/// <summary>
/// Rotate the stepper motor for specific number of steps, where
/// 512 steps is a full cycle of 360 degrees. The maximum number
/// of rotation will be 512 steps.
/// </summary>
/// <param name="steps">Number of steps to rotate.</param>
/// <returns>
/// A bool indicating if the command is sent successfully.
/// </returns>
public bool Rotate(int steps)
{
// Check the current stepper state
if (!(_StepperState == StepperState.Initialized ||
_StepperState == StepperState.Reset ||
_StepperState == StepperState.RotationFinished))
{
return(false);
}
// Check if the step number is valid
if (steps <= 0 || steps > 512)
{
return(false);
}
// Set the desired steps
_DesireSteps = steps;
// Set the stepper state as command sent
_StepperState = StepperState.CommandSent;
// Send the rotation command
_StepperControllerPort.Write(steps.ToString());
// Return success
return(true);
}
/// <summary>
/// Construct a StepperController class object with given port name.
/// </summary>
/// <param name="portName">Port name of the stepper controller port.</param>
public StepperController(string portName)
{
// Initailze the stepper controller port
_StepperControllerPort = new SerialPort(portName);
_StepperControllerPort.DataReceived += _FeedbackHandler;
// Reset the stepper state
_StepperState = StepperState.Initialized;
}
/// <summary>
/// Construct a StepperController class object with full given parameters.
/// </summary>
/// <param name="portName">Name of the stepper controller port.</param>
/// <param name="baudRate">Serial communication baud rate.</param>
/// <param name="parity">Parity check protocal.</param>
/// <param name="dataBits">Standard length of data bits per byte.</param>
/// <param name="stopBits">Standard length of stop bits per byte.</param>
public StepperController(string portName, int baudRate, Parity parity, int dataBits, StopBits stopBits)
{
// Initailze the stepper controller port
_StepperControllerPort = new SerialPort(portName, baudRate, parity, dataBits, stopBits);
_StepperControllerPort.DataReceived += _FeedbackHandler;
// Reset the stepper state
_StepperState = StepperState.Initialized;
}
StepperState _StepperState; // State of the stepper
#endregion
#region Local Functions
/// <summary>
/// The handler dealing with feedback messages from the
/// stepper controller port.
/// </summary>
/// <param name="sender">Sender of the event.</param>
/// <param name="args">Arguments of the event.</param>
private void _FeedbackHandler(object sender, SerialDataReceivedEventArgs args)
{
string line;
string feedback;
// Read the received feedback line
line = _StepperControllerPort.ReadLine();
// Check if the line matches format
if (line.Length < 5)
{
OperationFailed();
_StepperControllerPort.Write("X");
return;
}
if (!(line[0] == '$' &&
line[1] == '$' &&
line[line.Length - 1] == '$' &&
line[line.Length - 2] == '$'))
{
OperationFailed();
_StepperControllerPort.Write("X");
return;
}
// Retrive the feedback message
feedback = line.Substring(2, line.Length - 4);
// Check if desired steps confirm message received
if (feedback[0] == ':')
{
// Obtain the confirm steps
int confirmSteps;
if (!int.TryParse(feedback.Substring(1), out confirmSteps))
{
OperationFailed();
_StepperControllerPort.Write("X");
return;
}
// Check if confirm and desired steps match
if (confirmSteps == _DesireSteps && _StepperState == StepperState.CommandSent)
{
// Set the confirm flag
_StepperState = StepperState.CommandConfirmed;
// Confirm the rotation steps
_StepperControllerPort.Write("OK");
}
else
{
// Reset the confirm flag
_StepperState = StepperState.CommandMismatched;
// Send operation failed event
OperationFailed();
// Trigger reset event
_StepperControllerPort.Write("X");
}
}
else
{
switch (feedback)
{
case "INIT":
{
// Set the stepper state as initialized
_DesireSteps = 0;
_StepperState = StepperState.Initialized;
}
break;
case "RESET":
{
// Set the stepper state as reset
_DesireSteps = 0;
_StepperState = StepperState.Reset;
}
break;
case "START":
{
// Set the stepper state as started
if (_StepperState == StepperState.CommandConfirmed)
{
// Set the stepper state as started
_StepperState = StepperState.RotationStarted;
// Send rotation started event
RotationStarted();
}
else
{
OperationFailed();
_StepperControllerPort.Write("X");
return;
}
}
break;
case "FINISH":
{
// Set the stepper state as finished
_StepperState = StepperState.RotationFinished;
// Send rotation finished event
RotationFinished();
}
break;
default:
{
OperationFailed();
_StepperControllerPort.Write("X");
return;
}
}
}
}
public OwlStepperController(decimal stepsToPositionFactor) : base(stepsToPositionFactor)
{
//do anything PRIOR to having pins set
State = new StepperState();
State.StatusReason = OwlDeviceStateBase.StatusReasonTypes.Unknown;
}
