private void StartButton_Click(object sender, EventArgs e)
{
SenderThread.Start();
phidgetReciver.Start();
arduinoReciver.Start();
arduinoSender.Start();
motionCalculator.Start();
dataExchanger.Start();
DataExchangerThread.Start();
StartButton.Enabled = false;
//var sw = System.IO.File.AppendText("c:\\tmp\\runlog.csv");
for (int i = 0; i < listOfKHEdits.Count; i++)
{
listOfKHEdits[i].Text = motionCalculator.getSetupAt(i).KoeffH.ToString();
listOfKVEdits[i].Text = motionCalculator.getSetupAt(i).KoeffV.ToString();
}
while (!abort)
{
for (int i = 0; i < phidgetReciver.Count(); i++)
{
listOfLEdits[i].Text = (motionCalculator.getSetupAt(i).Load- motionCalculator.getSetupAt(i).ZeroLoad).ToString("#.##");
listOfPEdits[i].Text = arduinoReciver.getValueOf(i).ToString("000");
listOfTEdits[i].Text = motionCalculator.getSetupAt(i).Direction + motionCalculator.getSetupAt(i).Torque.ToString("#.##");
listOfSEdits[i].Text = (motionCalculator.getSetupAt(i).KoeffHSign * motionCalculator.getSetupAt(i).CurKoeffH).ToString("#.##");
}
//sw.WriteLine(motionCalculator.getSetupAt(4).LastDiff + "," + phidgetReciver.getValueOf(4).ToString() + "," + motionCalculator.getSetupAt(4).Torque.ToString("#.##")+","+ motionCalculator.getSetupAt(5).LastDiff + "," + phidgetReciver.getValueOf(5).ToString() + "," + motionCalculator.getSetupAt(5).Torque.ToString("#.##"));
//Thread.Sleep(10);
Application.DoEvents();
}
//sw.Close();
}
private void StartButton_Click(object sender, EventArgs e)
{
phidgetReciver.Start();
for (int i = 0; i < phidgetReciver.Count(); i++)
{
TestSetup testSetup = new TestSetup();
testSetup.ArduinoPort = MotorsCPort[i];
testSetup.MotorId = i;
testSetup.TargetLoad = 0;
testSetup.LastDiff = 0;
testSetup.LastRead = testSetup.TargetLoad;
testSetup.MinPos = AxisLimits[i][0];
testSetup.MaxPos = AxisLimits[i][1];
testSetup.FirstPick = true;
testSetup.PositionRequestCommand = "{P" + testSetup.MotorId.ToString() + "}";
testSetup.MoveCommand = "M" + testSetup.MotorId.ToString() + ",{0},{1}";
testSetup.Torque = 0;
testSetup.Direction = 'S';
testSetup.Koeff = 1;
listOfSetups.Add(testSetup);
}
// configure serial port
int lastPort = 0;
for (int i = 0; i < MotorsCPort.Count; i++)
{
if (lastPort < MotorsCPort[i])
{
lastPort = MotorsCPort[i];
SerialPort serialPort = new SerialPort();
listofPorts.Add(serialPort);
listofPorts[i].BaudRate = 115200;
listofPorts[i].PortName = "COM" + MotorsCPort[i];
listofPorts[i].DataReceived += SerialPort_DataReceived;
listofPorts[i].ErrorReceived += SerialPort_ErrorReceived;
listofPorts[i].DtrEnable = true;
listofPorts[i].Open();
listofPorts[i].ReadExisting();
}
}
StartButton.Enabled = false;
StopButton.Enabled = true;
}
public void ThreadRun()
{
initializeExchanger();
System.Diagnostics.Trace.WriteLine("DataExchanger started");
while (!abort)
{
while (!abort)
{
for (int i = 0; i < phidgetReciver.Count(); i++)
{
motionCalculator.getSetupAt(i).Load = phidgetReciver.getValueOf(i);
motionCalculator.getSetupAt(i).Position = arduinoReciver.getValueOf(i);
arduinoSender.setValueOf(i, motionCalculator.getSetupAt(i).Torque, motionCalculator.getSetupAt(i).Direction);
}
}
}
System.Diagnostics.Trace.WriteLine("DataExchanger stopped");
}