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Form1.cs
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Form1.cs
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using Sres.Net.EEIP;
using System.Collections;
using System.ComponentModel;
using System.Diagnostics.Eventing.Reader;
using System.Drawing.Text;
using System.Reflection.PortableExecutable;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Media.Media3D;
using System.Windows.Threading;
using WinRT;
using System.Diagnostics;
using System.Security.Policy;
namespace WinUI_ClearCore
{
public partial class Form1 : Form
{
int myCount { get; set; } = 0;
int myInstance { get; set; } = 1;
int myDelay { get; set; } = 250;
uint bitOne = 0;
uint bitTwo = 0;
uint bitThree = 0;
uint bitFour = 0;
uint bitFive = 0;
uint bitSix = 0;
uint bitSeven = 0;
uint bitEight = 0;
bool SessionStarted { get; set; } = false;
bool M0Bit = false;
bool M1Bit = false;
bool M2Bit = false;
bool M3Bit = false;
EEIPClient eeipClient = new EEIPClient();
DispatcherTimer ThisTimer = new DispatcherTimer();
public Form1()
{
InitializeComponent();
}
private void
Form1_Load(object sender, EventArgs e)
{
checkBox1.Checked = false;
checkBox1.Enabled = false;
checkBox2.Checked = false;
checkBox2.Enabled = false;
rdoShowM0.Enabled = false;
rdoShowM1.Enabled = false;
rdoShowM2.Enabled = false;
rdoShowM3.Enabled = false;
ThisTimer.Tick += new EventHandler(ThisTimer_Tick);
ThisTimer.Interval = TimeSpan.FromMilliseconds(myDelay);
}
private void ThisTimer_Tick(object? sender, EventArgs e)
{
/* Start DispatcherTimer Called Code */
if (M0Bit) { myInstance = 1; }
if (M1Bit) { myInstance = 2; }
if (M2Bit) { myInstance = 3; }
if (M3Bit) { myInstance = 4; }
/* Change the Digital Input Value Radio Buttons */
byte[] MyData = eeipClient.GetAttributeSingle(4, 100, 3);
var InputArray = new BitArray(MyData);
rdoDip0.Checked = InputArray[0];
rdoDip1.Checked = InputArray[1];
rdoDip2.Checked = InputArray[2];
rdoDip3.Checked = InputArray[3];
rdoDip4.Checked = InputArray[4];
rdoDip5.Checked = InputArray[5];
rdoDip6.Checked = InputArray[6];
rdoDip7.Checked = InputArray[7];
rdoDip8.Checked = InputArray[8];
rdoDip9.Checked = InputArray[9];
rdoDip10.Checked = InputArray[10];
rdoDip11.Checked = InputArray[11];
rdoDip12.Checked = InputArray[12];
/* CCIO Data */
byte[] CCIOIOStatus = eeipClient.GetAttributeSingle(0x68, 1, 2);
var myCCIOIOStatus = new BitArray(CCIOIOStatus);
/* CCIO BOARD 1 */
rdoCCIO1_0.Checked = myCCIOIOStatus[0];
rdoCCIO1_1.Checked = myCCIOIOStatus[1];
rdoCCIO1_2.Checked = myCCIOIOStatus[2];
rdoCCIO1_3.Checked = myCCIOIOStatus[3];
rdoCCIO1_4.Checked = myCCIOIOStatus[4];
rdoCCIO1_5.Checked = myCCIOIOStatus[5];
rdoCCIO1_6.Checked = myCCIOIOStatus[6];
rdoCCIO1_7.Checked = myCCIOIOStatus[7];
