//private void UpdateCycleCounter_test()
//{
// if (DataSample.FeedbackAngle1 >= 180 && DataSample.FeedbackAngle1 <= 360)
// DataSample.ChartResetFlag = true;
// else if (DataSample.FeedbackAngle1 > 0 && DataSample.FeedbackAngle1 < 180)
// {
// if (DataSample.ChartResetFlag == true)
// {
// DataSample.ChartResetFlag = false;
// DataSample.CycleCounter++;
// if (DataSample.CycleCounter == 3)
// {
// this.Invoke(this.ThreadCallbackUpdateUI, new Object[] { });
// DataSample.CycleCounter = 0;
// }
// DataSample.spinShaperData.List_PointCollection.Add(DataSample.spinShaperData.PointCollection);
// DataSample.spinShaperData.CalculateTestPeformanceParameters();
// DataSample.spinShaperData.PointCollection.Clear();
// }
// }
//}
private void OnSerialReadComplete(object sender, SerialReadCompleteEventArgs args)
{
if (chart1.InvokeRequired)
{
chart1.BeginInvoke(new MethodInvoker(() => OnSerialReadComplete(sender, args)));
return;
}
Plotter(args.Torque, args.Angle);
Plotter2(args.Torque, args.Angle);
}
public objServoResult ReadFeedBack_OnDataReceived()
{
GlobalVariables.SerialPortBusyLeft = true;
while (GlobalVariables.leftSerialPort.BytesToRead != 0)
{
if (SerialReadInProgress == false)
{
if (CurrentByte != 0x06)
{
if (GlobalVariables.leftSerialPort.BytesToRead != 0)
{
CurrentByte = (byte)GlobalVariables.leftSerialPort.ReadByte();
Result.IsSuccess = true;
continue;
}
else TimeOutCounter++;
if (TimeOutCounter >= 30000)
{
Result.ErrorCode = 3;
Result.IsSuccess = false;
GlobalVariables.SerialPortBusyLeft = false;
return Result;
}
}
else
{
SerialReadInProgress = true;
Result.IsSuccess = true;
}
}
else
{
CurrentByte = (byte)GlobalVariables.leftSerialPort.ReadByte();
ByteStream.WriteByte(CurrentByte);
if (ByteStream.Length == 72)
{
Result = SerialMotorControl.ReadFeedback_OnDataReceived(ByteStream, FeedbackParams, ReadSuccess, currentByte1, streamArray, currentSpeed, currentPulse, currentTorque, currentContactStatus, ref ErrorCode, TimeOutCounter, ServoResult, sb, ByteString);
SerialReadInProgress = false;
ByteStream = new MemoryStream();
if ((new System.Collections.BitArray(new byte[] { currentContactStatus[7] }))[2] == false)
eStopCounter++;
else eStopCounter = 0;
if (Result.IsSuccess == false)
{
}
else if (eStopCounter >= 2) //The status of SPD2 is given by bit 3 of byte 8 of the contact statuc byte array
{
Result.IsSuccess = false;
Result.ErrorCode = 5;
Result.ErrorMessage = "Emergency Stop Activated!";
eStopCounter = 0;
}
else
{
FeedbackTorque = (FeedbackParams[2] / 100 / 100) * CalibrationSettings.Default.RatedMotorTorque * CalibrationSettings.Default.GearRatio;
if (FeedbackTorque >= 1000)
FeedbackTorque = previousTorque;
previousTorque = FeedbackTorque;
FeedbackSpeed = FeedbackParams[0] / (CalibrationSettings.Default.GearRatio * 10);
FeedbackPower = Math.Abs(FeedbackTorque * FeedbackSpeed * 2 * Math.PI / 60);
FeedbackPulse = FeedbackParams[1]; //Feedback Pulse Position in Current Cycle
FeedbackPulseAbs = FeedbackParams[4]; //Absolute Feedback Pulse Position
FeedbackContactStatus = FeedbackParams[3];
FeedbackAngle1 = CalculateAngle();
DataSampleCalculations();
//Clear the buffer if it starts to fill up
if (GlobalVariables.leftSerialPort.BytesToRead > 219)
{
if (BufferOverFlowEvent != null)
{
BufferOverFlowEventArgs args = new BufferOverFlowEventArgs(GlobalVariables.leftSerialPort.BytesToRead);
BufferOverFlowEvent(this, args);
}
GlobalVariables.leftSerialPort.DiscardInBuffer();
}
if (SerialReadCompleteEvent != null)
{
SerialReadCompleteEventArgs args = new SerialReadCompleteEventArgs(FeedbackTorque, FeedbackAngle1);
SerialReadCompleteEvent(this, args);
}
}
GlobalVariables.SerialPortBusyLeft = false;
return Result;
}
else
{
Result.IsSuccess = true;
}
}
}
GlobalVariables.SerialPortBusyLeft = false;
return Result;
}
