public void uStep(bool state)
{
string c = (state) ? "CB2" : "SB2";
string r = DMC1425.command(c);
uStepState = state;
}
public async void MotorOff()
{
string m = (MotorType == tMotorType.DC) ? "A" : "B";
string c = (MotorType == tMotorType.DC) ? "CB3" : "SB1";
string r = DMC1425.command(c, "\r", ":", true); // Disable Power
await Task.Delay(msgDelay);
}
public string SendValue(string command, string value, tMotorType moteur, bool abs)
{
string m = (moteur == tMotorType.DC)?"A=":"B=";
if ((command == "PR") && (abs)) // seulement si PR --> PA
{
command = command.Substring(0, 1) + "A";
}
command += m + value;
return(DMC1425.command(command, "\r", ":", true));
}
public async void Move(string command, string value)
{
string relMov = "";
if (!IsMov && MotorState) // You cannot give another BG command until current BG motion has been completed EHe/Galil
{
string m = (MotorType == tMotorType.DC) ? "A" : "B";
string r = DMC1425.command(command + m + "=" + value, "\r", ":", true);
relMov = DMC1425.command("PR ?,?", "\r", ":", true); // EHe
// await Task.Delay(msgDelay); // EHe
// Thread.Sleep(msgDelay); // EHe
DMC1425.command("BG" + m, "\r", ":", true);
}
}
public void UpdateValues(Motor mDC, Motor mPAP)
{
try
{
// mDC.CPosition = (int)DMC1425.commandValue("PR?"); // EHe 014.10.08, PA? <> PR? !!!
mDC.CSpeed = (int)DMC1425.commandValue("SP?");
mDC.CAcceleration = (int)DMC1425.commandValue("AC?");
mDC.CDeceleration = (int)DMC1425.commandValue("DC?");
mDC.KP = (float)DMC1425.commandValue("KP?");
mDC.KD = (float)DMC1425.commandValue("KD?");
mDC.KI = (float)DMC1425.commandValue("KI?");
// mPAP.CPosition = (int)DMC1425.commandValue("PR,?"); // EHe 014.10.08, PA? <> PR? !!!
mPAP.CSpeed = (int)DMC1425.commandValue("SP,?");
// mPAP.CSpeed = (int)DMC1425.commandValue("SPB=?");
mPAP.CAcceleration = (int)DMC1425.commandValue("AC,?");
mPAP.CDeceleration = (int)DMC1425.commandValue("DC,?");
Object r = DMC1425.record("QR");
mDC.IsMov = Convert.ToBoolean(DMC1425.sourceValue(r, "_BGA"));
mDC.Position = (int)DMC1425.sourceValue(r, "_TPA");
mDC.Speed = (int)DMC1425.sourceValue(r, "_TVA");
mDC.PosErr = (int)DMC1425.sourceValue(r, "_TEA");
mDC.UCommand = DMC1425.sourceValue(r, "_TTA");
mDC.powEnable = Convert.ToBoolean(DMC1425.sourceValue(r, "@OUT[03]"));
mDC.MotorState = !Convert.ToBoolean(DMC1425.sourceValue(r, "_MOA")) && mDC.powEnable;
mPAP.IsMov = Convert.ToBoolean(DMC1425.sourceValue(r, "_BGB"));
mPAP.Position = (int)DMC1425.sourceValue(r, "_TDB");
mPAP.powEnable = !Convert.ToBoolean(DMC1425.sourceValue(r, "@OUT[01]"));
bool frage = !Convert.ToBoolean(DMC1425.sourceValue(r, "_MOB"));
mPAP.MotorState = frage && mPAP.powEnable;
//mPAP.MotorState = !Convert.ToBoolean(DMC1425.sourceValue(r, "_MOB")) && mPAP.powEnable;
// mPAP.MotorState = /* !Convert.ToBoolean(DMC1425.sourceValue(r, "_MOB")) && */ mPAP.powEnable;
// EHe 014.10.08
}
catch (Exception)
{
throw;
}
}
public async void MotorOn()
{
string m = (MotorType == tMotorType.DC) ? "A" : "B";
string c = (MotorType == tMotorType.DC) ? "SB3" : "CB1";
DMC1425.commandValue("SH" + m); // Both motors ! Reset erreur moteur DC // EHe 014.10.08
string r = DMC1425.command(c); // Enable Power
await Task.Delay(msgDelay);
int op = (int)DMC1425.commandValue("OP?");
if ((((op & 4) == 0) && (MotorType == tMotorType.DC)) || (((op & 1) != 0) && (MotorType == tMotorType.PAP)))
{
MessageBox.Show("Commutateur de puissance du moteur " + ((MotorType == tMotorType.DC) ? "DC" : "PAP") + " forcé sur DISABLE");
}
else
{
await Task.Delay(msgDelay);
}
}
public void resPos()
{
string m = (MotorType == tMotorType.DC) ? "A" : "B";
string r = DMC1425.command("DP" + m + "=0", "\r", ":", true);
}
public void Reset()
{
DMC1425.command("RS", "\r", ":", true);
}
public string Stop()
{
string m = (MotorType == tMotorType.DC) ? "A" : "B";
return(DMC1425.command("ST" + m, "\r", ":", true));
}
public void Connect()
{
ControllerInfo = DMC1425.connection();
}