/* CCIO BOARD 2 */
rdoCCIO2_0.Checked = myCCIOIOStatus[8];
rdoCCIO2_1.Checked = myCCIOIOStatus[9];
rdoCCIO2_2.Checked = myCCIOIOStatus[10];
rdoCCIO2_3.Checked = myCCIOIOStatus[11];
rdoCCIO2_4.Checked = myCCIOIOStatus[12];
rdoCCIO2_5.Checked = myCCIOIOStatus[13];
rdoCCIO2_6.Checked = myCCIOIOStatus[14];
rdoCCIO2_7.Checked = myCCIOIOStatus[15];
/* CCIO BOARD 3 */
rdoCCIO3_0.Checked = myCCIOIOStatus[16];
rdoCCIO3_1.Checked = myCCIOIOStatus[17];
rdoCCIO3_2.Checked = myCCIOIOStatus[18];
rdoCCIO3_3.Checked = myCCIOIOStatus[19];
rdoCCIO3_4.Checked = myCCIOIOStatus[20];
rdoCCIO3_5.Checked = myCCIOIOStatus[21];
rdoCCIO3_6.Checked = myCCIOIOStatus[22];
rdoCCIO3_7.Checked = myCCIOIOStatus[23];
/* CCIO BOARD 4 */
rdoCCIO4_0.Checked = myCCIOIOStatus[24];
rdoCCIO4_1.Checked = myCCIOIOStatus[25];
rdoCCIO4_2.Checked = myCCIOIOStatus[26];
rdoCCIO4_3.Checked = myCCIOIOStatus[27];
rdoCCIO4_4.Checked = myCCIOIOStatus[28];
rdoCCIO4_5.Checked = myCCIOIOStatus[29];
rdoCCIO4_6.Checked = myCCIOIOStatus[30];
rdoCCIO4_7.Checked = myCCIOIOStatus[31];
/* CCIO BOARD 5 */
rdoCCIO5_0.Checked = myCCIOIOStatus[32];
rdoCCIO5_1.Checked = myCCIOIOStatus[33];
rdoCCIO5_2.Checked = myCCIOIOStatus[34];
rdoCCIO5_3.Checked = myCCIOIOStatus[35];
rdoCCIO5_4.Checked = myCCIOIOStatus[36];
rdoCCIO5_5.Checked = myCCIOIOStatus[37];
rdoCCIO5_6.Checked = myCCIOIOStatus[38];
rdoCCIO5_7.Checked = myCCIOIOStatus[39];
/* CCIO BOARD 6 */
rdoCCIO6_0.Checked = myCCIOIOStatus[40];
rdoCCIO6_1.Checked = myCCIOIOStatus[41];
rdoCCIO6_2.Checked = myCCIOIOStatus[42];
rdoCCIO6_3.Checked = myCCIOIOStatus[43];
rdoCCIO6_4.Checked = myCCIOIOStatus[44];
rdoCCIO6_5.Checked = myCCIOIOStatus[45];
rdoCCIO6_6.Checked = myCCIOIOStatus[46];
rdoCCIO6_7.Checked = myCCIOIOStatus[47];
/* CCIO BOARD 7 */
rdoCCIO7_0.Checked = myCCIOIOStatus[48];
rdoCCIO7_1.Checked = myCCIOIOStatus[49];
rdoCCIO7_2.Checked = myCCIOIOStatus[50];
rdoCCIO7_3.Checked = myCCIOIOStatus[51];
rdoCCIO7_4.Checked = myCCIOIOStatus[52];
rdoCCIO7_5.Checked = myCCIOIOStatus[53];
rdoCCIO7_6.Checked = myCCIOIOStatus[54];
rdoCCIO7_7.Checked = myCCIOIOStatus[55];
/* CCIO BOARD 8 */
rdoCCIO8_0.Checked = myCCIOIOStatus[56];
rdoCCIO8_1.Checked = myCCIOIOStatus[57];
rdoCCIO8_2.Checked = myCCIOIOStatus[58];
rdoCCIO8_3.Checked = myCCIOIOStatus[59];
rdoCCIO8_4.Checked = myCCIOIOStatus[60];
rdoCCIO8_5.Checked = myCCIOIOStatus[61];
rdoCCIO8_6.Checked = myCCIOIOStatus[62];
rdoCCIO8_7.Checked = myCCIOIOStatus[63];
if (rdoLoadPosMoveAck.Checked)
{
checkBox6.Checked = false;
};
if (rdoLoadVelocityMoveAck.Checked)
{
checkBox7.Checked = false;
};
if (checkBox4.Checked)
{
lblMoveDist.Text = "Move to Absolute Position";
}
else
{
lblMoveDist.Text = "Move Distance";
}
if (rdoClearMotorFaultAct.Checked)
{
checkBox10.Checked = false;
};
if (rdoAddToPosACK.Checked)
