RegisterSimulation(yAxisID, typeID, "Y axis");
DeviceManagerCLI.BuildDeviceList();
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(LongTravelStage.DevicePrefix);
// X axis -------------------------------------------------------
m_deviceX = LongTravelStage.CreateLongTravelStage(m_xAxisID);
m_deviceX.Connect(m_xAxisID);
var diX = m_deviceX.GetDeviceInfo();
// wait for the device settings to initialize
if (!m_deviceX.IsSettingsInitialized())
{
m_deviceX.WaitForSettingsInitialized(5000);
}
// start the device polling
m_deviceX.StartPolling(250);
m_deviceX.EnableDevice();
// Y axis -------------------------------------------------------
m_deviceY = LongTravelStage.CreateLongTravelStage(m_yAxisID);
m_deviceY.Connect(m_xAxisID);
var diY = m_deviceY.GetDeviceInfo();
// wait for the device settings to initialize
if (!m_deviceY.IsSettingsInitialized())
{
m_deviceY.WaitForSettingsInitialized(5000);
}
// start the device polling
m_deviceY.StartPolling(250);
m_deviceY.EnableDevice();
StageInitialized = true;
}
public MLS203Stage(string _ser = "73000001")
{
if (_ser.Equals("73000001"))
{
SimulationManager.Instance.InitializeSimulations();
}
else
{
DeviceManagerCLI.BuildDeviceList();
}
return;
}
public LinearStage()
{
// Tell the device manager to get the list of all devices connected to the computer
DeviceManagerCLI.BuildDeviceList();
//Test serialNo
if (!TestSerial(serialNo))
{
throw new NonValidSerialNoException();
}
// Create the BenchtopStepperMotor device
device = BenchtopStepperMotor.CreateBenchtopStepperMotor(serialNo);
if (device == null)
{
throw new NonValidSerialNoException();
}
// Open a connection to the device.
try
{
device.Connect(serialNo);
}
catch (Exception)
{
// Connection failed
Console.WriteLine("Failed to open device {0}", serialNo);
return;
}
// Get the correct channel - channel 1
channel = device.GetChannel(1);
if (channel == null)
{
// Connection failed
Console.WriteLine("Channel unavailable {0}", serialNo);
return;
}
// Wait for the device settings to initialize - timeout 5000ms
if (!channel.IsSettingsInitialized())
{
try
{
channel.WaitForSettingsInitialized(5000);
}
catch (Exception)
{
Console.WriteLine("Settings failed to initialize");
}
}
}
public void Init()
{
string serialNo = "55114644";
DeviceManagerCLI.BuildDeviceList();
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList();
if (!serialNumbers.Contains(serialNo))
{
throw new Exception("Motor is not found!");
}
device = CageRotator.CreateCageRotator(serialNo);
if (device == null)
{
throw new Exception("Motor can be accessed!");
}
//connect to motor
device.Connect(serialNo);
// Wait for the device settings to initialize - timeout 5000ms
if (!device.IsSettingsInitialized())
{
try
{
device.WaitForSettingsInitialized(5000);
}
catch (Exception e)
{
throw new Exception("Settings failed to initialize", e);
}
}
// Start the device polling
// The polling loop requests regular status requests to the motor to ensure the program keeps track of the device.
