/// <summary>
/// Writes a SmcSettings object as text to the specified streamwriter.
/// </summary>
/// <param name="settings">The settings to read from.</param>
/// <param name="sw">The file to write to.</param>
/// <param name="device">The device that these settings came from (optional!). Adds extra comments to the file.</param>
public static void save(SmcSettings settings, StreamWriter sw, Smc device)
{
XmlTextWriter writer = new XmlTextWriter(sw);
writer.Formatting = Formatting.Indented;
writer.WriteComment("Pololu Simple Motor Controller settings file. http://www.pololu.com/docs/0J44");
writer.WriteComment("Created on: " + DateTime.Now.ToString("u").TrimEnd('Z')); // save local time in a sortable format
if (device != null)
{
writer.WriteComment("Device model: " + Smc.productIdToLongModelString(device.productId));
writer.WriteComment("Device serial number: " + device.getSerialNumber());
writer.WriteComment("Device firmware version: " + device.getFirmwareVersionString());
}
writer.WriteStartElement("SmcSettings");
// XML file version, so that we can parse old XML types in the future and old versions of the
// configuration utility don't try to read newer settings files that have a different format.
writer.WriteAttributeString("version", "1");
// [Add-new-settings-here]
writer.WriteElementString("InputMode", settings.inputMode.ToString());
writer.WriteElementString("MixingMode", settings.mixingMode.ToString());
writer.WriteElementBool("DisableSafeStart", settings.disableSafeStart);
writer.WriteElementBool("IgnorePotDisconnect", settings.ignorePotDisconnect);
writer.WriteElementBool("IgnoreErrLineHigh", settings.ignoreErrLineHigh);
writer.WriteElementBool("NeverSuspend", settings.neverSuspend);
writer.WriteElementBool("TempLimitGradual", settings.tempLimitGradual);
writer.WriteElementRange("OverTemp", settings.overTempMin, settings.overTempMax);
writer.WriteElementU32("LowVinShutoffTimeout", settings.lowVinShutoffTimeout);
writer.WriteElementU32("LowVinShutoffMv", settings.lowVinShutoffMv);
writer.WriteElementU32("LowVinStartupMv", settings.lowVinStartupMv);
writer.WriteElementU32("HighVinShutoffMv", settings.highVinShutoffMv);
writer.WriteElementString("SerialMode", settings.serialMode.ToString());
writer.WriteElementU32("SerialDeviceNumber", settings.serialDeviceNumber);
writer.WriteElementU32("CommandTimeout", settings.commandTimeout);
writer.WriteElementString("CrcMode", settings.crcMode.ToString());
writer.WriteElementBool("UartResponseDelay", settings.uartResponseDelay);
writer.WriteElementBool("UseFixedBaudRate", settings.useFixedBaudRate);
writer.WriteElementU32("FixedBaudRate", settings.fixedBaudRateBps);
writer.WriteComment("Input Settings");
writer.WriteElementChannelSettings(SmcChannel.Rc1, settings.rc1);
writer.WriteElementChannelSettings(SmcChannel.Rc2, settings.rc2);
writer.WriteElementChannelSettings(SmcChannel.Analog1, settings.analog1);
writer.WriteElementChannelSettings(SmcChannel.Analog2, settings.analog2);
writer.WriteComment("Motor Settings");
writer.WriteElementU32("PwmPeriodFactor", settings.pwmPeriodFactor);
writer.WriteElementBool("MotorInvert", settings.motorInvert);
writer.WriteElementU32("SpeedZeroBrakeAmount", settings.speedZeroBrakeAmount);
writer.WriteElementU32("SpeedUpdatePeriod", settings.speedUpdatePeriod);
writer.WriteElementMotorLimits("ForwardLimits", settings.forwardLimits);
writer.WriteElementMotorLimits("ReverseLimits", settings.reverseLimits);
writer.WriteComment("Advanced Settings");
writer.WriteElementRange("PulsePeriod", settings.minPulsePeriod, settings.maxPulsePeriod);
writer.WriteElementU32("RcTimeout", settings.rcTimeout);
writer.WriteElementU32("ConsecGoodPulses", settings.consecGoodPulses);
writer.WriteElementS32("VinMultiplierOffset", settings.vinMultiplierOffset);
writer.WriteEndElement(); // End SmcSettings tag.
}
/// <summary>
/// Closes our connection to the device. Does not throw exceptions.
/// </summary>
void Disconnect()
{
if (device == null)
{
// We are already disconnected.
return;
}
StatusLabel.Text = "Disconnected";
StatusLabel.ForeColor = Color.Red;
try
{
device.Dispose(); // Disconnect
}
catch // Ignore exceptions.
{
}
finally // Do this no matter what.
{
device = null;
}
}
/// <summary>
/// Writes a SmcSettings object as text to the specified streamwriter.
/// </summary>
/// <param name="settings">The settings to read from.</param>
/// <param name="filename">The file to write to.</param>
/// <param name="device">The device that these settings came from (optional!). Adds extra comments to the file.</param>
public static void save(SmcSettings settings, string filename, Smc device)
{
using (FileStream settingsFile = File.Open(filename, FileMode.Create))
{
using (StreamWriter sw = new StreamWriter(settingsFile))
{
save(settings, sw, device);
}
}
}
/// <summary>
/// Connects to a device using native USB. Throws an exception if it fails.
/// </summary>
void Connect()
{
if (device != null)
{
// We are already connected.
return;
}
// Get a list of all connected devices of this type.
List<DeviceListItem> connectedDevices = Smc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "39FF-7406-3054-3036-4923-0743"){ continue; }
this.device = new Smc(dli); // Connect to the device.
StatusLabel.Text = "Connected";
StatusLabel.ForeColor = SystemColors.ControlText;
return;
}
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}