{
byte[] intZero = BitConverter.GetBytes(0);
eeipClient.SetAttributeSingle(0x66, myInstance, 7, intZero);
}
byte[] CCIOBoardCount = eeipClient.GetAttributeSingle(0x68, 1, 4);
string boardCount = CCIOBoardCount[0].ToString();
lblCCIOBoardCount.Text = boardCount;
/*
if (string.CompareOrdinal(boardCount, "1") == 0)
{
label3.ForeColor = Color.Green;
label3.Font = new Font(label3.Font, FontStyle.Underline| FontStyle.Bold |FontStyle.Italic);
}
*/
byte[] CCIOEnabled = eeipClient.GetAttributeSingle(0x68, 1, 6);
var myCCIOEnabled = new BitArray(CCIOEnabled);
rdoCCIOEnabled.Checked = myCCIOEnabled[0];
if (rdoCCIOEnabled.Checked)
{
grpCCIOIOStatus.Enabled = true;
}
else
{
grpCCIOIOStatus.Enabled = false;
}
/* Change the StatusReg Radio Buttons */
byte[] StatusReg = eeipClient.GetAttributeSingle(0x65, myInstance, 7);
var StatusBits = new BitArray(StatusReg);
rdoAtTargetPos.Checked = StatusBits[0];
rdoStepsActive.Checked = StatusBits[1];
rdoAtVelocity.Checked = StatusBits[2];
rdoMoveDirection.Checked = StatusBits[3];
rdoInPosLimit.Checked = StatusBits[4];
rdoInNegLimit.Checked = StatusBits[5];
rdoInEstop.Checked = StatusBits[6];
rdoInHomeSensor.Checked = StatusBits[7];
rdoIsHoming.Checked = StatusBits[8];
rdoMotorInFault.Checked = StatusBits[9];
rdoMotorEnabled.Checked = StatusBits[10];
rdoOutsideSoftLimits.Checked = StatusBits[11];
rdoPosMove.Checked = StatusBits[12];
rdoHasHomed.Checked = StatusBits[13];
rdoHLFBOn.Checked = StatusBits[14];
rdoHasTorqueMesurement.Checked = StatusBits[15];
rdoReadyToHome.Checked = StatusBits[16];
rdoShutdownsPresent.Checked = StatusBits[17];
rdoAddToPosACK.Checked = StatusBits[18];
rdoLoadPosMoveAck.Checked = StatusBits[19];
rdoLoadVelocityMoveAck.Checked = StatusBits[20];
rdoClearMotorFaultAct.Checked = StatusBits[21];
if (rdoStepsActive.Checked) { button8.Enabled = false; };
if (!rdoStepsActive.Checked) { button8.Enabled = true; };
/* Change the StatusReg Radio Buttons */
byte[] AlertReg = eeipClient.GetAttributeSingle(0x65, myInstance, 8);
var Alertbits = new BitArray(AlertReg);
rdoCommandWhileShutdown.Checked = Alertbits[0];
rdoPosLimit.Checked = Alertbits[1];
rdoNegLimit.Checked = Alertbits[2];
rdoSensorEstop.Checked = Alertbits[3];
rdoSWEstop.Checked = Alertbits[4];
rdoMotorDisabled.Checked = Alertbits[5];
rdoSoftLimitsExceeded.Checked = Alertbits[6];
rdoFollowerAxisFault.Checked = Alertbits[7];
rdoCommandWhileFollowing.Checked = Alertbits[8];
rdoMotionCanceledHomingNotReady.Checked = Alertbits[9];
rdoMotorFaulted.Checked = Alertbits[10];
rdoFollowingOverspeed.Checked = Alertbits[11];
if (AlertReg.Any(b => b != 0))
{
checkBox9.Checked = true;
}
else
{
checkBox9.Checked = false;
checkBox8.Checked = false;
}
/* Feedback Data */
byte[] CommandedPosition = eeipClient.GetAttributeSingle(0x65, myInstance, 1);
