internal void SpindleUDPControl()
{
if (isSpiSpeedCW)
{
StartSpiCW();
isSpiCW = true;
}
else
{
StartSpiCCW();
isSpiCW = false;
}
SpiSpeed[0] = -99.9;
SpiSpeed[1] = SpiSpeed[0];
SpiSpeed[0] = BitConverter.ToDouble(RecieveBytes, 8);
if (SpiSpeed[0] != SpiSpeed[1])
{
isSpiSpeedCW = trueifpositive(SpiSpeed[0]);
SpiSpeedMagnitude = Math.Abs(SpiSpeed[0]);
if (SpiSpeedMagnitude > 100)
{
isLubWanted = true;
}
else
{
isLubWanted = false;
}
//Limit Spindle speed
if (SpiSpeedMagnitude > SpiSpeedLimit)
{
SpiSpeedMagnitude = SpiSpeedLimit;
}
if (isSpiSpeedCW)
{
if (!isSpiCW)
{
StartSpiCW();
isSpiCW = true;
}
SpiMessage = "CW";
}
else
{
if (isSpiCW)
{
StartSpiCCW();
isSpiCW = false;
}
SpiMessage = "CCW";
}
ChangeSpiRef(SpiSpeedMagnitude);
WriteMessageQueue("Spi set to:" + SpiSpeedMagnitude.ToString("F0") + SpiMessage);
}
}
public void SimulinkReciveLoop()
{
//need to add code to set motor parameters to be snapper in simulink control but less jumpy normally
bool isSimDone = false;
isSimControl = true;
Byte[] RecieveBytes = new Byte[256];
double tempvar;
StartUDP();
WriteMessageQueue("waiting for communication from simulink..");
Thread.Sleep(500);
while (SimulinkReviceUDP.Available > 0)//clear udp buffer, want to recieve latest packet make sure simulink is running
{
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
}
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
WriteMessageQueue("Giving control to simulink");
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
VerSpeed[0] = BitConverter.ToDouble(RecieveBytes, 0);
SpiSpeed[0] = BitConverter.ToDouble(RecieveBytes, 8);
tempvar = BitConverter.ToDouble(RecieveBytes, 16);
#region Initialize Traverse Lateral Motor for Analog Control
AnalogControl();
#endregion
#region Initialize Spindle Speed
isSpiSpeedCW = trueifpositive(SpiSpeed[0]);
if (isSpiSpeedCW)
{
StartSpiCW();
isSpiCW = true;
}
else
{
StartSpiCCW();
isSpiCW = false;
}
#endregion
VerSpeed[0] = -99.9;
SpiSpeed[0] = -99.9;
//Why is analog control started twice? - adam
AnalogControl();
while (!isAbort && !isSimDone && !isAlarm) // checking to see that system is good move this up a few levels
{
//Try to recieve data
if (SimulinkReviceUDP.Available > 0)
{
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
}
//if no data has been sent assume welding computer has crashed
else
{
WriteMessageQueue("Data Not recieved from the simulink real time computer");
//Break out of while loop then have rest of thread stop motors
break;
}
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
VerSpeed[1] = VerSpeed[0];
VerSpeed[0] = BitConverter.ToDouble(RecieveBytes, 0);
SpiSpeed[1] = SpiSpeed[0];
SpiSpeed[0] = BitConverter.ToDouble(RecieveBytes, 8);
tempvar = BitConverter.ToDouble(RecieveBytes, 16);
isSimDone = System.Convert.ToBoolean(tempvar);
#region Update Vertical Speed
if (VerSpeed[0] != VerSpeed[1])
{
isVerDown = trueifpositive(VerSpeed[0]);
VerSpeedMagnitude = Math.Abs(VerSpeed[0]);
if (VerSpeedMagnitude > VerSpeedLimit)
{
VerSpeedMagnitude = VerSpeedLimit;
}
if (VerSpeedMagnitude < VerSpeedMinimum)
{
VerSpeedMagnitude = VerSpeedMinimum;
}
VerMessage = "H";
if (isVerDown)
{
VerMessage += "+";
}
else
{
VerMessage += "-";
}
VerMessage += "A" + VerAccel.ToString("F2") + " V" + VerSpeedMagnitude.ToString("F5") + " G\r";
VerPort.Write(VerMessage);
}
#endregion
#region Update Spindle Speed
if (SpiSpeed[0] != SpiSpeed[1])
{
isSpiSpeedCW = trueifpositive(SpiSpeed[0]);
SpiSpeedMagnitude = Math.Abs(SpiSpeed[0]);
if (SpiSpeedMagnitude > 100)
{
isLubWanted = true;
}
else
{
isLubWanted = false;
}
//Limit Spindle speed
if (SpiSpeedMagnitude > SpiSpeedLimit)
{
SpiSpeedMagnitude = SpiSpeedLimit;
}
if (isSpiSpeedCW)
{
if (!isSpiCW)
{
StartSpiCW();
isSpiCW = true;
}
SpiMessage = "CW";
}
else
{
if (isSpiCW)
{
StartSpiCCW();
isSpiCW = false;
}
SpiMessage = "CCW";
}
ChangeSpiRef(SpiSpeedMagnitude);
WriteMessageQueue("Spi set to:" + SpiSpeedMagnitude.ToString("F0") + SpiMessage);
}
#endregion
//clear udp buffer, want to recieve latest packet
while (SimulinkReviceUDP.Available > 0)
{
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
}
Thread.Sleep(25);
}
StopAllMotors();
isLubWanted = false;
btnZzero_Click(new object(), new EventArgs());
Program.Safetyfrm.UpdateLimitsSafe();
WriteModbusQueue(3, 0x0300, 04, false); //give lateral motor master frequency control to rs-485
WriteModbusQueue(3, 0x0301, 03, false); //give lateral motor Source of operation command to rs-485
WriteModbusQueue(3, 0x0705, 0, false); //set lateral speed to zero
WriteModbusQueue(3, 0x010D, 0, false); //set Lateral motor direcction (Fwd/Rev) to be controled by rs-485
WriteModbusQueue(2, 0x0300, 04, false); //give Traverse motor master frequency control to rs-485
WriteModbusQueue(2, 0x0301, 03, false); //give Traverse motor Source of operation command to rs-485
WriteModbusQueue(2, 0x0705, 0, false); //set Traverse speed to zero
WriteModbusQueue(2, 0x010D, 0, false); //set Traverse motor direcction (Fwd/Rev) to be controled by rs-485
SoftStop = 1;
Thread.Sleep(25);
isSimControl = false;
MatlabExecute("SaveData");//run script to save data
WriteMessageQueue("SimulinkRecieve Completed");
try { ControlSemaphore.Release(1); }
catch (System.Threading.SemaphoreFullException ex)
{
MessageBox.Show("error releasing ControlSemaphore 3 " + ex.Message.ToString());
}
}
