private void ConnectDevice(string motorNO)
{
// unload any currently connected device if not of the desired type
if (KDC101 != null)
{
if (KDC101.DeviceID == motorNO)
{
return;
}
DisconnectDevice();
}
// create the new device
KDC101 = KCubeDCServo.CreateKCubeDCServo(motorNO);
try
{
KDC101.Connect(motorNO);
}
catch (Exception err)
{
MessageBox.Show(err.Message);
return;
}
// wait for settings to be initialized (on the channel)
KDC101.WaitForSettingsInitialized(5000);
// create user interface (WPF view) via the DeviceManager
_contentControl.Content = KCubeDCServoUI.CreateLargeView(KDC101, DeviceConfiguration.DeviceSettingsUseOptionType.UseConfiguredSettings);
}
private void CreateDevice()
{
// create the device
this.currentMotor = KCubeDCServo.CreateKCubeDCServo(this.serialNo);
if (this.currentMotor == null)
{
// an error occured
Console.WriteLine("{0} is not a KCubeDCServo", this.serialNo);
Console.ReadKey();
return;
}
}
private void initializeFiber(string serial)
{
try
{
// Instructs the DeviceManager to build and maintain the list of devices connected.
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception)
{
this.fiberLabel.Text = "Not connected";
return;
}
try
{
_kCubeDCServoMotor = KCubeDCServo.CreateKCubeDCServo(serial);
// Establish a connection with the device.
_kCubeDCServoMotor.Connect(serial);
}
catch (Exception)
{
this.fiberLabel.Text = "Unable to connect";
return;
}
try
{
// Wait for the device settings to initialize. We ask the device to
// throw an exception if this takes more than 5000ms (5s) to complete.
_kCubeDCServoMotor.WaitForSettingsInitialized(5000);
// Initialize the DeviceUnitConverter object required for real world unit parameters.
_kCubeDCServoMotor.LoadMotorConfiguration(_kCubeDCServoMotor.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings);
// This starts polling the device at intervals of 250ms (0.25s).
_kCubeDCServoMotor.StartPolling(250);
// We are now able to enable the device for commands.
_kCubeDCServoMotor.EnableDevice();
// Enable buttons and contros
ToggleFiberButtons(true);
this.fiberLabel.Text = "Connected";
return;
}
catch (Exception ex)
{
MessageBox.Show("Failed to initialize fiber controller\n" + ex);
return;
}
}
private void buttonConnect_Click(object sender, EventArgs e)
{
if (_kCubeDCServoMotor != null)
{
MessageBox.Show("Device already connected");
return;
}
const string serialNumber = "27250312";
// All of this operation has been placed inside a single "catch-all"
// exception handler. This is to reduce the size of the example code.
// Normally you would have a try...catch per API call and catch the
// specific exceptions that could be thrown (details of which can be
// found in the Kinesis .NET API document).
try
{
// Instructs the DeviceManager to build and maintain the list of
// devices connected.
DeviceManagerCLI.BuildDeviceList();
_kCubeDCServoMotor = KCubeDCServo.CreateKCubeDCServo(serialNumber);
// Establish a connection with the device.
_kCubeDCServoMotor.Connect(serialNumber);
// Wait for the device settings to initialize. We ask the device to
// throw an exception if this takes more than 5000ms (5s) to complete.
_kCubeDCServoMotor.WaitForSettingsInitialized(5000);
// Initialize the DeviceUnitConverter object required for real world
// unit parameters.
_kCubeDCServoMotor.LoadMotorConfiguration(_kCubeDCServoMotor.DeviceID, DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings);
// This starts polling the device at intervals of 250ms (0.25s).
_kCubeDCServoMotor.StartPolling(250);
// We are now able to enable the device for commands.
