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using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.IO;
using Google.Protobuf;
using Tango.BL.Enumerations;
using Tango.PMR.Stubs;
using Tango.PMR.Diagnostics;
using Tango.FSE.Common.Diagnostics;
using Tango.PMR.IO;
using Tango.FSE.Procedures;
using System.IO;
using System.Windows.Forms;
public class Program
{
public void OnExecute(IProcedureContext context)
{
uint SCREW_MOTOR = 14;
int offset = 200;
int Calibration_Offset = 0;
bool Located = false;
string box_msg = "Keep your hands away from the winder";
MessageBox.Show(box_msg);
MotorHomingRequest motorHomingRequest = new MotorHomingRequest();
motorHomingRequest.MotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
motorHomingRequest.Speed = 800;
motorHomingRequest.Direction = Tango.PMR.Diagnostics.MotorDirection.Backward;
offset = context.GetInput<int>("Initial Offset");
StubMotorMovRequest stubMotorMovRequest = new StubMotorMovRequest();
stubMotorMovRequest.MotorID = SCREW_MOTOR;
stubMotorMovRequest.Direction = true;
while (Located == false)
{
context.Send<MotorHomingResponse>(motorHomingRequest);
Thread.Sleep(3000);
stubMotorMovRequest.Position = (uint)(offset + Calibration_Offset);
context.Send<StubMotorMovResponse>(stubMotorMovRequest);
Thread.Sleep(3000);
Located = context.GetInput<bool>("Is Winder located well?");
if (Located == false)
{
offset = context.GetInput<int>("Enter new value for calibration offset (15 steps = 1mm. minus - toward the machine");
}
}
ProgressRequest progressRequest = new ProgressRequest();
progressRequest.Amount = 0xB20;
progressRequest.Delay = Calibration_Offset;
context.Send<ProgressResponse>(progressRequest);
box_msg = "Writing new winder offset " + Calibration_Offset+ "to the main card EEPROM";
MessageBox.Show(box_msg);
}
}
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