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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;
include "..\..\Defines\Tango_Defines_Basic.cs"
include "..\Defines\Tango_Defines_Motors.cs"
//--------------------------------------------------------------------------------
//--------------------------------------------------------------------------------
Int32 last_14bit_position;
Int32 position_32bit;
public void OnExecute(StubManager stubManager)
{
stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000); //triggers a TX transmission
var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);
last_14bit_position = Convert.ToInt32 (((((response1.Value <<16) + response.Value)>>10 ) & 0x3fff));
position_32bit=0;
//Create form
Form form1 = new Form();
//--------------------------------------------------------------------------------
// Create buttons to use as the accept and cancel buttons.
Button button1 = new Button ()
{
Width = 100,
Height = 100,
};
Button button2 = new Button ()
{
Width = 100,
Height = 100,
};
//--------------------------------------------------------------------------------
// Set the text of button
button1.Text = "ARM HOME";
button2.Text = "ARM STRART";
//--------------------------------------------------------------------------------
// Set the position of the button on the form.
button1.Location = new Point (40, 100);
button2.Location
= new Point (button1.Left + button1.Width + 10, 100);
//--------------------------------------------------------------------------------
// Add button to the form.
form1.Controls.Add(button1);
form1.Controls.Add(button2);
//--------------------------------------------------------------------------------
// Set the caption bar text of the form.
form1.Text = "Load Dryer Arm";
//--------------------------------------------------------------------------------
// Define the border style of the form to a dialog box.
form1.FormBorderStyle = FormBorderStyle.FixedDialog;
// Set the MaximizeBox to false to remove the maximize box.
form1.MaximizeBox = false;
// Set the MinimizeBox to false to remove the minimize box.
form1.MinimizeBox = false;
// Set the start position of the form to the center of the screen.
form1.StartPosition = FormStartPosition.CenterScreen;
form1.AutoSize = true;
form1.AutoSizeMode = AutoSizeMode.GrowAndShrink;
//--------------------------------------------------------------------------------
TextBox TextBox1 = new TextBox ()
{
Width = 100,
Height = 10,
Text ="20"
};
TextBox1.Location = new Point (40, 40);
form1.Controls.Add(TextBox1);
Label Label1 = new Label ()
{
Width = 150,
Height = 100,
Text ="Number round"
};
Label1.Location = new Point (20, 10);
form1.Controls.Add(Label1);
//--------------------------------------------------------------------------------
button2.Click += (_,__) =>
{
position_32bit=0;
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,5, true, 40);
Thread.Sleep(200);
while (Math.Abs(ReadEncoder())< (UInt32.Parse(TextBox1.Text)*0x4000))
{
Thread.Sleep(200);
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
};
//--------------------------------------------------------------------------------
button1.Click += (_,__) =>
{
Int32 temp3=0;
Int32 j=0;
position_32bit=0;
Int32 temp=position_32bit;
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,5, false, 40);
Thread.Sleep(200);
while (temp3==0)
{
Thread.Sleep(200);
ReadEncoder();
stubManager.Write("position_32bit " + position_32bit +"\t");
if (Math.Abs(position_32bit)> (UInt32.Parse(TextBox1.Text)*0x4000))
temp3=1;
if (Math.Abs(position_32bit-temp)<0x40)
j=j+1;
else
j=0;
temp=position_32bit;
if (j>3)
temp3=2;
stubManager.Write("Temp3 " + temp3 +"\n");
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
};
//--------------------------------------------------------------------------------
// Display the form as a modal dialog box.
form1.ShowDialog();
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,5, 3);
return;
}
Int32 ReadEncoder()
{
Int32 temp;
Int32 temp1;
stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000); //triggers a TX transmission
var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);
temp = Convert.ToInt32 (((((response1.Value <<16) + response.Value)>>10 ) & 0x3fff));
if (temp>last_14bit_position)
{
temp1=temp-last_14bit_position;
position_32bit=position_32bit+temp1;
if (temp1>0x2000)
position_32bit=position_32bit-0x4000;
}
else if (temp<last_14bit_position)
{
temp1=last_14bit_position-temp;
position_32bit=position_32bit-temp1;
if (temp1>0x2000)
position_32bit=position_32bit+0x4000;
}
last_14bit_position=temp;
return position_32bit;
}
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