int myCommandedPosition = BitConverter.ToInt32(CommandedPosition, 0);
lblCommandedPosition.Text = myCommandedPosition.ToString();
byte[] CommandedVelocity = eeipClient.GetAttributeSingle(0x65, myInstance, 2);
int myCommandedVelocity = BitConverter.ToInt32(CommandedVelocity, 0);
lblCommandedVelocity.Text = myCommandedVelocity.ToString();
byte[] TargetPosition = eeipClient.GetAttributeSingle(0x65, myInstance, 3);
int myTargetPosition = BitConverter.ToInt32(TargetPosition, 0);
lblTargetPosition.Text = myTargetPosition.ToString();
byte[] TargetVelelocity = eeipClient.GetAttributeSingle(0x65, myInstance, 4);
int myTargetVelocity = BitConverter.ToInt32(TargetVelelocity, 0);
lblTargetVelocity.Text = myTargetVelocity.ToString();
byte[] CapturedPosition = eeipClient.GetAttributeSingle(0x65, myInstance, 5);
int myCapturedPosition = BitConverter.ToInt32(CapturedPosition, 0);
lblCapturedPosition.Text = myCapturedPosition.ToString();
byte[] MeasuredTorque = eeipClient.GetAttributeSingle(0x65, myInstance, 6);
float myMeasuredTorque = BitConverter.ToSingle(MeasuredTorque, 0);
lblMeasuredTorque.Text = myMeasuredTorque.ToString("0.####");
/* MC MOTOR */
byte[] MCMeasuredTorque = eeipClient.GetAttributeSingle(0x67, myInstance, 6);
double myMCMeasuredTorque = BitConverter.ToSingle(MeasuredTorque, 0);
HLFB_Duty.Text = myMCMeasuredTorque.ToString("0.####");
byte[] MCOutputReg = eeipClient.GetAttributeSingle(0x67, myInstance, 1);
var myMCOutputReg = new BitArray(MCOutputReg);
radioButton13.Checked = myMCOutputReg[0];
radioButton14.Checked = myMCOutputReg[1];
radioButton15.Checked = myMCOutputReg[2];
radioButton16.Checked = myMCOutputReg[3];
byte[] MCStatusReg = eeipClient.GetAttributeSingle(0x67, myInstance, 2);
var myMCStatusReg = new BitArray(MCStatusReg);
radioButton8.Checked = myMCStatusReg[0];
radioButton9.Checked = myMCStatusReg[1];
radioButton10.Checked = myMCStatusReg[2];
radioButton11.Checked = myMCStatusReg[3];
radioButton12.Checked = myMCStatusReg[4];
byte[] MCPWMA = eeipClient.GetAttributeSingle(0x67, myInstance, 8);
int myMCPWMA = BitConverter.ToInt16(MCPWMA, 0);
lblPWMA.Text = myMCPWMA.ToString();
byte[] MCPWMB = eeipClient.GetAttributeSingle(0x67, myInstance, 9);
int myMCPWMB = BitConverter.ToInt16(MCPWMB, 0);
lblPWMB.Text = myMCPWMB.ToString();
byte[] MCTriggerPulses = eeipClient.GetAttributeSingle(0x67, myInstance, 10);
lblTriggerTime.Text = MCTriggerPulses[0].ToString();
/* Step and Direction Motor Configuration Objects */
/* Config Register DWORD Valid bits 0-5 */
byte[] thisConfigReg = eeipClient.GetAttributeSingle(0x64, myInstance, 1);
var myConfigReg = new BitArray(thisConfigReg);
/*
* Bit 0 Homing Enable
* Bit 1 Home Sensor Active Level
* Bit 2 Enable Inversion
* Bit 3 HLFB Inversion
