public bool Initialize(PoKeysStepperBoardConfiguration config, int?pokeysIndex)
{
if (Initialized)
{
return(false);
}
if (poKeysDevice == null)
{
if (!pokeysIndex.HasValue)
{
return(false);
}
poKeysDevice = PoKeysEnumerator.Singleton.PoKeysDevice;
if (!poKeysDevice.ConnectToDevice(pokeysIndex.Value))
{
Error = Translations.Main.PokeysConnectError;
return(false);
}
}
// Configure the positioning device...
poKeysDevice.PEv2_GetStatus(ref PE);
for (int i = 0; i < 8; i++)
{
PE.param1 = (byte)i;
poKeysDevice.PEv2_GetAxisConfiguration(ref PE);
}
UpdateConfiguration(config);
//
// Change Pulse Engine State to RUNNING
//
PE.PulseEngineStateSetup = (byte)ePoKeysPEState.peRUNNING;
poKeysDevice.PEv2_SetState(ref PE);
//
// Get Pulse Engine Statue and Check to confirm we are RUNNING
//
poKeysDevice.PEv2_GetStatus(ref PE);
StepperRunning = (PE.PulseEngineState == (byte)ePoKeysPEState.peRUNNING);
Initialized = true;
if (posThread == null)
{
posThread = new Thread(new ThreadStart(StepperPositioningThreadStub));
posThread.Start();
}
return(true);
}