public void RefreshTorque()
{
try
{
lock (_objLock)
{
_server.Connect(IP_ADDRESS);
// each input register can hold only 2 bytes, we are only reading 1 register
var data = new byte[2];
// spelled out for clarity
ushort transactionId = 1;
ushort startAddress = 0;
ushort numInputs = 1;
_server.ReadInputRegister(transactionId, startAddress, numInputs, ref data);
// Data is big endian, windows is little endian, so need to reverse.
Array.Reverse(data);
// the signed integer value.
var value = BitConverter.ToInt16(data, 0);
Torque = 0.667f * value;
_server.Dispose();
}
}
catch (Exception)
{
}
}
/// <summary>
/// Gets the current rotational position of the output flange,
/// and saves the value to the GearboxAngle property.
/// </summary>
public void RefreshPosition()
{
try
{
lock (_objLock)
{
_server.Connect(IP_ADDRESS);
// reading the loop position feedback value at index 588
// see Modbus Parameter Table, pg 344 of user guide.
var data = new byte[16];
ushort transId = 1;
ushort startAddr = 588;
ushort numInputs = 4;
_server.ReadHoldingRegister(transId, startAddr, numInputs, ref data);
if (data != null)
{
Array.Reverse(data);
var value = BitConverter.ToInt64(data, 0);
if (value == 0)
{
GearboxAngle = 0f;
}
else
{
// represents the PL.FB from the ADK drive.
long count = 0;
if (Math.Abs(value) < COUNTS_PER_REV)
{
count = value;
}
else
{
count = value % COUNTS_PER_REV;
}
GearboxAngle = count * (360f / COUNTS_PER_REV);
}
}
_server.Dispose();
}
}
catch (Exception ex)
{
Debug.WriteLine(
"** EXCEPTION ** \n\tLocation: ServoDrive.RefreshPosition() \n\tLine:100 \n\t{0} \n\tServoDrive values:\n\t\tGearboxAngle: {1:n2}°",
ex.Message, GearboxAngle);
}
}