Add control Chiller, control head zone 4, log err job speed,

1 files changed, 308 insertions, 0 deletions

diff --git a/Software/Stubs Collection/stubs/DeskSystemThreadMotorsDefinition.cs b/Software/Stubs Collection/stubs/DeskSystemThreadMotorsDefinition.cs
new file mode 100644
index 000000000..0d4e1f55c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/DeskSystemThreadMotorsDefinition.cs
@@ -0,0 +1,308 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs.UI;
+
+HardwarePidControl FeederPidControl = new HardwarePidControl();
+FeederPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
+FeederPidControl.OutputProportionalPowerLimit = 80;
+FeederPidControl.OutputProportionalBand = 5;
+FeederPidControl.IntegralTime = 5;
+FeederPidControl.DerivativeTime = 0;
+FeederPidControl.SensorCorrectionAdjustment = 0;
+FeederPidControl.SensorMinValue = 0;
+FeederPidControl.SensorMaxValue = 0;
+FeederPidControl.SetPointRampRateorSoftStartRamp = 0;
+FeederPidControl.SetPointControlOutputRate = 4;
+FeederPidControl.ControlOutputType = 0;
+FeederPidControl.SsrControlOutputType = 0;
+FeederPidControl.OutputOnOffHysteresisValue = 0;
+FeederPidControl.ProcessVariableSamplingRate = 1000;
+FeederPidControl.PvInputFilterFactorMode = 4;
+FeederPidControl.OutputProportionalCycleTime = 0;
+FeederPidControl.AcHeatersHalfCycleTime = 0;
+FeederPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl PoolerPidControl = new HardwarePidControl();
+PoolerPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorPooler;
+PoolerPidControl.OutputProportionalPowerLimit = 80;
+PoolerPidControl.OutputProportionalBand = 5;
+PoolerPidControl.IntegralTime = 5;
+PoolerPidControl.DerivativeTime = 0;
+PoolerPidControl.SensorCorrectionAdjustment = 0;
+PoolerPidControl.SensorMinValue = 0;
+PoolerPidControl.SensorMaxValue = 0;
+PoolerPidControl.SetPointRampRateorSoftStartRamp = 0;
+PoolerPidControl.SetPointControlOutputRate = 4;
+PoolerPidControl.ControlOutputType = 0;
+PoolerPidControl.SsrControlOutputType = 0;
+PoolerPidControl.OutputOnOffHysteresisValue = 0;
+PoolerPidControl.ProcessVariableSamplingRate = 1000;
+PoolerPidControl.PvInputFilterFactorMode = 4;
+PoolerPidControl.OutputProportionalCycleTime = 0;
+PoolerPidControl.AcHeatersHalfCycleTime = 0;
+PoolerPidControl.ProportionalGain = 11.0;
+
+
+HardwarePidControl WinderPidControl = new HardwarePidControl();
+WinderPidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+WinderPidControl.OutputProportionalPowerLimit = 80;
+WinderPidControl.OutputProportionalBand = 5;
+WinderPidControl.IntegralTime = 5;
+WinderPidControl.DerivativeTime = 0;
+WinderPidControl.SensorCorrectionAdjustment = 0;
+WinderPidControl.SensorMinValue = 0;
+WinderPidControl.SensorMaxValue = 0;
+WinderPidControl.SetPointRampRateorSoftStartRamp = 0;
+WinderPidControl.SetPointControlOutputRate = 4;
+WinderPidControl.ControlOutputType = 0;
+WinderPidControl.SsrControlOutputType = 0;
+WinderPidControl.OutputOnOffHysteresisValue = 0;
+WinderPidControl.ProcessVariableSamplingRate = 1000;
+WinderPidControl.PvInputFilterFactorMode = 4;
+WinderPidControl.OutputProportionalCycleTime = 0;
+WinderPidControl.AcHeatersHalfCycleTime = 0;
+WinderPidControl.ProportionalGain = 11.0;
+
+
+HardwareDancer FeederDancer = new HardwareDancer();
+FeederDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
+FeederDancer.Gradual = false;
+FeederDancer.K = 0;
+FeederDancer.X = 0;
+FeederDancer.PulsePerMmSpring = 0;
+FeederDancer.MaximalMovementMm = 15;
+FeederDancer.ZeroPoint = 9805;
+FeederDancer.ResolutionBits = 14;
+FeederDancer.ArmLength = 126;
+
+HardwareDancer PoolerDancer = new HardwareDancer();
+PoolerDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.MiddleDancer;
+PoolerDancer.Gradual = false;
+PoolerDancer.K = 0;
+PoolerDancer.X = 0;
+PoolerDancer.PulsePerMmSpring = 0;
+PoolerDancer.MaximalMovementMm = 15;
+PoolerDancer.ZeroPoint = 6820;
+PoolerDancer.ResolutionBits = 14;
+PoolerDancer.ArmLength = 126;
+
+HardwareDancer WinderDancer = new HardwareDancer();
+WinderDancer.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.LeftDancer;
+WinderDancer.Gradual = false;
+WinderDancer.K = 0;
+WinderDancer.X = 0;
+WinderDancer.PulsePerMmSpring = 0;
+WinderDancer.MaximalMovementMm = 15;
+WinderDancer.ZeroPoint = 9242;
+WinderDancer.ResolutionBits = 14;
+WinderDancer.ArmLength = 126;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 1;
+FeederMotor.MaxChangeSlope = 10000;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13;
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 1;
+DryerMotor.MaxChangeSlope = 1000;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;
+DryerMotor.DirectionThreadWize = true;
+DryerMotor.KvalHold = 0x35;
+DryerMotor.KvalRun = 0x7f;
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 1000000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 10000;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 1.68;
+WinderMotor.ConfigWord = 0x1c80;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x0F;
+WinderMotor.KvalRun = 0x15;
+WinderMotor.KvalAcc = 0x15;
+WinderMotor.KvalDec = 0x15;
+WinderMotor.OverCurrentThreshold = 7;
+WinderMotor.StallThreshold = 0x1F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x18;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x22;
+WinderMotor.FnSlpDec = 0x22;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 1000000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 10000;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.25;
+ScrewMotor.ConfigWord = 0x1C80;
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x0F;
+ScrewMotor.KvalRun = 0x15;
+ScrewMotor.KvalAcc = 0x15;
+ScrewMotor.KvalDec = 0x15;
+ScrewMotor.OverCurrentThreshold = 7;
+ScrewMotor.StallThreshold = 0x1F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x18;
+ScrewMotor.IntSpd = 0x22C5;
+ScrewMotor.FnSlpAcc = 0x22;
+ScrewMotor.FnSlpDec = 0x22;
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 10000;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = false;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 10000;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+
+//hardwareConfiguration.Motors.Add(FeederMotor);
+//hardwareConfiguration.Motors.Add(WinderMotor);
+//hardwareConfiguration.Motors.Add(DryerMotor);
+//hardwareConfiguration.Motors.Add(PoolerMotor);
+//hardwareConfiguration.Motors.Add(ScrewMotor);
+//hardwareConfiguration.Motors.Add(LeftRockerMotor);
+//hardwareConfiguration.Motors.Add(RightRockerMotor);
+
+//hardwareConfiguration.PidControls.Add(FeederPidControl);
+//hardwareConfiguration.PidControls.Add(PoolerPidControl);
+//hardwareConfiguration.PidControls.Add(WinderPidControl);
+
+//hardwareConfiguration.Dancers.Add(FeederDancer);
+//hardwareConfiguration.Dancers.Add(PoolerDancer);
+//hardwareConfiguration.Dancers.Add(WinderDancer);