/// <summary>
///
/// </summary>
/// <param name="windowSizeMillis">millis</param>
/// <param name="pin"></param>
/// <param name="samplingRate"></param>
/// <param name="readProcess"></param>
/// <param name="readOutput"></param>
/// <param name="readSetPoint"></param>
/// <param name="proportionalGain"></param>
/// <param name="integralGain"></param>
/// <param name="derivativeGain"></param>
/// <param name="controllerDirection"></param>
/// <param name="controllerMode"></param>
public TimeProportionedPidController(string name,
ulong windowSizeMillis, WisePin pin, TimeSpan samplingRate,
Func <int> stopSimulatedProcess,
Func <int> readProcess, Func <ulong> readOutput, Action <ulong> writeOutput, Func <int> readSetPoint,
float proportionalGain, float integralGain, float derivativeGain,
ControllerMode controllerMode = ControllerMode.Automatic) : base(name, samplingRate, (float)0.0, (float)100.0,
readProcess, readOutput, writeOutput, readSetPoint,
proportionalGain, integralGain, derivativeGain,
pin.Direction == Const.Direction.Increasing ? ControllerDirection.Direct : ControllerDirection.Reverse,
controllerMode)
{
_windowSize = windowSizeMillis * TimeSpan.TicksPerMillisecond;
base.SetOutputLimits(0, _windowSize);
_pin = pin;
if (readProcess == null)
{
throw new ArgumentNullException(nameof(readProcess), "Read process must not be null.");
}
if (readOutput == null)
{
throw new ArgumentNullException(nameof(readOutput), "Read output must not be null.");
}
_stopSimulatedProcess = stopSimulatedProcess;
debugger.init();
}
static void Main(string[] args)
{
WisePin bit0, bit7;
WiseEncoder enc;
WiseEncSpec[] encSpecs;
Hardware hw = new Hardware();
bit0 = new WisePin("bit0", Hardware.Instance.domeboard, MccDaq.DigitalPortType.FirstPortA, 0, MccDaq.DigitalPortDirection.DigitalOut);
bit7 = new WisePin("bit7", Hardware.Instance.domeboard, MccDaq.DigitalPortType.FirstPortA, 7, MccDaq.DigitalPortDirection.DigitalOut);
encSpecs = new WiseEncSpec[] {
new WiseEncSpec()
{
brd = Hardware.Instance.domeboard, port = MccDaq.DigitalPortType.FirstPortA
},
new WiseEncSpec()
{
brd = Hardware.Instance.domeboard, port = MccDaq.DigitalPortType.FirstPortA, mask = 0x3
},
};
enc = new WiseEncoder("testEncoder", 1024, encSpecs, true, 100);
bit0.SetOn();
Console.WriteLine(Hardware.Instance.domeboard.ownersToString());
bit0.SetOff();
System.Threading.Thread.Sleep(60000);
}
public void init()
{
if (_initialized)
{
return;
}
int wantedBoards = 3; // We always have three boards, either real or simulated
int maxMccBoards;
if (!Simulated)
{
MccService.GetRevision(out mccRevNum, out mccVxdRevNum);
MccService.ErrHandling(MccDaq.ErrorReporting.DontPrint, MccDaq.ErrorHandling.DontStop);
maxMccBoards = MccDaq.GlobalConfig.NumBoards;
// get the real Mcc boards
for (int i = 0; i < maxMccBoards; i++)
{
int type;
MccDaq.MccBoard board = new MccDaq.MccBoard(i);
board.BoardConfig.GetBoardType(out type);
if (type != 0)
{
WiseBoards.Add(new WiseBoard(board));
}
}
}
// Add simulated boards, as needed
for (int i = WiseBoards.Count; i < wantedBoards; i++)
{
WiseBoards.Add(new WiseBoard(null, i));
}
domeboard = WiseBoards.Find(x => x.mccBoard.BoardNum == 0);
teleboard = WiseBoards.Find(x => x.mccBoard.BoardNum == 1);
miscboard = WiseBoards.Find(x => x.mccBoard.BoardNum == 2);
if (computerControlPin == null)
{
computerControlPin = new WisePin("CompControl", teleboard, DigitalPortType.SecondPortCH, 0, DigitalPortDirection.DigitalIn);
computerControlPin.Connect(true);
}
_initialized = true;
}
public WiseVirtualMotor(
string name,
WisePin motorPin,
WisePin guideMotorPin,
WisePin slewPin,
TelescopeAxes axis,
Const.AxisDirection direction,
List <object> encoders = null)
{
this.WiseName = name;
this.motorPin = motorPin;
this.guideMotorPin = guideMotorPin;
this.slewPin = slewPin;
this.allPins = new List <WisePin> {
motorPin, slewPin, guideMotorPin
};
this.encoders = encoders;
this._axis = axis;
this._otherAxis = (_axis == TelescopeAxes.axisPrimary) ?
TelescopeAxes.axisSecondary : TelescopeAxes.axisPrimary;
this._direction = direction;
if (Simulated && (encoders == null || encoders.Count() == 0))
{
throw new WiseException(WiseName + ": A simulated WiseVirtualMotor must have at least one encoder reference");
}
if (Simulated)
{
simulationTimerFrequency = 30; // 15;
TimerCallback TimerCallback = new TimerCallback(bumpEncoders);
simulationTimer = new System.Threading.Timer(TimerCallback, null, Timeout.Infinite, Timeout.Infinite);
}
}
