/// <summary>
/// Set the acceleration of the stage
/// </summary>
/// <param name="a">The acceleration in mm/s2, We need a smaller than 10mm/s2</param>
public void SetAcceleration(decimal a)
{
if (a < 10)
{
VelocityParameters velPars = channel.GetVelocityParams();
velPars.Acceleration = a;
channel.SetVelocityParams(velPars);
}
else
{
#region Log
DateTime date1 = DateTime.Now;
string str1 = string.Format("{0}-{1}-{2}, {3:00}:{4:00}:{5:00}: ERROR: Acceleration of {6:00} is too high for the linear stage, a set to 10mm/s2 ",
date1.Year,
date1.Month,
date1.Day,
date1.Hour,
date1.Minute,
date1.Second,
a);
using StreamWriter writer = new StreamWriter("log.txt", true);
writer.WriteLine(str1);
#endregion
VelocityParameters velPars = channel.GetVelocityParams();
velPars.Acceleration = 10m;
channel.SetVelocityParams(velPars);
}
}
/// <summary>
/// Set the max velocity of the stage
/// </summary>
/// <param name="velocity">The velocity in mm/s, We need v smaller than 12mm/s</param>
public void SetVelocity(decimal velocity)
{
if (velocity < 12)
{
VelocityParameters velPars = channel.GetVelocityParams();
velPars.MaxVelocity = velocity;
channel.SetVelocityParams(velPars);
}
else
{
#region Log
DateTime date1 = DateTime.Now;
string str1 = string.Format("{0}-{1}-{2}, {3:00}:{4:00}:{5:00}: ERROR: Velocity of {6:00} is too high for the linear stage, v set to 12mm/s ",
date1.Year,
date1.Month,
date1.Day,
date1.Hour,
date1.Minute,
date1.Second,
velocity);
using StreamWriter writer = new StreamWriter("log.txt", true);
writer.WriteLine(str1);
#endregion
VelocityParameters velPars = channel.GetVelocityParams();
velPars.MaxVelocity = 12m;
channel.SetVelocityParams(velPars);
}
}
public void MoveTo(decimal position, decimal vel, decimal acceleration, decimal motorstep)
{
VelocityParameters velPars = device.GetVelocityParams();
velPars.MaxVelocity = vel;
velPars.Acceleration = acceleration;
device.SetVelocityParams(velPars);
device.SetJogStepSize(motorstep);
device.MoveTo(position, 60000);
}
/// <summary> Tests velocity parameters. </summary>
/// <param name="device"> The device. </param>
public static void TestVelocityParameters(IGenericAdvancedMotor device)
{
try
{
VelocityParameters_DeviceUnit originalVelocityParameters = device.GetVelocityParams_DeviceUnit();
VelocityParameters realVP = device.GetVelocityParams();
realVP.Acceleration += 0.5m;
realVP.MaxVelocity += 0.5m;
device.SetVelocityParams(realVP);
Thread.Sleep(250);
realVP = device.GetVelocityParams();
device.SetVelocityParams_DeviceUnit(originalVelocityParameters);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to update settings {0} - {1}", ex.DeviceID, ex.Message);
}
}
private void CreateConfigs()
{
// start the device polling.
// Polling requests a status update every specified number of milliseconds.
this.currentMotor.StartPolling(250);
// needs a delay so that the current enabled state can be obtained
// ????