device.StartPolling(250);
// Needs a delay so that the current enabled state can be obtained
Thread.Sleep(500);
// Enable the channel otherwise any move is ignored
device.EnableDevice();
// Needs a delay to give time for the device to be enabled
Thread.Sleep(500);
device.LoadMotorConfiguration(serialNo);
// Display info about device
DeviceInfo deviceInfo = device.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", deviceInfo.SerialNumber, deviceInfo.Name);
}
//All flipper functions
public static void BuildDeviceList()
{
//Builds the list of filter flippers connected to the computer
//Necessary per the flipper documentation
try
{
DeviceManagerCLI.BuildDeviceList();
}
catch
{
MessageBox.Show("There was an error building the device list.");
return;
}
}
public Form1()
{
InitializeComponent();
DeviceManagerCLI.BuildDeviceList();
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(TCubeDCServo.DevicePrefix);
richTextBox1.Text = serialNumbers.Count().ToString();
for (int i = 0; i < serialNumbers.Count(); i++)
{
device[i] = TCubeDCServo.CreateTCubeDCServo(serialNumbers[i]);
device[i].Connect(serialNumbers[i]);
if (!device[i].IsSettingsInitialized())
{
device[i].WaitForSettingsInitialized(5000);
}
device[i].StartPolling(250);
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real world unit parameters
MotorConfiguration motorSettings = device[i].GetMotorConfiguration(serialNumbers[i]);
DCMotorSettings currentDeviceSettings = device[i].MotorDeviceSettings as DCMotorSettings;
// display info about device
DeviceInfo deviceInfo = device[i].GetDeviceInfo();
richTextBox1.AppendText(Environment.NewLine + "Device " + deviceInfo.SerialNumber + " " + deviceInfo.Name + " " + device[i].GetMoveAbsolutePosition().ToString("F4") + Environment.NewLine);
}
ccd = new MaxIm.CCDCamera();
ccd.LinkEnabled = true;
ccd.MultiStarGuiding = true;
ccd.GuiderExpose(1.0);
while (ccd.GuiderRunning)
{
Thread.Sleep(1000);
}
ccd.GuiderTrack(0.1);
// Thread.Sleep(1000);
timer1.Enabled = true;
}
private void buttonConnect_Click(object sender, EventArgs e)
{
if (_kCubePositionAligner != null)
{
MessageBox.Show("Device already connected");
return;
}
const string serialNumber = "69250117";
// All of this operation has been placed inside a single "catch-all"
// exception handler. This is to reduce the size of the example code.
// Normally you would have a try...catch per API call and catch the
// specific exceptions that could be thrown (details of which can be
// found in the Kinesis .NET API document).
try
{
// Instructs the DeviceManager to build and maintain the list of
// devices connected.
DeviceManagerCLI.BuildDeviceList();
_kCubePositionAligner = KCubePositionAligner.CreateKCubePositionAligner(serialNumber);
// Establish a connection with the device.
_kCubePositionAligner.Connect(serialNumber);
// Wait for the device settings to initialize. We ask the device to
// throw an exception if this takes more than 5000ms (5s) to complete.
_kCubePositionAligner.WaitForSettingsInitialized(5000);
// This starts polling the device at intervals of 250ms (0.25s).
_kCubePositionAligner.StartPolling(250);
// Initialize the DeviceUnitConverter object required for real world
// unit parameters.
_kCubePositionAligner.GetPositionAlignerConfiguration(serialNumber);
// We are now able to enable the device for commands.
_kCubePositionAligner.EnableDevice();
// Place the device in OpenLoop mode. The position will be monitored
// but the X DIFF and Y DIFF outputs will remain under our control.
_kCubePositionAligner.SetOperatingMode(PositionAlignerStatus.OperatingModes.OpenLoop, false);
}
catch (Exception ex)
{
MessageBox.Show("Unable to connect to device\n" + ex);
}
}
public static bool CheckSerial()
{
//Checks to make sure the entered serial number is present on the connected device list
bool FlipperSerialCheck;
List <string> SerialNumbers = DeviceManagerCLI.GetDeviceList(FilterFlipper.DevicePrefix);
if (!SerialNumbers.Contains(SerialNo))
{
FlipperSerialCheck = false;
}
else
{
FlipperSerialCheck = true;
}
return(FlipperSerialCheck);
}
private void initializeFiber(string serial)
{
try
{
// Instructs the DeviceManager to build and maintain the list of devices connected.
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception)
{
this.fiberLabel.Text = "Not connected";
return;
}
try
{
_kCubeDCServoMotor = KCubeDCServo.CreateKCubeDCServo(serial);
// Establish a connection with the device.
_kCubeDCServoMotor.Connect(serial);
}
catch (Exception)
{
this.fiberLabel.Text = "Unable to connect";
return;
}
try
{
// Wait for the device settings to initialize. We ask the device to
// throw an exception if this takes more than 5000ms (5s) to complete.
_kCubeDCServoMotor.WaitForSettingsInitialized(5000);
// Initialize the DeviceUnitConverter object required for real world unit parameters.
