private void saveAndSendAck(object sender, EventArgs e)
{
byte[] instruction, sendAckNak, dataWithoutHeader_1, dataWithoutHeader_2, dataWithoutHeader_3;
if (!UartCom.RxHandshake_16byte(InByte_16, out instruction))
{
UartCom.TxHandshake_16byte(out sendAckNak);
sPort.Write(sendAckNak, 0, 7);
return;
}
UartCom.DataHeader header = UartCom.classifyHeader_16byte(instruction, out dataWithoutHeader_1, out dataWithoutHeader_2, out dataWithoutHeader_3);
Realtime = UartCom.uARTBytetoFloat(dataWithoutHeader_1); //realtime
Measure = UartCom.uARTBytetoFloat(dataWithoutHeader_2); //measure
PWM = UartCom.uARTBytetoFloat(dataWithoutHeader_3); //PWM
UartCom.TxHandshake_16byte(out sendAckNak);
sPort.Write(sendAckNak, 0, 7);
if (status == GraphStatus.GraphRun)
{
graphUpdate();
}
if (cBoxLog.Checked == true)
{
logTable.Rows.Add(Realtime, Setpoint, Measure, PWM);
}
}
private void ReTrans_Tick(object sender, EventArgs e)
{
byte[] buffer;
if (UartCom.ReHandshake(out buffer))
{
if (fail <= 10)
{
sPort.Write(buffer, 0, 7);
tBoxDisplayGet.Text += ("NAK" + Environment.NewLine);
fail++;
}
else
{
fail = 0;
sPort.ReadExisting();
UartCom.rxack = true;
UartCom.rxnak = false;
ReTrans.Enabled = false;
MessageBox.Show("Transmission line is unstable, or Motor is not working" +
"Please re-plug in the cable and reset the Motor", "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
else
{
fail = 0;
ReTrans.Enabled = false;
}
}
private void btnMotorRun_Click(object sender, EventArgs e)
{
try
{
clearGraph();
logTable.Rows.Clear();
byte[] setPointBuffer;
if (UartCom.TxHandshake(UartCom.ControlHeader.Run, "0", out setPointBuffer))
{
sPort.Write(setPointBuffer, 0, 7);
}
ReTrans.Enabled = true;
//btnMotorRun.Enabled = false;
//btnMotorStop.Enabled = true;
//gBoxWhatToMeasure.Enabled = false;
//gBoxPID.Enabled = false;
//tBoxSetPoint.Enabled = false;
}
catch (Exception err)
{
MessageBox.Show(err.Message, "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
//throw;
}
}
private void saveAndSendAck(object sender, EventArgs e)
{
byte[] instruction, dataWithoutHeader_1, dataWithoutHeader_2, dataWithoutHeader_3;
if (!UartCom.RxHandshake_16byte(InByte_16, out instruction))
{
return;
}
UartCom.DataHeader header = UartCom.classifyHeader_16byte(instruction, out dataWithoutHeader_1, out dataWithoutHeader_2, out dataWithoutHeader_3);
float displayValue1 = UartCom.uARTBytetoFloat(dataWithoutHeader_1); //realtime
float displayValue2 = UartCom.uARTBytetoFloat(dataWithoutHeader_2); //measure
float displayValue3 = UartCom.uARTBytetoFloat(dataWithoutHeader_3); //PWM
Realtime = displayValue1;
Measure = displayValue2;
PWM = displayValue3;
if (status == GraphStatus.GraphRun)
{
graphUpdate();
}
if (cBoxLog.Checked == true)
{
logTable.Rows.Add(Setpoint, Measure);
}
}
/*Radio Button methods*/
private void rBtnVP_CheckedChanged(object sender, EventArgs e)
{
try
{
clearGraph();
if (rBtnVelocity.Checked)
{
lbVelocity.Text = "Velocity";
tbCalib.Text = "4.8";
GraphPane myPane = zGrphPlotData.GraphPane;
myPane.YAxis.Scale.Min = 0; //Tương tự cho trục y
myPane.YAxis.Scale.Max = 2500;
myPane.AxisChange();
//byte[] temp = new byte[1];
//temp[0] = (byte)UartCom.controlHeader.Velocity;
//sPort.Write(temp, 0, 1);
byte[] setPointBuffer;
if (UartCom.TxHandshake(UartCom.ControlHeader.Velocity, "0", out setPointBuffer))
{
sPort.Write(setPointBuffer, 0, 7);
}
ReTrans.Enabled = true;
}
else
{
lbVelocity.Text = "Position";
tbCalib.Text = "40";
GraphPane myPane = zGrphPlotData.GraphPane;
myPane.YAxis.Scale.Min = 0; //Tương tự cho trục y
myPane.YAxis.Scale.Max = 600;
myPane.AxisChange();
//byte[] temp = new byte[1];
//temp[0] = (byte)UartCom.controlHeader.Position;
//sPort.Write(temp, 0, 1);
byte[] setPointBuffer;
if (UartCom.TxHandshake(UartCom.ControlHeader.Position, "0", out setPointBuffer))
{
sPort.Write(setPointBuffer, 0, 7);
}
ReTrans.Enabled = true;
}
}
catch (Exception err)
{
MessageBox.Show(err.Message, "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
//throw;
}
}
private void ReTrans_Tick(object sender, EventArgs e)
{
byte[] buffer;
if (UartCom.ReHandshake(out buffer))
{
sPort.Write(buffer, 0, 7);
tBoxDisplayGet.Text += ("NAK" + Environment.NewLine);
}
else
{
ReTrans.Enabled = false;
}
}
private void tBoxCalib_KeyDown(object sender, KeyEventArgs e)
{
try
{
if (e.KeyCode == Keys.Enter)
{
byte[] setPointBuffer;
if (UartCom.TxHandshake(UartCom.ControlHeader.Calib, tbCalib.Text, out setPointBuffer))
{