_kCubeDCServoMotor.EnableDevice();
}
catch (Exception ex)
{
MessageBox.Show("Unable to connect to device\n" + ex);
}
}
private void MainWindow_OnLoaded(object sender, RoutedEventArgs e)
{
// This instructs the DeviceManager to build and maintain the list of
// devices connected. We then print a list of device name strings called
// “devices” which contain the prefix “27”
DeviceManagerCLI.BuildDeviceList();
List <string> devices = DeviceManagerCLI.GetDeviceList(27);
// IF statement – if the number of devices connected is zero, the Window
// will display “No Devices”.
if (devices.Count == 0)
{
MessageBox.Show("No Devices");
return;
}
// Selects the first device serial number from “devices” list.
string serialNo = devices[0];
// Creates the device. We assign an instance of the device to _kCubeDCServo
KCubeDCServo _kCubeDCServo = KCubeDCServo.CreateKCubeDCServo(serialNo);
// Connect to the device & wait for initialisation. This is contained in a
// Try/Catch Error Handling Statement.
try
{
_kCubeDCServo.Connect(serialNo);
// wait for settings to be initialized
_kCubeDCServo.WaitForSettingsInitialized(5000);
}
catch (DeviceException ex)
{
MessageBox.Show(ex.Message);
return;
}
// Create the Kinesis Panel View for KDC101
_contentControl.Content = KCubeDCServoUI.CreateLargeView(_kCubeDCServo);
}
public void init()
{
LinLi = KCubeDCServo.CreateKCubeDCServo(KDC101_left);
if (LinLi == null)
{
MessageBox.Show("Device A is not a KDC101");
}
LinRe = KCubeDCServo.CreateKCubeDCServo(KDC101_right);
if (LinRe == null)
{
MessageBox.Show("Device B is not a KDC101");
}
RotLi = KCubeBrushlessMotor.CreateKCubeBrushlessMotor(KBD101_left);
if (RotLi == null)
{
MessageBox.Show("Device D is not a KBD101");
}
RotRe = KCubeBrushlessMotor.CreateKCubeBrushlessMotor(KBD101_right);
if (RotRe == null)
{
MessageBox.Show("Device D is not a KBD101");
}
// Open a connection to the device.
try
{
LinLi.Connect(KDC101_left);
}
catch (Exception)
{
// Connection failed
MessageBox.Show("Failed to open device A");
}
try
{
LinRe.Connect(KDC101_right);
}
catch (Exception)
{
// Connection failed
MessageBox.Show("Failed to open device B");
}
try
{
RotLi.Connect(KBD101_left);
}
catch (Exception)
{
// Connection failed
MessageBox.Show("Failed to open device C");
}
try
{
RotRe.Connect(KBD101_right);
}
catch (Exception)
{
// Connection failed
MessageBox.Show("Failed to open device D");
}
// Wait for the device settings to initialize - timeout 5000ms
LinLi.WaitForSettingsInitialized(500);
LinRe.WaitForSettingsInitialized(500);
RotLi.WaitForSettingsInitialized(500);
RotRe.WaitForSettingsInitialized(500);
// Initialize the DeviceUnitConverter object required for real world
// unit parameters.
LinLi.LoadMotorConfiguration(KDC101_left, DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings);
LinRe.LoadMotorConfiguration(KDC101_right, DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings);
RotLi.LoadMotorConfiguration(KBD101_left, DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings);
RotRe.LoadMotorConfiguration(KBD101_right, DeviceConfiguration.DeviceSettingsUseOptionType.UseFileSettings);
// Start the device polling
// The polling loop requests regular status requests to the motor to ensure the program keeps track of the device.
LinLi.StartPolling(50);
LinRe.StartPolling(50);
RotLi.StartPolling(50);
RotRe.StartPolling(50);
// Needs a delay so that the current enabled state can be obtained
Thread.Sleep(50);
// Enable the channel otherwise any move is ignored
LinLi.EnableDevice();
LinRe.EnableDevice();
RotLi.EnableDevice();
RotRe.EnableDevice();
// Needs a delay to give time for the device to be enabled
Thread.Sleep(50);
}
