/// <summary>
/// Move the motor to a specific position
/// </summary>
/// <param name="pos">Position where the motor needs to go to</param> <!-- need to explain more about the value and if there is a max? -->
public bool SetPosition(int pos)
{
if (ticController.get_variables())
{
if (ticController.status_vars.energized)
{
// Check if the pos is less than 0 as the motors home value should always be 0
if (pos <= 0)
{
pos = 0;
}
ticController.set_target_position(pos);
while (ticController.get_variables())
{
if (ticController.vars.current_position == pos)
{
break;
}
} //
}
else
{
return(false);
}
}
return(true);
}
private void timer1_Tick(object sender, EventArgs e)
{
if (m_conected)
{
m_tic.reset_command_timeout();
m_tic.get_variables();
m_tic.get_status_variables();
labelPosition.Text = m_tic.vars.current_position.ToString();
string status = "";
foreach (var prop in m_tic.status_vars.GetType().GetProperties())
{
status = status + string.Format("{0}={1}\n\r", prop.Name, prop.GetValue(m_tic.status_vars, null));
}
string vars = "";
foreach (var prop in m_tic.vars.GetType().GetProperties())
{
vars = vars + string.Format("{0}={1}\n\r", prop.Name, prop.GetValue(m_tic.vars, null));
}
labelStatus.Text = status;
labelVars.Text = vars;
if (m_moving && m_tic.in_position())
{
m_moving = false;
buttonGoto.Text = "GOTO";
buttonHome.Enabled = !m_moving;
checkBoxJogLeft.Enabled = !m_moving;
checkBoxJogRigth.Enabled = !m_moving;
}
if (m_homing && m_tic.in_home())
{
m_homing = false;
buttonHome.Text = "HOME";
buttonGoto.Enabled = !m_homing;
checkBoxJogLeft.Enabled = !m_homing;
checkBoxJogRigth.Enabled = !m_homing;
}
if (m_decelerating && m_tic.vars.current_velocity == 0)
{
m_decelerating = false;
buttonGoto.Enabled = true;
buttonHome.Enabled = true;
}
}
}
