// Pulls data from the devices and places it in the table created earlier.
public static void updateTable(DataGridView dataTable)
{
DataTable flippedStatusValues = new DataTable();
string period;
//
// PULLING DATA FROM MAESTRO
//
statusValues.Clear();
if (NumOfConnectedMaestros > 0)
{
usc.getVariables(out maestroVars, out stack, out call_stack, out servos);
errors = "";
foreach (var error in Enum.GetValues(typeof(uscError)))
{
if ((maestroVars.errors & (1 << (int)(uscError)error)) != 0)
{
errors += (error.ToString() + ", ");
}
}
//
//
// Need to add data information for other values, if needed
//
//
statusValues.Rows.Add("Maestro", usc.getSerialNumber(), errors, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
}
// Case for when there are no connected Maestros
else
{
statusValues.Rows.Add("Maestro", "No Maestros Found", "", -1, -1, -1, -1, -1, -1, -1, -1, -1, -1);
}
//
// PULLING DATA FROM JRK 1
//
if (Program.NumOfConnectedJrks > 0 && usc.servoCount > 0)
{
// Preparing Jrk data input
jrkVars = Jrk1.getVariables();
// Reading Jrk current
// Easier to store in a variable before sending to the table.
currentCalibrationForward = (Byte)Jrk1.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_FORWARD);
currentCalibrationReverse = (Byte)Jrk1.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_REVERSE);
current = currentToMilliamps(Jrk1, jrkVars.current, jrkVars.dutyCycle);
// Reading Jrk errors
// It's easier to store them all in one variable before sending to the table.
errors = "";
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_AWAITING_COMMAND))
{
errors += "Awaiting command, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_NO_POWER))
{
errors += "No power, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MOTOR_DRIVER))
{
errors += "Motor driver error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_INVALID))
{
errors += "Input invalid, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_DISCONNECT))
{
errors += "Input disconnect";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_FEEDBACK_DISCONNECT))
{
errors += "Feedback disconnect, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MAXIMUM_CURRENT_EXCEEDED))
{
errors += "Max. current exceeded, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_SIGNAL))
{
errors += "Serial signal error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_OVERRUN))
{
errors += "Serial overrun, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_BUFFER_FULL))
{
errors += "Serial RX buffer full, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_CRC))
{
errors += "Serial CRC error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_PROTOCOL))
{
errors += "Serial protocol error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_TIMEOUT))
{
errors += "Serial timeout error, ";
}
period = servos[0].position * 0.25 + " microseconds";
//Setting up the table with values
statusValues.Rows.Add("Jrk", Jrk1.getSerialNumber(), errors, servos[0].position, period, jrkVars.target, jrkVars.scaledFeedback, jrkVars.feedback,
jrkVars.errorSum, jrkVars.dutyCycleTarget, jrkVars.dutyCycle, servos[0].speed, servos[0].acceleration, current);
}
else
{
statusValues.Rows.Add("Jrk", "No Jrks Found");
}
//
// PULLING DATA FROM JRK 2
//
if (Program.NumOfConnectedJrks > 1)
{
//Preparing Jrk data input
jrkVars = Jrk2.getVariables();
//Reading Jrk current
// Easier to store in a variable before sending to the table.
currentCalibrationForward = (Byte)Jrk2.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_FORWARD);
currentCalibrationReverse = (Byte)Jrk2.getJrkParameter(jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_REVERSE);
current = currentToMilliamps(Jrk2, jrkVars.current, jrkVars.dutyCycle);
//Reading Jrk errors
// It's easier to store them all in one variable before sending to the table.
