/// <summary>
/// Connect to the specific serial port of the stepper. If no
/// availale serial port exists, nothing will happen.
/// </summary>
/// <param name="index">Index of the serial port to connect to.</param>
private void _ConnectStepper(int index)
{
// Check if there is available serial port
if (_SerialPortList == null || _SerialPortList.Length == 0)
{
return;
}
// Ensure the previous stepper stopped
_DisconnectStepper();
// Select the specific serial port
try
{
_Stepper = new StepperController(_SerialPortList[index]);
}
catch (Exception e)
{
_ConsolePrintMessage("private void _ConnectStepper(int): " + e.Message, MessageLevel.Error);
return;
}
// Set the baud rate
_Stepper.BaudRate = _StepperBaudRate;
// Append handlers to the events
_Stepper.RotationStarted -= _StepperRotationStartedEventHandler;
_Stepper.RotationStarted += _StepperRotationStartedEventHandler;
_Stepper.RotationFinished -= _StepperRotationFinishedEventHandler;
_Stepper.RotationFinished += _StepperRotationFinishedEventHandler;
_Stepper.OperationFailed -= _StepperOperationFailedEventHandler;
_Stepper.OperationFailed += _StepperOperationFailedEventHandler;
// Connect to the stepper port
_Stepper.Open();
// CONSOLE: Connect stepper message
_ConsolePrintMessage("Successfully connect to the stepper on " + _Stepper.PortName + ".", MessageLevel.Info);
}