static uint getSetPos(ASCOM.Utilities.Serial sp)
{
sp.TransmitBinary(LinShengStepMotor.cmd_query_setpos);
byte[] resp = sp.ReceiveCountedBinary(7);
uint pos = LinShengStepMotor.extrace_query_response_value_0_3(resp);
return(pos);
}
public static void moveAndWaitStep(bool add, uint nstep, SerialPort port)
{
byte[] cmd = add ? LinShengStepMotor.cmd_acc_add_relative_position(nstep) :
LinShengStepMotor.cmd_acc_sub_relative_position(nstep);
port.Write(cmd, 0, cmd.Length);
waitForFinish(port);
}
public static void moveAndWaitStep(bool add, uint nstep, ASCOM.Utilities.Serial port)
{
byte[] cmd = add ? LinShengStepMotor.cmd_acc_add_relative_position(nstep) :
LinShengStepMotor.cmd_acc_sub_relative_position(nstep);
port.TransmitBinary(cmd);
waitForFinish(port);
}
static SpeedInfo getCurrentSpeed(SerialPort sp)
{
byte[] resp = new byte[6];
sp.Write(LinShengStepMotor.cmd_query_cur_speed, 0, LinShengStepMotor.cmd_query_curpos.Length);
int nr = 0;
while (nr != resp.Length && sp.IsOpen)
{
int tn = sp.Read(resp, nr, resp.Length - nr);
if (tn <= 0)
{
return(new SpeedInfo());
}
nr += tn;
}
print_bytes(resp, nr);
return(LinShengStepMotor.extrace_query_response_speed(resp));
}
static uint getSetPos(SerialPort sp)
{
byte[] resp = new byte[7];
sp.Write(LinShengStepMotor.cmd_query_setpos, 0, LinShengStepMotor.cmd_query_curpos.Length);
int nr = 0;
while (nr != resp.Length && sp.IsOpen)
{
int tn = sp.Read(resp, nr, resp.Length - nr);
if (tn <= 0)
{
return(0);
}
nr += tn;
}
print_bytes(resp, nr);
uint pos = LinShengStepMotor.extrace_query_response_value_0_3(resp);
return(pos);
}
static void Main(string[] args)
{
uint curpos = 0;
uint setpos = 0;
SpeedInfo spd = null;
SerialPort myPort = new SerialPort();
byte[] cmd = null;
myPort.PortName = "COM7";
myPort.BaudRate = 9600;
myPort.Open();
//myPort.DataReceived += myPort_DataReceived;
Console.WriteLine("连接完成");
Console.WriteLine("设置 EQ ");
myPort.Write(LinShengStepMotor.cmd_reset_main, 0, LinShengStepMotor.cmd_reset_eq.Length);
spd = getCurrentSpeed(myPort);
curpos = getCurPos(myPort);
setpos = getSetPos(myPort);
if (curpos != 0)
{
moveAndWaitStep(false, curpos, myPort);
}
Console.WriteLine("即时运行位置:" + curpos + " 设定运行位置:" + setpos + " 速度倍数:" + spd.level + " 速度单位毫秒:" + spd.speed);
uint myspeed = 4000;
if (spd.speed != myspeed)
{
Console.WriteLine("修改速度: " + myspeed);
cmd = LinShengStepMotor.cmd_set_speed_ex(0, (ushort)(myspeed));
myPort.Write(cmd, 0, cmd.Length);
Thread.Sleep(1000);
}
//spd = getCurrentSpeed(myPort);
//curpos = getCurPos(myPort);
//setpos = getSetPos(myPort);
//Console.WriteLine("即时运行位置:" + curpos + " 设定运行位置:" + setpos + " 速度倍数:" + spd.level + " 速度单位毫秒:" + spd.speed);
Console.WriteLine("转轴位置累加 4096 ");
moveAndWaitStep(true, 5500, myPort);
// Console.WriteLine("转轴位置累减 4096 ");
// moveAndWaitStep(false, 4096, myPort);
Console.ReadLine();
myPort.Close();
}
static SpeedInfo getCurrentSpeed(ASCOM.Utilities.Serial sp)
{
sp.TransmitBinary(LinShengStepMotor.cmd_query_cur_speed);
byte[] resp = sp.ReceiveCountedBinary(6);
return(LinShengStepMotor.extrace_query_response_speed(resp));
}