errors = "";
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_AWAITING_COMMAND))
{
errors += "Awaiting command, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_NO_POWER))
{
errors += "No power, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MOTOR_DRIVER))
{
errors += "Motor driver error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_INVALID))
{
errors += "Input invalid, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_DISCONNECT))
{
errors += "Input disconnect";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_FEEDBACK_DISCONNECT))
{
errors += "Feedback disconnect, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_MAXIMUM_CURRENT_EXCEEDED))
{
errors += "Max. current exceeded, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_SIGNAL))
{
errors += "Serial signal error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_OVERRUN))
{
errors += "Serial overrun, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_BUFFER_FULL))
{
errors += "Serial RX buffer full, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_CRC))
{
errors += "Serial CRC error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_PROTOCOL))
{
errors += "Serial protocol error, ";
}
if (1 == (1 & jrkVars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_TIMEOUT))
{
errors += "Serial timeout error, ";
}
period = servos[1].position * 0.25 + " microseconds";
//Setting up the table with values
statusValues.Rows.Add("Jrk", Jrk1.getSerialNumber(), errors, servos[1].position, period, jrkVars.target, jrkVars.scaledFeedback, jrkVars.feedback,
jrkVars.errorSum, jrkVars.dutyCycleTarget, jrkVars.dutyCycle, servos[1].speed, servos[1].acceleration, current);
}
//Future extension to more devices
/*
* if (Program.NumOfConnectedJrks > 2)
* {
* }
* if (Program.NumOfConnectedJrks > 3)
* {
* }
*/
flippedStatusValues.Columns.Add("");
string deviceTrack = "";
for (int i = 0; i < statusValues.Rows.Count; i++)
{
deviceTrack = "Device " + i;
flippedStatusValues.Columns.Add(deviceTrack);
}
for (int i = 0; i < statusValues.Columns.Count; i++)
{
DataRow newRow = flippedStatusValues.NewRow();
newRow[0] = statusValues.Columns[i].Caption;
for (int j = 0; j < statusValues.Rows.Count; j++)
{
newRow[j + 1] = statusValues.Rows[j][i];
}
flippedStatusValues.Rows.Add(newRow);
}
// Configuring the table to show the data
dataTable.DataSource = flippedStatusValues;
}
static void displayStatus(Jrk jrk)
{
Console.Write(
"Serial number: " + jrk.getSerialNumber() + "\n" +
"Firmware version: " + jrk.firmwareVersionString + "\n"
);
storeCurrentCalibration();
jrkVariables vars = jrk.getVariables();
Console.Write(
"Variables:\n" +
" Input: " + vars.input + "\n" +
" Target: " + vars.target + "\n" +
" Feedback: " + vars.feedback + "\n" +
" Scaled feedback: " + vars.scaledFeedback + "\n" +
" Error: " + (vars.scaledFeedback - vars.target) + "\n" +
" Integral: " + vars.errorSum + "\n" +
" Duty cycle target: " + vars.dutyCycleTarget + "\n" +
" Duty cycle: " + vars.dutyCycle + "\n" +
" Current (mA): " + currentToMilliamps(vars.current, vars.dutyCycle) + "\n"
);
if (vars.errorFlagBits == 0)
{
Console.WriteLine("No errors.");
}
else
{
Console.WriteLine("Errors:");
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_AWAITING_COMMAND))
{
Console.WriteLine(" Awaiting command");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_NO_POWER))
{
Console.WriteLine(" No power");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_MOTOR_DRIVER))
{
Console.WriteLine(" Motor driver error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_INVALID))
{
Console.WriteLine(" Input invalid");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_INPUT_DISCONNECT))
{
Console.WriteLine(" Input disconnect");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_FEEDBACK_DISCONNECT))
{
Console.WriteLine(" Feedback disconnect");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_MAXIMUM_CURRENT_EXCEEDED))
{
Console.WriteLine(" Max. current exceeded");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_SIGNAL))
{
Console.WriteLine(" Serial signal error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_OVERRUN))
{
Console.WriteLine(" Serial overrun");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_BUFFER_FULL))
{
Console.WriteLine(" Serial RX buffer full");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_CRC))
{
Console.WriteLine(" Serial CRC error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_PROTOCOL))
{
Console.WriteLine(" Serial protocol error");
}
if (1 == (1 & vars.errorFlagBits >> (byte)jrkError.ERROR_SERIAL_TIMEOUT))
{
Console.WriteLine(" Serial timeout error");
}
};
}