_kCubeDCServoMotor.LoadMotorConfiguration(_kCubeDCServoMotor.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings);
// This starts polling the device at intervals of 250ms (0.25s).
_kCubeDCServoMotor.StartPolling(250);
// We are now able to enable the device for commands.
_kCubeDCServoMotor.EnableDevice();
// Enable buttons and contros
ToggleFiberButtons(true);
this.fiberLabel.Text = "Connected";
return;
}
catch (Exception ex)
{
MessageBox.Show("Failed to initialize fiber controller\n" + ex);
return;
}
}
private void buttonConnect_Click(object sender, EventArgs e)
{
if (_longTravelStage != null)
{
MessageBox.Show("Device already connected");
return;
}
const string serialNumber = "45848872";
// All of this operation has been placed inside a single "catch-all"
// exception handler. This is to reduce the size of the example code.
// Normally you would have a try...catch per API call and catch the
// specific exceptions that could be thrown (details of which can be
// found in the Kinesis .NET API document).
try
{
// Instructs the DeviceManager to build and maintain the list of
// devices connected.
DeviceManagerCLI.BuildDeviceList();
_longTravelStage = LongTravelStage.CreateLongTravelStage(serialNumber);
// Establish a connection with the device.
_longTravelStage.Connect(serialNumber);
// Wait for the device settings to initialize. We ask the device to
// throw an exception if this takes more than 5000ms (5s) to complete.
_longTravelStage.WaitForSettingsInitialized(5000);
// Initialize the DeviceUnitConverter object required for real world
// unit parameters.
_longTravelStage.GetMotorConfiguration(serialNumber);
// This starts polling the device at intervals of 250ms (0.25s).
_longTravelStage.StartPolling(250);
// We are now able to enable the device for commands.
_longTravelStage.EnableDevice();
}
catch (Exception ex)
{
MessageBox.Show("Unable to connect to device\n" + ex);
}
}
static void Main()
{
try
{
// build device list
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
MessageBox.Show("Exception raised by BuildDeviceList {0}", ex.ToString());
return;
}
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new StageControl());
//decimal value = LinLi.GetMoveAbsolutePosition();
//guitLinLi.SetMoveAbsolutePosition(40);
}
private void MainWindow_OnLoaded(object sender, RoutedEventArgs e)
{
// get list of devices
DeviceManagerCLI.BuildDeviceList();
List <string> devices = DeviceManagerCLI.GetDeviceList(83);
if (devices.Count == 0)
{
MessageBox.Show("No Devices");
return;
}
// get first serial number for example
string serialNo = devices[0];
// create device
_tCubeDCServo = TCubeDCServo.CreateDevice(serialNo) as TCubeDCServo;
if (_tCubeDCServo == null)
{
MessageBox.Show("Unknown Device Type");
return;
}
// connect device
try
{
_tCubeDCServo.Connect(serialNo);
// wait for settings to be initialized
_tCubeDCServo.WaitForSettingsInitialized(5000);
}
catch (DeviceException ex)
{
MessageBox.Show(ex.Message);
return;
}
// create view
_contentControl.Content = TCubeDCServoUI.CreateLargeView(_tCubeDCServo);
}
private void MainWindow_OnLoaded(object sender, RoutedEventArgs e)
{
// This instructs the DeviceManager to build and maintain the list of
// devices connected. We then print a list of device name strings called
// “devices” which contain the prefix “27”
DeviceManagerCLI.BuildDeviceList();
List <string> devices = DeviceManagerCLI.GetDeviceList(27);
// IF statement – if the number of devices connected is zero, the Window
// will display “No Devices”.
if (devices.Count == 0)
{
MessageBox.Show("No Devices");
return;
}
// Selects the first device serial number from “devices” list.
string serialNo = devices[0];
// Creates the device. We assign an instance of the device to _kCubeDCServo
KCubeDCServo _kCubeDCServo = KCubeDCServo.CreateKCubeDCServo(serialNo);
// Connect to the device & wait for initialisation. This is contained in a
// Try/Catch Error Handling Statement.
