private void homeAll()
{
SingleChannelPipette.homeTool();
MultiChannelPipette.homeTool();
DynamixelCom.homeTool();
writeSerial(SerialCommandType.Home, Axis.X, 0);
writeSerial(SerialCommandType.Home, Axis.Y, 0);
}
private void btnHomeZ2_Click(object sender, EventArgs e)
{
z2coor = 0;
MultiChannelPipette.homeTool();
wait.Reset();
wait.WaitOne();
updatePositions();
/*
* ComChannelFactory.getGCodeSerial().WriteLine("HZ2");
* z2coor = 0;
* updatePositions();*/
}
public void executeAction(DataSets.dsModuleStructure3.dtActionValueRow row)
{
if (row.dtActionTypeRow.pk_id == PIPETTE)
{
Int16 volume = 0;
if (Int16.TryParse(row.description, out volume))
{
MultiChannelPipette.pipette(volume);
wait.Reset();
wait.WaitOne();
Int16 delay = Convert.ToInt16(row.description);
System.Threading.Thread.Sleep(delay / 2);
}
}
else if (row.dtActionTypeRow.pk_id == DISPENSE)
{
Int16 volume = 0;
if (Int16.TryParse(row.description, out volume))
{
MultiChannelPipette.dispense(volume);
wait.Reset();
wait.WaitOne();
Int16 delay = Convert.ToInt16(row.description);
System.Threading.Thread.Sleep(delay / 2);
}
}
else if (row.dtActionTypeRow.pk_id == MOVE_Z2)
{
Int16 tempValue = 0;
if (Int16.TryParse(row.description, out tempValue))
{
MultiChannelPipette.sendPositionToMoveTo(tempValue);
wait.Reset();
wait.WaitOne();
}
}
else if (row.dtActionTypeRow.pk_id == HOME)
{
MultiChannelPipette.homeTool();
wait.Reset();
wait.WaitOne();
}
}
public void move(DataSets.dsModuleStructure3.dtActionValueRow actionValue)
{
if (actionValue.fk_action_type == MOVE_X)
{
//String value = "X" + Int32.Parse(actionValue.description) + '\n';
//String value = "G1 X" + Int32.Parse(actionValue.description) / 10 + " F" + desiredXSpeed + "\n";
String value = "G1 X" + Int32.Parse(actionValue.description) / 10;
write(value);
wait.WaitOne();
}
else if (actionValue.fk_action_type == MOVE_Y)
{
//String value = "Y" + Int32.Parse(actionValue.description) + '\n';
//String value = "G1 Y" + Int32.Parse(actionValue.description) / 10 + " F" + desiredYSpeed + "\n";
String value = "G1 Y" + Int32.Parse(actionValue.description) / 10;
write(value);
wait.WaitOne();
}
else if (actionValue.fk_action_type == MOVE_Z1)
{
Int16 tempValue = 0;
if (Int16.TryParse(actionValue.description, out tempValue))
{
SingleChannelPipette.sendPositionToMoveTo(tempValue);
wait.WaitOne();
}
//serial.Write("Z1" + Int32.Parse(actionValue.description) + '\n');
}
else if (actionValue.fk_action_type == MOVE_Z2)
{
Int16 tempValue = 0;
if (Int16.TryParse(actionValue.description, out tempValue))
{
MultiChannelPipette.sendPositionToMoveTo(tempValue);
wait.WaitOne();
}
//serial.Write("Z2" + Int32.Parse(actionValue.description) + '\n');
}
else if (actionValue.fk_action_type == MOVE_Z3)
{
Int16 tempValue = 0;
if (Int16.TryParse(actionValue.description, out tempValue))
{
DynamixelCom.sendPositionToMoveTo(tempValue);
wait.WaitOne();
}
//serial.Write("Z3" + Int32.Parse(actionValue.description) + '\n');
}
else if (actionValue.fk_action_type == HOME)
{
switch (actionValue.description)
{
case "X":
//write("HX",1);
write("G28 X");
wait.WaitOne();
break;
case "Y":
//write("HY",1);
write("G28 Y");
wait.WaitOne();
break;
case "Z1":
SingleChannelPipette.homeTool();
wait.WaitOne();
break;
case "Z2":
MultiChannelPipette.homeTool();
wait.WaitOne();
break;
case "Z3":
DynamixelCom.homeTool();
wait.WaitOne();
break;
default:
break;
}
//if (actionValue.description ==
//serial.Write("H" + actionValue.description + '\n');
}
}