public void SetChannelVoltage(uint channelIndex, uint V_0_150)
{
// minimum step size=100, otherwise will mResult in error,
// step=0-4095 SA_StepMove_S
//mResult = CCoarseController.SA_GotoGripperOpeningRelative_S((uint)(uint)mSystemIndex, (uint)(uint)channelIndex, V_0_4095, 1);
if (V_0_150 > 150)
{
V_0_150 = 150;
}
V_0_150 *= (uint)(4095.0 / 150.0);
mResult = CCoarseController.SA_ScanMoveAbsolute_S((uint)mSystemIndex, (uint)(uint)channelIndex, V_0_150, 100000);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("SetChannelVoltage error!\n");
Initialize();
MY_DEBUG("redo initialize=" + redo_count.ToString());
if (redo_count++ < 10)
{
SetChannelVoltage(channelIndex, V_0_150);
}
}
redo_count = 0;
}
void SetSensorMode(uint mode)
{
mResult = CCoarseController.SA_SetSensorEnabled_S((uint)mSystemIndex, mode);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("SetSensorMode error!\n");
}
}
// void MoveDistance(uint channelIndex, int stepsize)
// {
// // close loop inside the controller, open loop for this function
// SetSpeedCloseLoop((uint)channelIndex,0);
// mResult = CCoarseController.SA_GotoPositionRelative_S((uint)mSystemIndex, (uint)channelIndex, stepsize, 1000);
// if (mResult != CCoarseController.SA_OK)
// {
// //Initialize();
// MY_DEBUG("MoveWait GetStatus error!\n");
// }
// }
//
// void MoveDistance(uint channelIndex, int stepsize,int speed)
// { // close loop
// //SetSpeedCloseLoop((uint)channelIndex,abs(stepsize)*100);
// SetSpeedCloseLoop((uint)channelIndex,abs(speed));
// mResult = CCoarseController.SA_GotoPositionRelative_S((uint)mSystemIndex, (uint)channelIndex, stepsize, 1000);
// if (mResult != CCoarseController.SA_OK)
// {
// //Initialize();
// MY_DEBUG("MoveWait GetStatus error!\n");
// }
// //SetSpeedCloseLoop((uint)channelIndex,0);
// }
void SetPosition(uint channelIndex, int position)
{
mResult = CCoarseController.SA_SetPosition_S((uint)mSystemIndex, (uint)channelIndex, position);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("SetPosition error!\n");
}
}
void MoveFineDistance(int channel, int distance, uint speed)
{
//CCoarseController.SA_Stop_S((uint)mSystemIndex,(uint)channel);
mResult = CCoarseController.SA_ScanMoveRelative_S((uint)mSystemIndex, (uint)channel, distance, speed);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("MoveFineDistance error!\n");
}
}
int GetPosition(uint channelIndex)
{
int position = 0;
mResult = CCoarseController.SA_GetPosition_S((uint)mSystemIndex, (uint)channelIndex, ref position);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("GetPosition error!\n");
}
return(position);
}
uint GetFinePosition(uint channelIndex)
{
uint level = 0;
mResult = CCoarseController.SA_GetVoltageLevel_S((uint)mSystemIndex, (uint)channelIndex, ref level);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("GetFinePosition error!\n");
}
return(level);
}
void MoveFineSteps(uint channelIndex, int steps, uint amplitude, uint frequency)
{
// minimum step size=100, otherwise will mResult in error,
// step=0-4095
mResult = CCoarseController.SA_StepMove_S((uint)(uint)mSystemIndex, (uint)(uint)channelIndex, steps, amplitude, frequency);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("MoveFineSteps error!\n");
}
}
public int Initialize()
{
//(uint)mSystemIndex = 0;
Stop(X_CP_AXIS);
Stop(Y_CP_AXIS);
Stop(Z_CP_AXIS);
for (int k = 0; k < 10; k++)
{
try
{
CCoarseController.SA_ReleaseSystems();
Thread.Sleep(5 * k + 5);
mResult = CCoarseController.SA_InitSystems(CCoarseController.SA_SYNCHRONOUS_COMMUNICATION); // init systems
if (mResult == CCoarseController.SA_OK)
{
break;
}
Thread.Sleep(5);
}
catch (Exception ex)
{
MY_DEBUG("Nanopositioner rescure error!");
}
}
if (mResult != CCoarseController.SA_OK)
{
MY_DEBUG("Nanopositioner initial error!");
return(1);
}
CCoarseController.SA_SetAccumulateRelativePositions_S((uint)mSystemIndex, Z_CP_AXIS, CCoarseController.SA_NO_ACCUMULATE_RELATIVE_POSITIONS);
Stop(X_CP_AXIS);
Stop(Y_CP_AXIS);
Stop(Z_CP_AXIS);
mOpenLoopFrequency = 300;
SetSpeedCloseLoop(X_CP_AXIS, 0);
SetSpeedCloseLoop(Y_CP_AXIS, 0);
SetSpeedCloseLoop(Z_CP_AXIS, 0);
SetSensorModeDisable();
SetChannelVoltage(X_CP_AXIS, 0);
SetChannelVoltage(Y_CP_AXIS, 0);
SetChannelVoltage(Z_CP_AXIS, 0);
return(0);
}
void WaitForIdle(uint channelIndex)
{
mResult = 0;
do
{
//pin_ptr<uint *> pinnedPtr = (uint * )&mStatus;
uint pR = 0;
mResult = CCoarseController.SA_GetStatus_S((uint)mSystemIndex, (uint)channelIndex, ref pR); // get mStatus
if (mResult != CCoarseController.SA_OK & pR != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("MoveWait GetStatus error!\n");
}
Thread.Sleep(3);
}while (mStatus == CCoarseController.SA_TARGET_STATUS); // until target reach.
}
//////////////////////////////////////
void MoveToFinePosition(uint channel, uint position, uint speed)
{
if (position > 4095 || position < 0)
{
MY_DEBUG("MoveToFinePosition input exceeding error!\n");
}
if (position > 4095)
{
position = 4095;
}
if (position < 0)
{
position = 0;
}
CCoarseController.SA_ScanMoveAbsolute_S((uint)mSystemIndex, (uint)channel, position, speed);
}
void SetSpeedCloseLoop(uint channel, uint speed)
{
CCoarseController.SA_SetClosedLoopMoveSpeed_S(mSystemIndex, channel, speed);
if (speed > 18500)
{
speed = 18500;
}
if (speed < 50)
{
speed = 50;
}
mResult = CCoarseController.SA_SetClosedLoopMaxFrequency_S(mSystemIndex, channel, speed);
if (mResult != CCoarseController.SA_OK)
{
//Initialize();
MY_DEBUG("Setfrequency error!\n");
}
}
void MoveWait(uint channelIndex, int stepsize)
{
// close loop inside the controller, close loop for this function
CCoarseController.SA_GotoPositionRelative_S((uint)mSystemIndex, (uint)channelIndex, stepsize, 1000);
WaitForIdle(mSystemIndex);
}
void Stop(uint axis)
{
CCoarseController.SA_Stop_S((uint)mSystemIndex, axis);
}