Thread.Sleep(500);
// enable the channel otherwise any move is ignored
this.currentMotor.EnableDevice();
// needs a delay to give time for the device to be enabled
Thread.Sleep(500);
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real world unit parameters
// Sets up proper unit conversion for the correct device. Only call this function ONCE
MotorConfiguration motorSettings = this.currentMotor.LoadMotorConfiguration(this.serialNo);
// Simply retrieves the "motor device settings"
KCubeDCMotorSettings currentDeviceSettings = this.currentMotor.MotorDeviceSettings as KCubeDCMotorSettings;
// display info about device
// Retrieves a device info block
DeviceInfo deviceInfo = this.currentMotor.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", deviceInfo.SerialNumber, deviceInfo.Name);
// After the device is opened we want to save the velocity
// Retrieves the "velocity parameters" in real world units
VelocityParameters velPars = this.currentMotor.GetVelocityParams();
// Restricts the velocity allowed to be the user-defined velocity
decimal dVelocity = this.velocity;
velPars.MaxVelocity = dVelocity;
this.currentMotor.SetVelocityParams(velPars);
}
public bool MoveTo(decimal _requestedX, decimal _requestedY, decimal _requestedVelocity = 1m)
{
if (_requestedVelocity == 1m)
{
VelocityParameters xParam = this.MicroscopeXAxis.GetVelocityParams();
xParam.MaxVelocity = 200.0m;
this.MicroscopeXAxis.SetVelocityParams(xParam);
VelocityParameters yParam = this.MicroscopeYAxis.GetVelocityParams();
xParam.MaxVelocity = 200.0m;
this.MicroscopeYAxis.SetVelocityParams(yParam);
_requestedVelocity = this.DefaultVelocity;
}
if (this.XEnabled)
{
this.MicroscopeXAxis.MoveTo(_requestedX, this.MovementTimeoutInMillis);
}
if (this.YEnabled)
{
this.MicroscopeYAxis.MoveTo(_requestedY, this.MovementTimeoutInMillis);
}
return(true);
}
static void Main(string[] args)
{
// Get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage: BSC_Console_net_managed serial_number [position: (0 - 50)] [velocity: (0 - 5)]");
Console.ReadKey();
return;
}
// Get the test motor position
decimal position = 0m;
if (argc > 1)
{
position = decimal.Parse(args[1]);
}
// Get the test velocity
decimal velocity = 0m;
if (argc > 2)
{
velocity = decimal.Parse(args[2]);
}
// get the test BSC203 serial number
string serialNo = args[0];
try
{
// Tell the device manager to get the list of all devices connected to the computer
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
// An error occurred - see ex for details
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// Get available Benchtop Stepper Motor and check our serial number is correct - by using the device prefix
// i.e for serial number 70000123, device prefix is 70)
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(BenchtopStepperMotor.DevicePrefix70);
if (!serialNumbers.Contains(serialNo))
{
// The requested serial number is not a BSC203 or is not connected
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
// Create the BenchtopStepperMotor device
BenchtopStepperMotor device = BenchtopStepperMotor.CreateBenchtopStepperMotor(serialNo);
if (device == null)
{
// An error occured
Console.WriteLine("{0} is not a BenchtopStepperMotor", serialNo);
Console.ReadKey();
return;
}
// Open a connection to the device.
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
}
catch (Exception)
{
// Connection failed
Console.WriteLine("Failed to open device {0}", serialNo);
Console.ReadKey();
return;
}
// Get the correct channel - channel 1
StepperMotorChannel channel = device.GetChannel(1);
if (channel == null)
{
// Connection failed
Console.WriteLine("Channel unavailable {0}", serialNo);
Console.ReadKey();
return;
}
// Wait for the device settings to initialize - timeout 5000ms
if (!channel.IsSettingsInitialized())
{
try
{
channel.WaitForSettingsInitialized(5000);
}
catch (Exception)
{
Console.WriteLine("Settings failed to initialize");
}
}
// Start the device polling
// The polling loop requests regular status requests to the motor to ensure the program keeps track of the device.
