private void ShowMessage() { if (MessageDialog == null) { MessageDialog = new frmMessageDialog("Ready!!!", false); MessageDialog.Show(); } }
//Read Current Feedback Parameters public objServoResult ReadFeedBack() { Result = SerialMotorControl.ReadFeedback(serialPort, FeedbackParams, ReadSuccess, currentByte1, streamArray, currentSpeed, currentPulse, currentTorque, currentContactStatus, ref ErrorCode, TimeOutCounter, ServoResult, sb, ByteString); if (Result.IsSuccess == false) { frmMessageDialog ErrorMessage = new frmMessageDialog(); ErrorMessage.lblDialogText.Text = "Error Occured. Error Code: \"" + Result.ErrorCode.ToString() + "\""; ErrorMessage.Show(); return Result; } else if (FeedbackParams[3] == 0x0B) { Result.IsSuccess = false; Result.ErrorCode = 5; Result.ErrorMessage = "Emergency Stop Activated!"; return Result; } else { FeedbackTorque = (FeedbackParams[2] / 100 / 100) * CalibrationSettings.Default.RatedMotorTorque * CalibrationSettings.Default.GearRatio; FeedbackSpeed = FeedbackParams[0] / (CalibrationSettings.Default.GearRatio * 10); FeedbackPower = Math.Abs(FeedbackTorque * FeedbackSpeed * 2 * Math.PI / 60); FeedbackPulse = FeedbackParams[1]; FeedbackContactStatus = FeedbackParams[3]; DataSampleCalculations(); return Result; } }