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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;
public void OnExecute(StubManager stubManager)
{
//stubManager.Run("StubMotorStopRequest" ,22, 1); // 0 - SoftHiZ / 1 - HardHiZ / 2 - SoftStop / 3 - HardStop
//Thread.Sleep(1000);
// Request ----
// UInt32 : MotorID
// UInt32 : MicroSteps
// Boolean : SetMicroSteps
// UInt32 : ACC
// Boolean : SetACC
// UInt32 : DEC
// Boolean : SetDec
// UInt32 : MaxSpeed
// Boolean : SetMaxSpeed
//stubManager.Run<StubMotorInitResponse>("StubMotorInitRequest" ,22, 1, true, 0x0ff, true, 0x0ff, true, 0x3ff, true); // 0x3ff for QSH2818-32-07-006 roker
//stubManager.Run<StubMotorInitResponse>("StubMotorInitRequest" ,21, 0, true, 0x0ff, true, 0x0ff, true, 50000, true); // fidder
//stubManager.Run<StubMotorInitResponse>("StubMotorInitRequest" ,0, 0, true, 0, true, 0, true, 0, true);
// Request ----
// UInt32 : MotorID
// UInt32 : MicroSteps
// Boolean : SetMicroSteps
// UInt32 : ACC
// Boolean : SetACC
// UInt32 : DEC
// Boolean : SetDec
// UInt32 : MaxSpeed
// Boolean : SetMaxSpeed
// UInt32 : MinSpeedLSPDOPT
// Boolean : SetMinSpeedLSPDOPT
// UInt32 : Config
// UInt32 : KVALHOLD
// UInt32 : KVALRUN
// UInt32 : KVALACC
// UInt32 : KVALDEC
// UInt32 : STSLP
// UInt32 : INTSPD
// UInt32 : FNSLPACC
// UInt32 : FNSLPDEC
// Response ----
// UInt32 : MotorID
// UInt32 : Status
//stubManager.Run<StubMotorInitResponse>("StubMotorInitRequest" ,18, 0, true, 0x0ff, true, 0x0ff, true, 50000, true, 0, true, 1, 1, 1, 1, 1, 1, 1, 1, 1);
//stubManager.Run("StubMotorStopRequest" ,18, 1); // 0 - SoftHiZ / 1 - HardHiZ / 2 - SoftStop / 3 - HardStop
//Thread.Sleep(1000);
for (int i= 0 ;i<10;i++)
{
stubManager.Run("StubMotorRunRequest" ,14, false, 8000 ); //5000 fidder (18 TESTED)
Thread.Sleep(590);
var response = stubManager.Run<StubMotorSpeedResponse>("StubMotorSpeedRequest" ,14);
stubManager.Write(response.Speed);
stubManager.Write("\n\n");
Thread.Sleep(10);
stubManager.Run("StubMotorRunRequest" ,14, true, 8000 ); //5000 fidder (18 TESTED)
Thread.Sleep(600);
}
//stubManager.Run<StubMotorStatusResponse>("StubMotorStatusRequest" ,15, true);
//Thread.Sleep(1000);
// Request ----
// UInt32 : MotorID
// Response ----
// UInt32 : MotorID
// Double : Speed
//stubManager.Run<StubMotorSpeedResponse>("StubMotorSpeedRequest" ,15);
stubManager.Run("StubMotorStopRequest" ,14, 2); // 3 - SoftHiZ / 2 - HardHiZ / 1 - SoftStop / 0 - HardStop
}
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