sPort.Write(setPointBuffer, 0, 7);
}
ReTrans.Enabled = true;
}
}
catch (Exception err)
{
MessageBox.Show(err.Message, "Error!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
//throw;
}
}
//private void readBuffer(ref byte[] outBuffer)
//{
// for (int ii = 0; ii <= 4; ii++)
// {
// outBuffer[ii] = Convert.ToByte(sPort.ReadByte());
// }
//}
private void saveData(object sender, EventArgs e)
{
byte[] instruction, dataWithoutHeader;
if (!UartCom.RxHandshake(InByte, out instruction))
{
return;
}
UartCom.DataHeader header = UartCom.classifyHeader(instruction, out dataWithoutHeader);
float displayValue = UartCom.uARTBytetoFloat(dataWithoutHeader);
switch (header)
{
//case UartCom.DataHeader.Realtime:
// //realtimestep = displayValue;
// break;
case UartCom.DataHeader.Setpoint:
Setpoint = displayValue;
tBoxDisplayGet.Text += UartCom.motorMessage[4];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
//case UartCom.DataHeader.Measure:
// Measure = displayValue;
// Realtime += Realtimestep;
// break;
case UartCom.DataHeader.Run:
tBoxDisplayGet.Text += UartCom.motorMessage[0];
tBoxDisplayGet.Text += Environment.NewLine;
lbRun.Text = "RUN";
lbRun.ForeColor = Color.Green;
break;
case UartCom.DataHeader.Stop:
tBoxDisplayGet.Text += UartCom.motorMessage[1];
tBoxDisplayGet.Text += Environment.NewLine;
lbRun.Text = "STOP";
lbRun.ForeColor = Color.Red;
break;
case UartCom.DataHeader.Velocity:
tBoxDisplayGet.Text += UartCom.motorMessage[2];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Position:
tBoxDisplayGet.Text += UartCom.motorMessage[3];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kp:
tBoxDisplayGet.Text += UartCom.motorMessage[5];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Ki:
tBoxDisplayGet.Text += UartCom.motorMessage[6];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kd:
tBoxDisplayGet.Text += UartCom.motorMessage[7];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
//case UartCom.DataHeader.Data:
// char transChar = (char)displayValue;
// tBoxDisplayGet.Text += Convert.ToString(transChar);
// break;
//case UartCom.DataHeader.Floattype:
// tBoxDisplayGet.Text += displayValue.ToString();
// tBoxDisplayGet.Text += Environment.NewLine;
// break;
case UartCom.DataHeader.Calib:
tBoxDisplayGet.Text += UartCom.motorMessage[8];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
default:
break;
}
}
//private void readBuffer(ref byte[] outBuffer)
//{
// for (int ii = 0; ii <= 4; ii++)
// {
// outBuffer[ii] = Convert.ToByte(sPort.ReadByte());
// }
//}
private void saveData(object sender, EventArgs e)
{
byte[] instruction, dataWithoutHeader;
if (!UartCom.RxHandshake(InByte, out instruction))
{
return;
}
UartCom.DataHeader header = UartCom.classifyHeader(instruction, out dataWithoutHeader);
float displayValue = UartCom.uARTBytetoFloat(dataWithoutHeader);
switch (header)
{
case UartCom.DataHeader.Realtime:
//realtimestep = displayValue;
break;
case UartCom.DataHeader.Setpoint:
Setpoint = displayValue;
tBoxDisplayGet.Text += UartCom.motorMessage[4];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Measure:
Measure = displayValue;
Realtime += Realtimestep;
break;
case UartCom.DataHeader.Run:
tBoxDisplayGet.Text += UartCom.motorMessage[0];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Stop:
tBoxDisplayGet.Text += UartCom.motorMessage[1];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Velocity:
tBoxDisplayGet.Text += UartCom.motorMessage[2];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Position:
tBoxDisplayGet.Text += UartCom.motorMessage[3];
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kp:
tBoxDisplayGet.Text += UartCom.motorMessage[5];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Ki:
tBoxDisplayGet.Text += UartCom.motorMessage[6];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Kd:
tBoxDisplayGet.Text += UartCom.motorMessage[7];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Data:
char transChar = (char)displayValue;
tBoxDisplayGet.Text += Convert.ToString(transChar);
break;
case UartCom.DataHeader.Floattype:
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
case UartCom.DataHeader.Calib:
tBoxDisplayGet.Text += UartCom.motorMessage[8];
tBoxDisplayGet.Text += displayValue.ToString();
tBoxDisplayGet.Text += Environment.NewLine;
break;
default:
break;
}
if (status == GraphStatus.GraphRun)
{
graphUpdate();
}
if (cBoxLog.Checked == true)
{
logTable.Rows.Add(Setpoint, Measure);
}
}