try
{
_kCubeDCServo.Connect(serialNo);
// wait for settings to be initialized
_kCubeDCServo.WaitForSettingsInitialized(5000);
}
catch (DeviceException ex)
{
MessageBox.Show(ex.Message);
return;
}
// Create the Kinesis Panel View for KDC101
_contentControl.Content = KCubeDCServoUI.CreateLargeView(_kCubeDCServo);
}
static void Main(string[] args)
{
// Get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage: BSC_Console_net_managed serial_number [position: (0 - 50)] [velocity: (0 - 5)]");
Console.ReadKey();
return;
}
// Get the test motor position
decimal position = 0m;
if (argc > 1)
{
position = decimal.Parse(args[1]);
}
// Get the test velocity
decimal velocity = 0m;
if (argc > 2)
{
velocity = decimal.Parse(args[2]);
}
// get the test BSC203 serial number
string serialNo = args[0];
try
{
// Tell the device manager to get the list of all devices connected to the computer
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
// An error occurred - see ex for details
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// Get available Benchtop Stepper Motor and check our serial number is correct - by using the device prefix
// i.e for serial number 70000123, device prefix is 70)
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(BenchtopStepperMotor.DevicePrefix70);
if (!serialNumbers.Contains(serialNo))
{
// The requested serial number is not a BSC203 or is not connected
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
// Create the BenchtopStepperMotor device
BenchtopStepperMotor device = BenchtopStepperMotor.CreateBenchtopStepperMotor(serialNo);
if (device == null)
{
// An error occured
Console.WriteLine("{0} is not a BenchtopStepperMotor", serialNo);
Console.ReadKey();
return;
}
// Open a connection to the device.
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
}
catch (Exception)
{
// Connection failed
Console.WriteLine("Failed to open device {0}", serialNo);
Console.ReadKey();
return;
}
// Get the correct channel - channel 1
StepperMotorChannel channel = device.GetChannel(1);
if (channel == null)
{
// Connection failed
Console.WriteLine("Channel unavailable {0}", serialNo);
Console.ReadKey();
return;
}
// Wait for the device settings to initialize - timeout 5000ms
if (!channel.IsSettingsInitialized())
{
try
{
channel.WaitForSettingsInitialized(5000);
}
catch (Exception)
{
Console.WriteLine("Settings failed to initialize");
}
}
// Start the device polling
// The polling loop requests regular status requests to the motor to ensure the program keeps track of the device.
channel.StartPolling(250);
// Needs a delay so that the current enabled state can be obtained
Thread.Sleep(500);
// Enable the channel otherwise any move is ignored
channel.EnableDevice();
// Needs a delay to give time for the device to be enabled
Thread.Sleep(500);
// Call LoadMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real world unit parameters
// - loads configuration information into channel
// Use the channel.DeviceID "70xxxxxx-1" to get the channel 1 settings. This is different to the serial number
MotorConfiguration motorConfiguration = channel.LoadMotorConfiguration(channel.DeviceID);
// Not used directly in example but illustrates how to obtain device settings
ThorlabsBenchtopStepperMotorSettings currentDeviceSettings = channel.MotorDeviceSettings as ThorlabsBenchtopStepperMotorSettings;
// Display info about device
DeviceInfo deviceInfo = channel.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", deviceInfo.SerialNumber, deviceInfo.Name);
Home_Method1(channel);
// or
//Home_Method2(channel);
bool homed = channel.Status.IsHomed;
// If a position is requested
if (position != 0)
{
// Update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = channel.GetVelocityParams();