* Bit 4 Position Capture Sensor Active Level
* Bit 5 Soft Limit Enable
*/
radioButton2.Checked = myConfigReg[0];
radioButton3.Checked = myConfigReg[1];
radioButton4.Checked = myConfigReg[2];
radioButton5.Checked = myConfigReg[3];
radioButton6.Checked = myConfigReg[4];
radioButton7.Checked = myConfigReg[5];
/* Soft Limit Position1 {DINT}*/
byte[] SoftLimitPos1 = eeipClient.GetAttributeSingle(0x64, myInstance, 2);
int mySoftLimitPos1 = BitConverter.ToInt32(SoftLimitPos1, 0);
lblSoftLimit1.Text = mySoftLimitPos1.ToString();
/* Soft Limit Position2 {DINT}*/
byte[] SoftLimitPos2 = eeipClient.GetAttributeSingle(0x64, myInstance, 3);
int mySoftLimitPos2 = BitConverter.ToInt32(SoftLimitPos2, 0);
lblSoftLimit2.Text = mySoftLimitPos2.ToString();
/* Position Limit Connector {SINT} */
byte[] POSSensor = eeipClient.GetAttributeSingle(0x64, myInstance, 4);
string POSLimSensor = POSSensor[0].ToString();
if (string.CompareOrdinal(POSLimSensor, "255") == 0)
{
//they're equal
lblPosLimIn.Text = "NA";
}
else
{
lblPosLimIn.Text = POSSensor[0].ToString();
}
/* Negative Limit Connector {SINT} */
byte[] NEGSensor = eeipClient.GetAttributeSingle(0x64, myInstance, 5);
string NEGLimSensor = NEGSensor[0].ToString();
if (string.CompareOrdinal(NEGLimSensor, "255") == 0)
{
//they're equal
lblNegLimitIn.Text = "NA";
}
else
{
lblNegLimitIn.Text = NEGSensor[0].ToString();
}
/* Home Sensor Connector {SINT} */
byte[] HomeSensor = eeipClient.GetAttributeSingle(0x64, myInstance, 6);
string Home_Sensor = HomeSensor[0].ToString();
if (string.CompareOrdinal(Home_Sensor, "255") == 0)
{
//they're equal
lblHomeSensorIn.Text = "NA";
}
else
{
lblHomeSensorIn.Text = HomeSensor[0].ToString();
}
/* Brake Output {SINT}*/
byte[] BrakeOutput = eeipClient.GetAttributeSingle(0x64, myInstance, 7);
string myBrakeOutput = BrakeOutput[0].ToString();
if (string.CompareOrdinal(myBrakeOutput, "255") == 0)
{
//they're equal
lblBrakeOutput.Text = "NA";
}
else
{
lblBrakeOutput.Text = BrakeOutput[0].ToString();
}
/* Position Capture Sensor Connector {SINT}*/
byte[] PositionCaptureSensor = eeipClient.GetAttributeSingle(0x64, myInstance, 8);
string myPositionCaptureSensor = PositionCaptureSensor[0].ToString();
if (string.CompareOrdinal(myPositionCaptureSensor, "255") == 0)
{
//they're equal
labelPosCapSensor.Text = "NA";
}
else
{
labelPosCapSensor.Text = PositionCaptureSensor[0].ToString();
}
/* Max Deceleration Rate {DINT}*/
byte[] MaxDecelRate = eeipClient.GetAttributeSingle(0x64, myInstance, 9);
int myMaxDecelRate = BitConverter.ToInt32(MaxDecelRate, 0);
lblMaxDecelRate.Text = myMaxDecelRate.ToString();
/* Stop Sensor Connector {SINT} */
byte[] EstopSensor = eeipClient.GetAttributeSingle(0x64, myInstance, 10);
string StopSensor = EstopSensor[0].ToString();
if (string.CompareOrdinal(StopSensor, "255") == 0)
