public void load()
{
try
{
// Read File corresponding to Motor ID
load_trajectory();
//Hook the basic event handlers
stepper.Attach += new AttachEventHandler(stepper_Attach);
stepper.Detach += new DetachEventHandler(stepper_Detach);
stepper.Error += new ErrorEventHandler(stepper_Error);
stepper.open();
Console.WriteLine("Waiting for a Stepper to be attached....");
stepper.waitForAttachment();
Console.ReadLine();
//Acceleration at Max
stepper.steppers[0].Acceleration = stepper.steppers[0].AccelerationMax; //ensure the value is between the AccelerationMin and AccelerationMax
Console.WriteLine("Stepper motor acceleration set to: {0}",
stepper.steppers[0].Acceleration.ToString());
stepper.steppers[0].Engaged = true;
stepper.steppers[0].VelocityLimit = 0;
stepper.steppers[0].CurrentLimit = 1.7;
//stepper.steppers[0].TargetPosition = 0;
Goal_Position = stepper.steppers[0].TargetPosition;
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
public void Attach()
{
if (_serialNumber > 0 && _stepperBoard == null)
{
_stepperBoard = new Stepper();
_stepperBoard.Attach += new AttachEventHandler(StepperBoard_Attach);
_stepperBoard.open(_serialNumber);
}
if (Profile != null)
{
Profile.ProfileTick += Profile_ProfileTick;
}
}
private void InitPhidget()
{
try
{
//Initialize the InterfaceKit object
ifKit = new Stepper();
//Hook the basica event handlers
ifKit.Error += new ErrorEventHandler(ifKit_Error);
//Open the object for device connections
ifKit.open();
//Wait for an InterfaceKit phidget to be attached
ifKit.waitForAttachment(3000);
//Hook the phidget spcific event handlers
ifKit.InputChange += new InputChangeEventHandler(ifKit_InputChange);
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
}
static void Main(string[] args)
{
try
{
//Declare a Stepper object
Stepper stepper = new Stepper();
//Hook the basic event handlers
stepper.Attach += new AttachEventHandler(stepper_Attach);
stepper.Detach += new DetachEventHandler(stepper_Detach);
stepper.Error += new ErrorEventHandler(stepper_Error);
//Hook the Stepper specific event handlers
stepper.CurrentChange += new CurrentChangeEventHandler
(stepper_CurrentChange);
stepper.InputChange += new InputChangeEventHandler
(stepper_InputChange);
stepper.PositionChange += new StepperPositionChangeEventHandler
(stepper_PositionChange);
stepper.VelocityChange += new VelocityChangeEventHandler
(stepper_VelocityChange);
//Open the Stepper object for device connections
stepper.open();
//get the program to wait for a Stepper device to be attached
Console.WriteLine("Waiting for a Stepper to be attached....");
stepper.waitForAttachment();
Console.WriteLine("Now the velocity will be set");
Console.WriteLine("The motor will run until it reaches the set goal position");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the max velocity to start the stepper motor moving until it hits
//the goal position
stepper.steppers[0].VelocityLimit = 100.00; //Max velocity
Console.WriteLine("Stepper motor velocity set to: {0}",
stepper.steppers[0].VelocityLimit.ToString());
stepper.steppers[0].Acceleration = stepper.steppers[0].AccelerationMin; //ensure the value is between the AccelerationMin and AccelerationMax
Console.WriteLine("Stepper motor acceleration set to: {0}",
stepper.steppers[0].Acceleration.ToString());
stepper.steppers[0].TargetPosition = 0;
stepper.steppers[0].Engaged = true;
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
Console.WriteLine("Will now move to position 2000.");
Console.WriteLine("Please wait until the motor stops.");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the goal position to 2000
stepper.steppers[0].TargetPosition = 2000;
Console.WriteLine("Press any key to end....");
Console.ReadLine();
stepper.steppers[0].Engaged = false;
//close the Stepper object
stepper.close();
//set the object to null to get it out of memory
stepper = null;
//if no exceptions were thrown at this point it is safe to terminate
Console.WriteLine("ok");
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
static void Main(string[] args)
{
try
{
//Declare a Stepper object
Stepper stepper = new Stepper();
//Hook the basic event handlers
stepper.Attach += new AttachEventHandler(stepper_Attach);
stepper.Detach += new DetachEventHandler(stepper_Detach);
stepper.Error += new ErrorEventHandler(stepper_Error);
//Hook the Stepper specific event handlers
stepper.CurrentChange += new CurrentChangeEventHandler
(stepper_CurrentChange);
stepper.InputChange += new InputChangeEventHandler
(stepper_InputChange);
stepper.PositionChange += new StepperPositionChangeEventHandler
(stepper_PositionChange);
stepper.VelocityChange += new VelocityChangeEventHandler
(stepper_VelocityChange);
//Open the Stepper object for device connections
stepper.open();
//get the program to wait for a Stepper device to be attached
Console.WriteLine("Waiting for a Stepper to be attached....");
stepper.waitForAttachment();
Console.WriteLine("Now the velocity will be set");
Console.WriteLine("The motor will run until it reaches the set goal position");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the max velocity to start the stepper motor moving until it hits
//the goal position
stepper.steppers[0].VelocityLimit = 100.00; //Max velocity
Console.WriteLine("Stepper motor velocity set to: {0}",
stepper.steppers[0].VelocityLimit.ToString());
stepper.steppers[0].Acceleration = stepper.steppers[0].AccelerationMin; //ensure the value is between the AccelerationMin and AccelerationMax
Console.WriteLine("Stepper motor acceleration set to: {0}",
stepper.steppers[0].Acceleration.ToString());
stepper.steppers[0].TargetPosition = 0;
stepper.steppers[0].Engaged = true;
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
Console.WriteLine("Will now move to position 2000.");
Console.WriteLine("Please wait until the motor stops.");
Console.WriteLine("Press any key to continue...");
Console.ReadLine();
//Set the goal position to 2000
stepper.steppers[0].TargetPosition = 2000;
Console.WriteLine("Press any key to end....");
Console.ReadLine();
stepper.steppers[0].Engaged = false;
//close the Stepper object
stepper.close();
//set the object to null to get it out of memory
stepper = null;
//if no exceptions were thrown at this point it is safe to terminate
Console.WriteLine("ok");
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}