velPars.MaxVelocity = velocity;
channel.SetVelocityParams(velPars);
}
Move_Method1(channel, position);
// or
// Move_Method2(channel, position);
Decimal newPos = channel.Position;
Console.WriteLine("Device Moved to {0}", newPos);
}
channel.StopPolling();
device.Disconnect(true);
Console.ReadKey();
}
static void Main(string[] args)
{
TCubeDCServo.RegisterDevice();
KCubeDCServo.RegisterDevice();
// get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage = DC_Console_net_managed [serial_no] [position: optional (0 - 50)] [velocity: optional (0 - 5)]");
Console.ReadKey();
return;
}
decimal position = 0m;
if (argc > 1)
{
position = decimal.Parse(args[1]);
}
decimal velocity = 0m;
if (argc > 2)
{
velocity = decimal.Parse(args[2]);
}
string serialNo = args[0];
try
{
// build device list
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available KCube DC Servos and check our serial number is correct
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(new List <int> {
KCubeDCServo.DevicePrefix, TCubeDCServo.DevicePrefix
});
if (!serialNumbers.Contains(serialNo))
{
if (serialNumbers.Count > 0)
{
serialNo = serialNumbers[0];
Console.WriteLine("using serial number {0}", serialNo);
}
else
{
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
}
// create the device
IGenericCoreDeviceCLI device = DeviceFactory.CreateDevice(serialNo);
IGenericAdvancedMotor motor = device as IGenericAdvancedMotor;
if (motor == null)
{
Console.WriteLine("{0} is not a DCServo", serialNo);
Console.ReadKey();
return;
}
// connect device
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
if (!motor.IsSettingsInitialized())
{
motor.WaitForSettingsInitialized(5000);
}
// display info about device
DeviceInfo di = device.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", di.SerialNumber, di.Name);
// start the device polling
motor.StartPolling(250);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to open device {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
DeviceUnitConverter deviceUnitConverter;
try
{
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real unit parameters
MotorConfiguration motorSettings = motor.GetMotorConfiguration(serialNo);
motorSettings.DeviceSettingsName = "PRM1-Z8";
motorSettings.UpdateCurrentConfiguration();
MotorDeviceSettings motorDeviceSettings = motor.MotorDeviceSettings;
motor.SetSettings(motorDeviceSettings, true, false);
// test code to test get / sert of parameters using real world units
TestVelocityParameters(motor);
TestJogParameters(motor);
TestHomingParameters(motor);
TestLimitParameters(motor);
if (device is TCubeDCServo)
{
TestPotentiometerParameters(device as TCubeDCServo); // TDC Only
}
motorSettings.UpdateCurrentConfiguration();
deviceUnitConverter = motor.UnitConverter;
}
catch (DeviceException ex)
{
Console.WriteLine("Failed prepare settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
if (!Home_1(motor))
{
Console.WriteLine("Failed to home device");
Console.ReadKey();
return;
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Home device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
// if position is set
if (position != 0)
{
// update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = motor.GetVelocityParams();
velPars.MaxVelocity = velocity;
motor.SetVelocityParams(velPars);
}
if (!MoveTo_1(motor, position, deviceUnitConverter))
{
Console.WriteLine("Failed to set position");
Console.ReadKey();
}
}
else
{
char c = '\0';
do
{
do
{
Console.WriteLine("Press a key");
Console.WriteLine("0 to exit");
Console.WriteLine("1 to test StopImmediate()");
Console.WriteLine("2 to test Stop(5000)");
Console.WriteLine("3 to test Stop(WaitEvent)");
c = Console.ReadKey().KeyChar;
} while (c < '0' || c > '3');
if (c != '0')
{
motor.MoveContinuous(MotorDirection.Forward);
