/// <summary>
/// Get description for TextChatStatus enum
/// </summary>
/// <param name="chatStatus"></param>
/// <returns></returns>
public static string GetMotorDescription(this MotorType motorType)
{
// get the field
var field = motorType.GetType().GetField(motorType.ToString());
var result = GetDescriptionAttributeValue(field);
return(string.IsNullOrWhiteSpace(result) ? motorType.ToString() : result);
}
bool SetSerialPort(SerialPort serialPort, MotorType motorType)
{
bool result = false;
try
{
//make sure in SCL mode
serialPort.WriteLine("PM");
if (serialPort.ReadLine().Substring(3) != "2")
{
serialPort.WriteLine("PM2");
//CheckAck();
App.LogEntry.AddEntry("ST5 : Please power cycle the Motor Drive and try connecting again", true);
return(false);
}
serialPort.WriteLine("PR5");
if (!CheckAck(serialPort))
{
return(false);
}
serialPort.WriteLine("SKD"); //Stop and Kill
if (!CheckAck(serialPort))
{
return(false);
}
serialPort.WriteLine("MV");
string mvRead = serialPort.ReadLine();
try
{
SERVO_MOTOR_MODEL _model = (SERVO_MOTOR_MODEL)Convert.ToInt32(mvRead.Substring(4, 3));;
}
catch (Exception /*ex*/)
{
App.LogEntry.AddEntry("Unsupported Motor Drive", true);
return(false);
}
App.LogEntry.AddEntry("ST5 Model/Revision: " + mvRead);
serialPort.WriteLine("OP");
App.LogEntry.AddEntry("ST5 Option Board: " + serialPort.ReadLine());
serialPort.WriteLine("SC");
string response = serialPort.ReadLine().Substring(3);
App.LogEntry.AddEntry("ST5 Status: 0x" + response);
bool _motorEnabled = (Convert.ToInt32(response.Substring(3, 1)) % 2) == 1;
bool _driveBusy = (Convert.ToInt32(response.Substring(2, 1)) % 2) != 0;
serialPort.WriteLine("AC100");
if (!CheckAck(serialPort))
{
return(false);
}
serialPort.WriteLine("DC100");
if (!CheckAck(serialPort))
{
return(false);
}
result = true;
}
catch (Exception ex)
{
Console.WriteLine("Failed in SetSerialPort: " + motorType.ToString() + " exception: " + ex.Message);
result = false;
}
return(result);
}
