static private void RunTracking()
{
HemisphereOption hemisphere = HemisphereOption.Northern;
Console.WriteLine("Press any key to start tracking");
Console.ReadKey(true);
_controller.MCStartRATrack(DriveRates.driveSidereal, hemisphere, AxisDirection.Forward);
int ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
System.Diagnostics.Debug.WriteLine("\n=== Tracking Stop ====");
_controller.MCAxisStop(AxisId.Axis1_RA);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
}
private string EQ_SendGCode(AxisId axisId, HemisphereOption hemisphere, AxisMode mode, AxisDirection direction, AxisSpeed speed)
{
System.Diagnostics.Debug.WriteLine(string.Format("EQ_SendGCode({0}, {1}, {2}, {3}, {4})", axisId, hemisphere, mode, direction, speed));
byte ch;
ch = 0;
// Set Direction bit (Bit 0)
if (direction == AxisDirection.Reverse)
{
ch |= 0x01;
}
// Set Hemisphere bit (Bit 1)
if (hemisphere == HemisphereOption.Southern)
{
ch |= 0x02;
}
// 0 = high speed GOTO mode
// 1 = low speed SLEW mode
// 2 = low speed GOTO mode
// 3 = high speed SLEW mode
// Set Mode and speed bits
if (mode == AxisMode.Goto)
{
//goto
if (speed == AxisSpeed.LowSpeed)
{
// Low speed goto = 2
ch |= 0x20;
}
else
{
//high speed goto = 0
}
}
else
{
// slew
if (speed == AxisSpeed.HighSpeed)
{
// High speed slew= 3
ch |= 0x30;
}
else
{
// low speed slew= 1
ch |= 0x10;
}
}
// Send 'G' Command, with parameter
return(GetEQSendCommandCommand(axisId, 'G', ch, 2));
}
protected string MCSetMotionMode(AxisId axis, HemisphereOption hemisphere, AxisMode mode, AxisDirection direction, AxisSpeed speed)
{
byte ch;
ch = 0;
// Set Direction bit (Bit 0)
if (direction == AxisDirection.Reverse)
{
ch |= 0x01;
}
// Set Hemisphere bit (Bit 1)
if (hemisphere == HemisphereOption.Southern)
{
ch |= 0x02;
}
// 0 = high speed GOTO mode
// 1 = low speed SLEW mode
// 2 = low speed GOTO mode
// 3 = high speed SLEW mode
// Set Mode and speed bits
if (mode == AxisMode.Goto)
{
//goto
if (speed == AxisSpeed.LowSpeed)
{
// Low speed goto = 2
ch |= 0x20;
}
else
{
//high speed goto = 0
}
}
else
{
// slew
if (speed == AxisSpeed.HighSpeed)
{
// High speed slew= 3
ch |= 0x30;
}
else
{
// low speed slew= 1
ch |= 0x10;
}
}
string szCmd = LongTo2BitHEX(ch);
return(GetTalkWithAxisCommand(axis, 'G', szCmd));
}
static private void RunGOTO()
{
_controller.MCSetAxisPosition(AxisId.Axis1_RA, 0.0);
double slowPosition = 0.03; // Radians (will result in lowspeed goto)
double fastPosition = 0.1; // Radians (will result in highspeed goto)
HemisphereOption hemisphere = HemisphereOption.Northern;
Console.WriteLine("Press any key to start GOTO Slow");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== GOTO Slow ====");
_controller.MCAxisSlewTo(AxisId.Axis1_RA, slowPosition, hemisphere);
// Wait for stop
_controller.TalkWithAxis(0, 'f', null);
AxisState status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
double ppos = double.MaxValue;
double pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
while (pos != ppos)
{
ppos = pos;
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
}
Console.WriteLine("Press any key to start reverse GOTO Slow");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== GOTO Slow (reversed) ====");
_controller.MCAxisSlewTo(AxisId.Axis1_RA, 0.0, hemisphere);
_controller.TalkWithAxis(0, 'f', null);
status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
ppos = double.MaxValue;
pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
while (pos != ppos)
{
ppos = pos;
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
}
Console.WriteLine("Press any key to start GOTO Fast");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== GOTO Fast ====");
_controller.MCAxisSlewTo(AxisId.Axis1_RA, fastPosition, hemisphere);
// Wait for stop
_controller.TalkWithAxis(0, 'f', null);
status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
ppos = double.MaxValue;
pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
while (pos != ppos)
{
ppos = pos;
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
}
Console.WriteLine("Press any key to start reverse GOTO Fast");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== GOTO Fast (reversed) ====");
_controller.MCAxisSlewTo(AxisId.Axis1_RA, 0.0, hemisphere);
_controller.TalkWithAxis(0, 'f', null);
status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
ppos = double.MaxValue;
pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
while (pos != ppos)
{
ppos = pos;
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
status = _controller.MCGetAxisState(AxisId.Axis1_RA);
// System.Diagnostics.Debug.WriteLine($"Fwd-{status.SlewingForward}\tSpd-{status.HighSpeed}\tStpd-{status.FullStop}\tSlwg-{status.Slewing}\tSlwgT-{status.SlewingTo}\tInit-{!status.NotInitialized}");
pos = _controller.MCGetAxisPosition(AxisId.Axis1_RA);
}
}
static private void RunSlew()
{
_controller.MCSetAxisPosition(AxisId.Axis1_RA, 0.0);
double slowSpeed = 0.007; // Radians (will result in lowspeed goto)
double fastSpeed = 0.02; // Radians (will result in highspeed goto)
HemisphereOption hemisphere = HemisphereOption.Northern;
Console.WriteLine("Press any key to start SLEW Slow");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== SLEW Slow ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, slowSpeed, hemisphere);
int ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
System.Diagnostics.Debug.WriteLine("\n=== SLEW Stop ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, 0.0, hemisphere);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
Console.WriteLine("Press any key to start reverse SLEW Slow");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== SLEW Slow (reversed) ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, -slowSpeed, hemisphere);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
System.Diagnostics.Debug.WriteLine("\n=== SLEW Stop ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, 0.0, hemisphere);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
Console.WriteLine("Press any key to start SLEW Fast");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== SLEW Fast ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, fastSpeed, hemisphere);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
_controller.MCAxisSlew(AxisId.Axis1_RA, 0.0, hemisphere);
System.Diagnostics.Debug.WriteLine("\n=== SLEW Stop ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, 0.0, hemisphere);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
Console.WriteLine("Press any key to start reverse SLEW Fast");
Console.ReadKey(true);
System.Diagnostics.Debug.WriteLine("\n=== SLEW Fast (reversed) ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, -fastSpeed, hemisphere);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
System.Diagnostics.Debug.WriteLine("\n=== SLEW Stop ====");
_controller.MCAxisSlew(AxisId.Axis1_RA, 0.0, hemisphere);
ct = 0;
while (ct < 3)
{
Thread.Sleep(2000);
_controller.TalkWithAxis(0, 'f', null);
ct++;
}
}