Console.WriteLine("Press any key to stop");
Console.ReadKey();
StatusBase status;
if (c == '1')
{
motor.Stop(5000);
}
if (c == '2')
{
motor.StopImmediate();
}
if (c == '3')
{
ManualResetEvent waitEvent = new ManualResetEvent(false);
waitEvent.Reset();
motor.Stop(p =>
{
Console.WriteLine("Message Id {0}", p);
waitEvent.Set();
});
if (!waitEvent.WaitOne(5000))
{
Console.WriteLine("Failed to Stop");
}
}
do
{
status = motor.Status;
Console.WriteLine("Status says {0} ({1:X})", status.IsInMotion ? "Moving" : "Stopped", status.Status);
Thread.Sleep(50);
} while (status.IsInMotion);
}
} while (c != '0');
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Move device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
device.Disconnect(true);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Disconnect {0} - {1}", ex.DeviceID, ex.Message);
}
Console.ReadKey();
}
public Main()
{
InitializeComponent();
if (Properties.Settings.Default.UpgradeRequired)
{
Properties.Settings.Default.Upgrade();
Properties.Settings.Default.UpgradeRequired = false;
Properties.Settings.Default.Save();
}
derrX[0] = 0; derrX[1] = 0; derrX[2] = 0; derrY[0] = 0; derrY[1] = 0; derrY[2] = 0;
stopWatch.Start();
//Get the list of IM devices
DeviceManagerCLI.BuildDeviceList();
List <string> serialNumbersTIM = DeviceManagerCLI.GetDeviceList(TCubeInertialMotor.DevicePrefix);
serialNumbersTDC = DeviceManagerCLI.GetDeviceList(TCubeDCServo.DevicePrefix);
richTextBox1.AppendText("TIM devices: " + serialNumbersTIM.Count() + " | TDC devices: " + serialNumbersTDC.Count() + Environment.NewLine);
//Put the devices into an array
for (int i = 0; i < serialNumbersTDC.Count(); i++)
{
devicesTDC[i] = TCubeDCServo.CreateTCubeDCServo(serialNumbersTDC[i]);
TIM = false;
}
for (int i = 0; i < serialNumbersTIM.Count(); i++)
{
//TIM takes preference
devicesTIM[i] = TCubeInertialMotor.CreateTCubeInertialMotor(serialNumbersTIM[i]);
TIM = true;
}
if (TIM)
{
KpxUD.Value = (decimal)Properties.Settings.Default.Kpx;
KixUD.Value = (decimal)Properties.Settings.Default.Kix;
KdxUD.Value = (decimal)Properties.Settings.Default.Kdx;
KpyUD.Value = (decimal)Properties.Settings.Default.Kpy;
KiyUD.Value = (decimal)Properties.Settings.Default.Kiy;
KdyUD.Value = (decimal)Properties.Settings.Default.Kdy;
minMoveXUD.Value = (decimal)Properties.Settings.Default.minMoveX;
minMoveYUD.Value = (decimal)Properties.Settings.Default.minMoveY;
imaxxUD.Value = (decimal)Properties.Settings.Default.imaxX;
imaxyUD.Value = (decimal)Properties.Settings.Default.imaxY;
reverseX.Checked = Properties.Settings.Default.revx;
reverseY.Checked = Properties.Settings.Default.revy;
deviceTIM = devicesTIM[0];
//Connect and initialise
deviceTIM.Connect(serialNumbersTIM[0]);
if (!deviceTIM.IsSettingsInitialized())
{
deviceTIM.WaitForSettingsInitialized(5000);
}
deviceTIM.StartPolling(100);
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real world unit parameters
//MotorConfiguration motorSettings = device[i].GetMotorConfiguration(serialNumbers[i]);
InertialMotorConfiguration motorSettings = deviceTIM.GetInertialMotorConfiguration(serialNumbersTIM[0]);
ThorlabsInertialMotorSettings currentDeviceSettings = deviceTIM.InertialMotorDeviceSettings as ThorlabsInertialMotorSettings;
// display info about device
DeviceInfo deviceInfo = deviceTIM.GetDeviceInfo();
richTextBox1.AppendText("Selected device " + deviceInfo.Name + " serial: " + deviceInfo.SerialNumber + Environment.NewLine);// device[i].GetPosition(ch1).ToString("F4")
ch1 = InertialMotorStatus.MotorChannels.Channel1;
ch2 = InertialMotorStatus.MotorChannels.Channel2;
//Set step rate and acceleration
currentDeviceSettings.Drive.Channel(ch1).StepRate = 1000;
currentDeviceSettings.Drive.Channel(ch1).StepAcceleration = 100000;