channel.StartPolling(250);
// Needs a delay so that the current enabled state can be obtained
Thread.Sleep(500);
// Enable the channel otherwise any move is ignored
channel.EnableDevice();
// Needs a delay to give time for the device to be enabled
Thread.Sleep(500);
// Call LoadMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real world unit parameters
// - loads configuration information into channel
// Use the channel.DeviceID "70xxxxxx-1" to get the channel 1 settings. This is different to the serial number
MotorConfiguration motorConfiguration = channel.LoadMotorConfiguration(channel.DeviceID);
// Not used directly in example but illustrates how to obtain device settings
ThorlabsBenchtopStepperMotorSettings currentDeviceSettings = channel.MotorDeviceSettings as ThorlabsBenchtopStepperMotorSettings;
// Display info about device
DeviceInfo deviceInfo = channel.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", deviceInfo.SerialNumber, deviceInfo.Name);
Home_Method1(channel);
// or
//Home_Method2(channel);
bool homed = channel.Status.IsHomed;
// If a position is requested
if (position != 0)
{
// Update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = channel.GetVelocityParams();
velPars.MaxVelocity = velocity;
channel.SetVelocityParams(velPars);
}
Move_Method1(channel, position);
// or
// Move_Method2(channel, position);
Decimal newPos = channel.Position;
Console.WriteLine("Device Moved to {0}", newPos);
}
channel.StopPolling();
device.Disconnect(true);
Console.ReadKey();
}
static void Main(string[] args)
{
TCubeDCServo.RegisterDevice();
KCubeDCServo.RegisterDevice();
// get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage = DC_Console_net_managed [serial_no] [position: optional (0 - 50)] [velocity: optional (0 - 5)]");
Console.ReadKey();
return;
}
decimal position = 0m;
if (argc > 1)
{
position = decimal.Parse(args[1]);
}
decimal velocity = 0m;
if (argc > 2)
{
velocity = decimal.Parse(args[2]);
}
string serialNo = args[0];
try
{
// build device list
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available KCube DC Servos and check our serial number is correct
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(new List <int> {
KCubeDCServo.DevicePrefix, TCubeDCServo.DevicePrefix
});
if (!serialNumbers.Contains(serialNo))
{
if (serialNumbers.Count > 0)
{
serialNo = serialNumbers[0];
Console.WriteLine("using serial number {0}", serialNo);
}
else
{
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
}
// create the device
IGenericCoreDeviceCLI device = DeviceFactory.CreateDevice(serialNo);
IGenericAdvancedMotor motor = device as IGenericAdvancedMotor;
if (motor == null)
{
Console.WriteLine("{0} is not a DCServo", serialNo);
Console.ReadKey();
return;
}
// connect device
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
if (!motor.IsSettingsInitialized())
{
motor.WaitForSettingsInitialized(5000);
}
// display info about device
DeviceInfo di = device.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", di.SerialNumber, di.Name);
// start the device polling
motor.StartPolling(250);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to open device {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
DeviceUnitConverter deviceUnitConverter;
try
{
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real unit parameters
MotorConfiguration motorSettings = motor.GetMotorConfiguration(serialNo);
motorSettings.DeviceSettingsName = "PRM1-Z8";
motorSettings.UpdateCurrentConfiguration();
MotorDeviceSettings motorDeviceSettings = motor.MotorDeviceSettings;
motor.SetSettings(motorDeviceSettings, true, false);
// test code to test get / sert of parameters using real world units
TestVelocityParameters(motor);
TestJogParameters(motor);
TestHomingParameters(motor);
TestLimitParameters(motor);
if (device is TCubeDCServo)
{
TestPotentiometerParameters(device as TCubeDCServo); // TDC Only
}
motorSettings.UpdateCurrentConfiguration();
deviceUnitConverter = motor.UnitConverter;
}
catch (DeviceException ex)
{
Console.WriteLine("Failed prepare settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
if (!Home_1(motor))
{
Console.WriteLine("Failed to home device");
Console.ReadKey();
return;
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Home device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
// if position is set
if (position != 0)
{
// update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = motor.GetVelocityParams();
velPars.MaxVelocity = velocity;
motor.SetVelocityParams(velPars);
}
if (!MoveTo_1(motor, position, deviceUnitConverter))
{
Console.WriteLine("Failed to set position");
Console.ReadKey();
}
}
else
{
char c = '\0';
do
{
do
{
Console.WriteLine("Press a key");
Console.WriteLine("0 to exit");
