/// <summary> Creates a command. </summary>
/// <param name="devices"> The devices. </param>
/// <param name="addresses"> The addresses. </param>
/// <param name="command"> The command. </param>
/// <param name="wait"> The wait. </param>
/// <param name="parameter1"> The first parameter. </param>
/// <param name="parameter2"> The second parameter. </param>
/// <returns> The new command. </returns>
public SequenceItem CreateCommand(ELLDevices devices, List <char> addresses, ELLCommands command, TimeSpan wait, decimal parameter1, ELLBaseDevice.DeviceDirection parameter2)
{
if (!addresses.Any())
{
return(null);
}
ELLDevice device = devices.AddressedDevice(addresses.First()) as ELLDevice;
if (device == null)
{
return(null);
}
if (addresses.Count == 1)
{
switch (command)
{
case ELLCommands.GetPosition:
return(new SequenceItem(command, device.Address, device.GetPosition, command.GetStringValue(), wait));
case ELLCommands.Forward:
return(new SequenceItem(command, device.Address, device.JogForward, command.GetStringValue(), wait));
case ELLCommands.Backward:
return(new SequenceItem(command, device.Address, device.JogBackward, command.GetStringValue(), wait));
case ELLCommands.Home:
return(new SequenceItem(command, device.Address, () => device.Home(parameter2), command.GetStringValue(), wait));
case ELLCommands.MoveRelative:
return(new SequenceItem(command, device.Address, () => device.MoveRelative(parameter1), command.GetStringValue(), wait));
case ELLCommands.MoveAbsolute:
return(new SequenceItem(command, device.Address, () => device.MoveAbsolute(parameter1), command.GetStringValue(), wait));
case ELLCommands.SetJogstepSize:
return(new SequenceItem(command, device.Address, () => device.SetJogstepSize(parameter1), command.GetStringValue(), wait));
}
}
else
{
switch (command)
{
case ELLCommands.Forward:
return(new SequenceItem(command, device.Address, () => device.JogForward(addresses), command.GetStringValue(), wait));
case ELLCommands.Backward:
return(new SequenceItem(command, device.Address, () => device.JogBackward(addresses), command.GetStringValue(), wait));
case ELLCommands.Home:
return(new SequenceItem(command, device.Address, () => device.Home(addresses, parameter2), command.GetStringValue(), wait));
case ELLCommands.MoveRelative:
return(new SequenceItem(command, device.Address, () => device.MoveRelative(addresses, parameter1), command.GetStringValue(), wait));
case ELLCommands.MoveAbsolute:
return(new SequenceItem(command, device.Address, () => device.MoveAbsolute(addresses, parameter1), command.GetStringValue(), wait));
}
}
return(null);
}
private void FeedBack(object obj, EventArgs e)
{
double theta;
double tolerance = Convert.ToDouble(toleranceTextBox.Text) / 100.0;
textBox2.Text = initialSignal.ToString();
double change = 0;
var signalBeforeCorrection = ReadKrochmann();
double signalAfterCorrection = 0.0;
change = (initialSignal - signalBeforeCorrection) / initialSignal;
var counter = 1;
while (Math.Abs(change) > tolerance)
{
if (change == Math.Abs(change))
{
theta = Math.Acos(Math.Sqrt(signalBeforeCorrection / initialSignal)) * 180.0 / Math.PI;
addressedDevice.MoveRelative(-(decimal)(theta));
}
else
{
theta = Math.Acos(Math.Sqrt(initialSignal / signalBeforeCorrection)) * 180.0 / Math.PI;
addressedDevice.MoveRelative((decimal)(theta));
}
signalAfterCorrection = ReadKrochmann();
change = (initialSignal - signalAfterCorrection) / initialSignal;
if (counter >= 5)
{
string str = "";
if (Math.Abs(change) > tolerance)
{
str = initialSignal.ToString() + "\t" + signalAfterCorrection + "\t" + "could not correct";
}
else
{
str = initialSignal.ToString() + "\t" + signalAfterCorrection + "\t" + "corrected";
}
WriteToFile(str);
break;
}
}
}
private void RotationMount4MoveRelativeButton_Click(object sender, EventArgs e)
{
string input = RotationMount4MoveRelativeTextBox.Text;
if (input == "")
{
return;
}
decimal i;
var s = decimal.TryParse(input, out i);
addressedDevice4.MoveRelative(i);
decimal val = addressedDevice4.Position;
decimal roundedVal = Math.Round(val, 3);
RotationMount4CurrentPosition.Text = roundedVal.ToString() + "deg";
OutputWindowString = OutputWindowString + "Device 4 move relative by " + input + "deg\n";
PrintOutBox.Text = OutputWindowString;
}