currentDeviceSettings.Drive.Channel(ch2).StepRate = 1000;
currentDeviceSettings.Drive.Channel(ch2).StepAcceleration = 100000;
//apply setting
deviceTIM.SetSettings(currentDeviceSettings, true, true);
//get motor positions and print
motorX = deviceTIM.GetPosition(ch1);//GetPosition(ch1);
motorY = deviceTIM.GetPosition(ch2);
}
else
{
//TDC
KpxUD.Value = (decimal)Properties.Settings.Default.Kpx2;
KixUD.Value = (decimal)Properties.Settings.Default.Kix2;
KdxUD.Value = (decimal)Properties.Settings.Default.Kdx2;
KpyUD.Value = (decimal)Properties.Settings.Default.Kpy2;
KiyUD.Value = (decimal)Properties.Settings.Default.Kiy2;
KdyUD.Value = (decimal)Properties.Settings.Default.Kdy2;
minMoveXUD.Value = (decimal)Properties.Settings.Default.minMoveX2;
minMoveYUD.Value = (decimal)Properties.Settings.Default.minMoveY2;
imaxxUD.Value = (decimal)Properties.Settings.Default.imaxX2;
imaxyUD.Value = (decimal)Properties.Settings.Default.imaxY2;
reverseX.Checked = Properties.Settings.Default.revx2;
reverseY.Checked = Properties.Settings.Default.revy2;
stepUpDown.DecimalPlaces = 2;
stepUpDown.Increment = (decimal)0.05;
for (int i = 0; i < serialNumbersTDC.Count(); i++)
{
devicesTDC[i] = TCubeDCServo.CreateTCubeDCServo(serialNumbersTDC[i]);
richTextBox1.AppendText(i + " Serial: " + serialNumbersTDC[i]);
try {
devicesTDC[i].Connect(serialNumbersTDC[i]);
if (!devicesTDC[i].IsSettingsInitialized())
{
devicesTDC[i].WaitForSettingsInitialized(5000);
}
devicesTDC[i].StartPolling(100);
MotorConfiguration motorSettings = devicesTDC[i].GetMotorConfiguration(serialNumbersTDC[i], DeviceConfiguration.DeviceSettingsUseOptionType.UseDeviceSettings); //serialNumbersTDC[i]
DCMotorSettings currentDeviceSettings = devicesTDC[i].MotorDeviceSettings as DCMotorSettings;
// display info about device
DeviceInfo deviceInfo = devicesTDC[i].GetDeviceInfo();
richTextBox1.AppendText(i + " Device " + deviceInfo.Name + " " + deviceInfo.SerialNumber + " " + devicesTDC[i].GetMoveAbsolutePosition().ToString("F4") + Environment.NewLine);
} catch (Exception ex) {
richTextBox1.AppendText(" " + ex.Message + Environment.NewLine);
}
}
}
motorXlbl.Text = "X: " + motorX.ToString();
motorYlbl.Text = "Y: " + motorY.ToString();
if (TIM)
{
//get status of ch1
//InertialMotorStatus status = deviceTIM.ChannelStatus(ch1);
// richTextBox1.AppendText(status.Status + " " + status.Position + " " + status.IsError + " " + status.IsMoving + Environment.NewLine);// device[i].GetPosition(ch1).ToString("F4")
}
else
{
}
//Create MaxIm DL object
ccd = new MaxIm.CCDCamera();
// ccd.Notify += notify();
//Connect CCD
ccd.LinkEnabled = true;
/*
* ccd.MultiStarGuiding = true;
*
* ccd.GuiderExpose(1.0);
*
* while (ccd.GuiderRunning) {
* Thread.Sleep(100);
* }
*
* ccd.GuiderTrack(1.0);
*/
//Thread.Sleep(2000);
//Notify on new guider image(?)
ccd.EventMask = 256;
ccd.Notify += new MaxIm._CameraEvents_NotifyEventHandler(notify);
//Sets minimum correction interval
timer1.Interval = Convert.ToInt16(correctionUpDown.Value * 1000);
timer1.Enabled = true;
ready = true;
}
public int ConnectStage()
{
try
{
if (SerialNumber.Equals("73000001"))
{
/*
* 73000001 is the initial SN given to any
* BBD203 controller by the Kinesis Simulation software
* this is most likely running under simulation and should
* use that startup sequence.
*/
SimulationManager.Instance.InitializeSimulations();
}
else
{
// Otherwise populate the device manager like you normally do.
DeviceManagerCLI.BuildDeviceList();
}
} catch (Exception ex)
{
Console.WriteLine("An error occured when trying to build the device list for the stage.");
Console.WriteLine("Exception: {0}", ex.Message);
Console.WriteLine("Press <ENTER> to continue execution.");
Console.ReadLine();
return(-1);
}
// Create the stage object and attempt to connect to it.
