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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.Stubs;
using Tango.Stubs.UI;
public void OnExecute(StubManager stubManager)
{
// UInt32 : MotorID
// UInt32 : MicroSteps
// Boolean : SetMicroSteps
// UInt32 : ACC
// Boolean : SetACC
// UInt32 : DEC
// Boolean : SetDec
// UInt32 : MaxSpeed
// Boolean : SetMaxSpeed
stubManager.Run("StubMotorInitRequest" ,0, 0, false, 0, false, 0, false, 0, false); // UInt32 : MotorID
//Thread.Sleep(1000);
// Request ----
// UInt32 : MotorID
// UInt32 : SetHomeMarkGOHomeMark
// Response ----
// UInt32 : MotorID
// UInt32 : Position
var response5 = stubManager.Run<StubMotorHomeMarkResponse>("StubMotorHomeMarkRequest" ,1, 0);//set home
var max_speed = 1000;
// Request ----
// UInt32 : MotorID
// Boolean : Direction
// UInt32 : Position
stubManager.RequestTimeout=5000;
for (int i = 0; i < 20; i++)
{
// Response ----
// UInt32 : MotorID
// UInt32 : Position
// UInt32 : StatusReg
// Boolean : Direction
// UInt32 : MotStatus
// Boolean : STEPLOSSA
// Boolean : STEPLOSSB
var response2 = stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,1, true, 60000);
stubManager.Run("StubMotorStopRequest" ,111, 1); // 0 - SoftHiZ / 1 - HardHiZ / 2 - SoftStop / 3 - HardStop
max_speed = max_speed -100;
stubManager.Run("StubMotorInitRequest" ,0, 0, false, 0, false, 0, false, max_speed, true); // UInt32 : MotorID
// Request ----
// UInt32 : MotorID
// UInt32 : SetHomeMarkGOHomeMark
// Response ----
// UInt32 : MotorID
// UInt32 : Position
var response3 = stubManager.Run<StubMotorHomeMarkResponse>("StubMotorHomeMarkRequest" ,1, 2);//go home
}
}
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