/// <summary>
/// Executes a homing sequence based on the settings within the HomingParams variable
/// </summary>
public void StartDoHome()
{
_Controller.SetUserData(_HomingParams.StatusBit, (int)HOMING_STATE.NOT_HOMED);
string autofile = "";
switch (_HomingParams.SourceType)
{
case HOMING_ROUTINE_SOURCE_TYPE.AUTO:
autofile = WriteHomingToFile(GetAutoHomingFileSource());
break;
case HOMING_ROUTINE_SOURCE_TYPE.FROM_FILE:
autofile = _HomingParams.Homing_c_Program;
break;
case HOMING_ROUTINE_SOURCE_TYPE.FROM_STRING:
autofile = WriteHomingToFile(_HomingParams.Homing_c_Program);
break;
case HOMING_ROUTINE_SOURCE_TYPE.FROM_THREAD:
_Controller.ExecuteProgram(_HomingParams.DefaultThread);
return;
default:
break;
}
_Controller.ExecuteProgram(_HomingParams.DefaultThread, autofile, true);
}
/// <summary>
/// Initialize Controller object and perfor tests
/// </summary>
/// <param name="args">N/A</param>
static void Main(string[] args)
{
//Create an instance of the _Controller
//The same instance should be used throughout the app
_Controller = new KMotion_dotNet.KM_Controller();
//Add all various callbacks
AddHandlers();
Console.WriteLine(String.Format("Board Type = [{0}]", _Controller.BoardType));
//Load a C program
//
// Figure out what directory we are installed into
string codeBase = Assembly.GetExecutingAssembly().CodeBase;
UriBuilder uri = new UriBuilder(codeBase);
string path = Uri.UnescapeDataString(uri.Path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
// pick one of the examples
String TheCFile = path + @"\C Programs\KSTEP\InitKStep3Axis.c";
//************NEW program execution model***********
String result = _Controller.ExecuteProgram(1, TheCFile, false);
if (result != "") MessageBox.Show(result);
//Also have a look at these::
//_Controller.ExecuteProgram(1);
//_Controller.WaitForThreadComplete(1, 400);
//_Controller.KillProgramThreads(1);
//_Controller.KillProgramThreads(3, 5, 6);
// Put a 64 bit float value into KFLOP UserData
// vars 26&27 and read it back.
// in KFLOP read it with:
// printf("UserData %f\n", *(double*)&persist.UserData[13 * 2]);
_Controller.SetUserDataDouble(13, 123.456789);
double d = _Controller.GetUserDataDouble(13);
//Get Firmware version
Console.WriteLine(_Controller.GetCommandValue<string>("Version", false));
RunMain_StatusExample();
//RunHomingRoutineExample();
RunIOExample();
//RunAxisExample();
RunCoordinatedMotionExample();
//RunInterpreterExample();
_Controller.Dispose();
Console.ReadLine();
}
public MainWindow()
{
InitializeComponent();
//Create an instance of the KM the same instance should be used throughout the app
try
{
KM = new KMotion_dotNet.KM_Controller();
}
catch (Exception e)
{
MessageBox.Show("Unable to load KMotion_dotNet Libraries. Check Windows PATH or .exe location\r\r" + e.Message);
System.Windows.Application.Current.Shutdown();
return;
}
//Add all various callbacks
AddHandlers();
//Load a C program, first figure out what directory we are installed into
string codeBase = Assembly.GetExecutingAssembly().CodeBase;
UriBuilder uri = new UriBuilder(codeBase);
MainPath = Uri.UnescapeDataString(uri.Path);
MainPath = System.IO.Path.GetDirectoryName(MainPath);
MainPath = System.IO.Path.GetDirectoryName(MainPath);
MainPath = System.IO.Path.GetDirectoryName(MainPath);
// pick one of the examples to configure KFLOP
String TheCFile = MainPath + @"\C Programs\KSTEP\InitKStep3Axis.c";
//Execute it
try
{
KM.ExecuteProgram(1, TheCFile, false);
}
catch (DMException e)
{
MessageBox.Show("Unable to Execute C Program in KFLOP\r\r" + e.InnerException.Message);
}
// default a simple GCode File
GCodeFile.Text = MainPath + @"\GCode Programs\box.ngc";
// Start a Timer for status updates
System.Windows.Threading.DispatcherTimer Timer = new System.Windows.Threading.DispatcherTimer();
Timer.Tick += new EventHandler(dispatcherTimer_Tick);
Timer.Interval = TimeSpan.FromMilliseconds(100);
Timer.Tick += dispatcherTimer_Tick;
Timer.Start();
SetMotionParameters(); // Set some motion Parameters
}
private void BtnCProgram_Click(object sender, RoutedEventArgs e)
{
// open a windows dialog to read in the cprogram
var openFileDlg = new OpenFileDialog();
openFileDlg.FileName = CFiles.KThread1;
if (openFileDlg.ShowDialog() == true)
{
CFiles.KThread1 = openFileDlg.FileName; // save the filename for next time
try
{
KM.ExecuteProgram(1, openFileDlg.FileName, true);
}
catch (DMException ex)
{
MessageBox.Show("Unable to execute C Program in KFLOP\r\r" + ex.InnerException.Message);
}
}
}
/// <summary>
/// Initialize Controller object and perfor tests
/// </summary>
/// <param name="args">N/A</param>
static void Main(string[] args)
{
//Create an instance of the _Controller
//The same instance should be used throughout the app
_Controller = new KMotion_dotNet.KM_Controller();
//Add all various callbacks
AddHandlers();
Console.WriteLine(String.Format("Board Type = [{0}]", _Controller.BoardType));
//Load a C program
//
// Figure out what directory we are installed into
string codeBase = Assembly.GetExecutingAssembly().CodeBase;
UriBuilder uri = new UriBuilder(codeBase);
string path = Uri.UnescapeDataString(uri.Path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
// pick one of the examples
String TheCFile = path + @"\C Programs\KSTEP\InitKStep3Axis.c";
//************NEW program execution model***********
String result = _Controller.ExecuteProgram(1, TheCFile, false);
if (result != "")
{
MessageBox.Show(result);
}
//Also have a look at these::
//_Controller.ExecuteProgram(1);
//_Controller.WaitForThreadComplete(1, 400);
//_Controller.KillProgramThreads(1);
//_Controller.KillProgramThreads(3, 5, 6);
// Put a 64 bit float value into KFLOP UserData
// vars 26&27 and read it back.
// in KFLOP read it with:
// printf("UserData %f\n", *(double*)&persist.UserData[13 * 2]);
_Controller.SetUserDataDouble(13, 123.456789);
double d = _Controller.GetUserDataDouble(13);
//Get Firmware version
Console.WriteLine(_Controller.GetCommandValue <string>("Version", false));
RunMain_StatusExample();
//RunHomingRoutineExample();
RunIOExample();
//RunAxisExample();
RunCoordinatedMotionExample();
//RunInterpreterExample();
_Controller.Dispose();
Console.ReadLine();
}