try
{
this._microscopemotor = BenchtopBrushlessMotor.CreateBenchtopBrushlessMotor(this._serial);
this._microscopemotor.Connect(this._serial);
} catch (Exception ex)
{
Console.WriteLine("An error occured when trying to create the actual stage object.");
Console.WriteLine("Exception: {0}", ex.Message);
Console.WriteLine("Press <ENTER> to continue execution.");
Console.ReadLine();
}
// Setup the axes
// X - Stepover Axis
// Y - Scanning Axis
this._stepoverchannel = this._microscopemotor.GetChannel(2);
this._stepoverchannel.StartPolling(this._pollFrequency);
if (!this._stepoverchannel.IsSettingsInitialized())
{
this._stepoverchannel.WaitForSettingsInitialized(this._initTimeoutMillis);
}
this._scanningchannel = this._microscopemotor.GetChannel(1);
this._scanningchannel.StartPolling(this._pollFrequency);
if (!this._scanningchannel.IsSettingsInitialized())
{
this._scanningchannel.WaitForSettingsInitialized(this._initTimeoutMillis);
}
// Enable both axes
this._stepoverchannel.EnableDevice();
this._scanningchannel.EnableDevice();
// Load the motor configurations off the device
this._stepoverconfig = this._stepoverchannel.GetMotorConfiguration(this._stepoverchannel.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseDeviceSettings);
this._scanningconfig = this._scanningchannel.GetMotorConfiguration(this._scanningchannel.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseDeviceSettings);
this._isConnected = true;
// Start various stage polling functions
this._pollingactive = true;
return(0);
}
static void Main(string[] args)
{
// get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage = BBD_Console_net_managed [serial_no] [channel] [position: optional (0 - 50)] [velocity: optional (0 - 5)]");
Console.ReadKey();
return;
}
short channel = 1;
if (argc > 2)
{
channel = short.Parse(args[1]);
}
decimal position = 0m;
if (argc > 2)
{
position = decimal.Parse(args[2]);
}
decimal velocity = 0m;
if (argc > 3)
{
velocity = decimal.Parse(args[3]);
}
string serialNo = args[0];
try
{
// build device list
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available TCube DC Servos and check our serial number is correct
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(BenchtopBrushlessMotor.DevicePrefix);
if (!serialNumbers.Contains(serialNo))
{
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
// create the device
BenchtopBrushlessMotor device = BenchtopBrushlessMotor.CreateDevice(serialNo) as BenchtopBrushlessMotor;
if (device == null)
{
Console.WriteLine("{0} is not a BenchtopBrushlessMotor", serialNo);
Console.ReadKey();
return;
}
//BrushlessMotorChannel benchtopChannel = device.GetChannel(channel);
BrushlessMotorChannel benchtopChannel = device[channel] as BrushlessMotorChannel;
if (benchtopChannel == null)
{
Console.WriteLine("{0} is not a valid channel number", channel);
Console.ReadKey();
return;
}
// connect device
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
if (!benchtopChannel.IsSettingsInitialized())
{
benchtopChannel.WaitForSettingsInitialized(5000);
}
// display info about device
DeviceInfo di = device.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", di.SerialNumber, di.Name);
// start the device polling
benchtopChannel.StartPolling(250);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to open device {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
DeviceUnitConverter deviceUnitConverter;
try
{
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real unit parameters
MotorConfiguration motorSettings = benchtopChannel.GetMotorConfiguration(serialNo);
// test code to test get / sert of parameters using real world units
TestVelocityParameters(benchtopChannel);
TestJogParameters(benchtopChannel);
TestHomingParameters(benchtopChannel);
TestLimitParameters(benchtopChannel);
motorSettings.UpdateCurrentConfiguration();
deviceUnitConverter = benchtopChannel.UnitConverter;
}
catch (DeviceException ex)
{
Console.WriteLine("Failed prepare settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
if (!Home_1(benchtopChannel))
{
Console.WriteLine("Failed to home device");
Console.ReadKey();
return;
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Home device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
// if position is set
if (position != 0)
{
// update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = benchtopChannel.GetVelocityParams();
velPars.MaxVelocity = velocity;
benchtopChannel.SetVelocityParams(velPars);
}
if (!MoveTo_1(benchtopChannel, position, deviceUnitConverter))
{
Console.WriteLine("Failed to set position");
Console.ReadKey();
}
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Move device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
device.Disconnect(true);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Disconnect {0} - {1}", ex.DeviceID, ex.Message);
}
Console.ReadKey();
}