Console.WriteLine("1 to test StopImmediate()");
Console.WriteLine("2 to test Stop(5000)");
Console.WriteLine("3 to test Stop(WaitEvent)");
c = Console.ReadKey().KeyChar;
} while (c < '0' || c > '3');
if (c != '0')
{
motor.MoveContinuous(MotorDirection.Forward);
Console.WriteLine("Press any key to stop");
Console.ReadKey();
StatusBase status;
if (c == '1')
{
motor.Stop(5000);
}
if (c == '2')
{
motor.StopImmediate();
}
if (c == '3')
{
ManualResetEvent waitEvent = new ManualResetEvent(false);
waitEvent.Reset();
motor.Stop(p =>
{
Console.WriteLine("Message Id {0}", p);
waitEvent.Set();
});
if (!waitEvent.WaitOne(5000))
{
Console.WriteLine("Failed to Stop");
}
}
do
{
status = motor.Status;
Console.WriteLine("Status says {0} ({1:X})", status.IsInMotion ? "Moving" : "Stopped", status.Status);
Thread.Sleep(50);
} while (status.IsInMotion);
}
} while (c != '0');
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Move device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
device.Disconnect(true);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Disconnect {0} - {1}", ex.DeviceID, ex.Message);
}
Console.ReadKey();
}
static void Main(string[] args)
{
// get parameters from command line
int argc = args.Count();
if (argc < 1)
{
Console.WriteLine("Usage = BBD_Console_net_managed [serial_no] [channel] [position: optional (0 - 50)] [velocity: optional (0 - 5)]");
Console.ReadKey();
return;
}
short channel = 1;
if (argc > 2)
{
channel = short.Parse(args[1]);
}
decimal position = 0m;
if (argc > 2)
{
position = decimal.Parse(args[2]);
}
decimal velocity = 0m;
if (argc > 3)
{
velocity = decimal.Parse(args[3]);
}
string serialNo = args[0];
try
{
// build device list
DeviceManagerCLI.BuildDeviceList();
}
catch (Exception ex)
{
Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
Console.ReadKey();
return;
}
// get available TCube DC Servos and check our serial number is correct
List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(BenchtopBrushlessMotor.DevicePrefix);
if (!serialNumbers.Contains(serialNo))
{
Console.WriteLine("{0} is not a valid serial number", serialNo);
Console.ReadKey();
return;
}
// create the device
BenchtopBrushlessMotor device = BenchtopBrushlessMotor.CreateDevice(serialNo) as BenchtopBrushlessMotor;
if (device == null)
{
Console.WriteLine("{0} is not a BenchtopBrushlessMotor", serialNo);
Console.ReadKey();
return;
}
//BrushlessMotorChannel benchtopChannel = device.GetChannel(channel);
BrushlessMotorChannel benchtopChannel = device[channel] as BrushlessMotorChannel;
if (benchtopChannel == null)
{
Console.WriteLine("{0} is not a valid channel number", channel);
Console.ReadKey();
return;
}
// connect device
try
{
Console.WriteLine("Opening device {0}", serialNo);
device.Connect(serialNo);
if (!benchtopChannel.IsSettingsInitialized())
{
benchtopChannel.WaitForSettingsInitialized(5000);
}
// display info about device
DeviceInfo di = device.GetDeviceInfo();
Console.WriteLine("Device {0} = {1}", di.SerialNumber, di.Name);
// start the device polling
benchtopChannel.StartPolling(250);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to open device {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
DeviceUnitConverter deviceUnitConverter;
try
{
// call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real unit parameters
MotorConfiguration motorSettings = benchtopChannel.GetMotorConfiguration(serialNo);
// test code to test get / sert of parameters using real world units
TestVelocityParameters(benchtopChannel);
TestJogParameters(benchtopChannel);
TestHomingParameters(benchtopChannel);
TestLimitParameters(benchtopChannel);
motorSettings.UpdateCurrentConfiguration();
deviceUnitConverter = benchtopChannel.UnitConverter;
}
catch (DeviceException ex)
{
Console.WriteLine("Failed prepare settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
if (!Home_1(benchtopChannel))
{
Console.WriteLine("Failed to home device");
Console.ReadKey();
return;
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Home device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
// if position is set
if (position != 0)
{
// update velocity if required using real world methods
if (velocity != 0)
{
VelocityParameters velPars = benchtopChannel.GetVelocityParams();
velPars.MaxVelocity = velocity;
benchtopChannel.SetVelocityParams(velPars);
}
if (!MoveTo_1(benchtopChannel, position, deviceUnitConverter))
{
Console.WriteLine("Failed to set position");
Console.ReadKey();
}
}
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Move device settings {0} - {1}", ex.DeviceID, ex.Message);
Console.ReadKey();
return;
}
try
{
device.Disconnect(true);
}
catch (DeviceException ex)
{
Console.WriteLine("Failed to Disconnect {0} - {1}", ex.DeviceID, ex.Message);
}
Console.ReadKey();
}
