// set control para
private void button5_Click(object sender, EventArgs e)
{
MotorPara.maxCurrent = Convert.ToUInt16(textBox17.Text);
MotorPara.maxDegree = Convert.ToByte(textBox14.Text);
if (checkBox1.Checked)
{
MotorPara.reversse = 1;
}
else
{
MotorPara.reversse = 0;
}
if (checkBox2.Checked)
{
MotorPara.run2zero = 1;
}
else
{
MotorPara.run2zero = 0;
}
CommProtocol.SendCmd(CommProtocol.CMD_SET_CONTROL_PARA);
}
private void button4_Click(object sender, EventArgs e)
{
MotorPara.Kp = Convert.ToUInt16(textBox1.Text);
MotorPara.Ki = Convert.ToUInt16(textBox5.Text);
MotorPara.Ke1 = Convert.ToUInt16(textBox8.Text);
MotorPara.Ke2 = Convert.ToUInt16(textBox11.Text);
CommProtocol.SendCmd(CommProtocol.CMD_SET_PID_PARA);
}
private void button5_Click(object sender, EventArgs e)
{
if (comm.IsOpen)
{
CommProtocol.SendCmd(CommProtocol.CMD_SET_RESET_MCU);
}
Delay(500);
comm.Close();
this.Close();
}
private void button1_Click(object sender, EventArgs e)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_NONE;
if (radioButton4.Checked)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_PC;
}
else if (radioButton5.Checked)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_LOG;
}
else if (radioButton3.Checked)
{
MotorPara.traceMode = CommProtocol.TRACE_MODE_NONE;
}
CommProtocol.SendCmd(CommProtocol.CMD_SET_TRACE_MODE);
}
private void button6_Click(object sender, EventArgs e)
{
CommProtocol.SendCmd(CommProtocol.CMD_SET_ZERO_ANGLE);
}