{
//they're equal
lblStopSensorIn.Text = "NA";
}
else
{
lblStopSensorIn.Text = EstopSensor[0].ToString();
}
/* Follow Encoder Axis {SINT}*/
byte[] FollowEncoderAxis = eeipClient.GetAttributeSingle(0x64, myInstance, 11);
string myFollowEncoderAxis = FollowEncoderAxis[0].ToString();
if (string.CompareOrdinal(myFollowEncoderAxis, "255") == 0)
{
//they're equal
lblFollowEncoderAxis.Text = "NA";
}
else
{
lblFollowEncoderAxis.Text = FollowEncoderAxis[0].ToString();
}
/* Follow Divisor {DINT}*/
byte[] FollowDivisor = eeipClient.GetAttributeSingle(0x64, myInstance, 12);
int myFollowDivisor = BitConverter.ToInt32(FollowDivisor, 0);
lblFollowDivisor.Text = myFollowDivisor.ToString();
/* Follow Encoder Axis {DINT}*/
byte[] FollowMultiplier = eeipClient.GetAttributeSingle(0x64, myInstance, 13);
int myFollowMultiplier = BitConverter.ToInt32(FollowMultiplier, 0);
lblFollowMultiplier.Text = myFollowMultiplier.ToString();
/* Format Supply Voltage Display */
byte[] SupplyVoltage = eeipClient.GetAttributeSingle(0x69, 1, 5);
float result = BitConverter.ToSingle(SupplyVoltage, 0);
decimal decimalValue = Math.Round((decimal)result, 4);
lblVoltage.Text = decimalValue.ToString();
myCount++; stslblHitCount.Text = myCount.ToString();
/* End DispatcherTimer Called Code */
}
private void btnOpen_Click(object sender, EventArgs e)
{
try
{
SessionStarted = true;
eeipClient.IPAddress = txtIPAddy.Text;
eeipClient.RegisterSession();
/* MAC Address Display */
byte[] MacAddress = eeipClient.GetAttributeSingle(0xF6, 1, 3);
string MacDisplay = BitConverter.ToString(MacAddress);
label41.Text = MacDisplay;
byte[] IdentityItems = eeipClient.GetAttributeSingle(0x01, 1, 6);
int mySerialNumber = BitConverter.ToInt32(IdentityItems);
byte[] MotorMode = eeipClient.GetAttributeSingle(0x69, 1, 2);
bool Mode = BitConverter.ToBoolean(MotorMode, 0);
if (Mode)
{
this.Text = ("ClearLink Monitor (M-Connector Mode)");
grpAlertReg.Visible = false;
grpStatusReg.Visible = false;
grpConfigData.Visible = false;
grpFeedback.Visible = false;
grpMConnector.Visible = true;
motorControls.Visible = false;
}
else
{
this.Text = ("ClearLink Monitor (Step and Direction Mode) | Device Serial Number: " + mySerialNumber);
grpAlertReg.Visible = true;
grpStatusReg.Visible = true;
grpConfigData.Visible = true;
grpFeedback.Visible = true;
grpMConnector.Visible = false;
motorControls.Visible = true;
}
rdoShowM0.Enabled = true;
rdoShowM1.Enabled = true;
rdoShowM2.Enabled = true;
rdoShowM3.Enabled = true;
}
catch (Exception)
{
eeipClient.UnRegisterSession();
throw;
}
checkBox1.Checked = true;
checkBox1.Enabled = true;
checkBox2.Enabled = true;
rdoShowM0.Checked = true;
myInstance = 1;
UpdateOutputRegs();
}
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
if (checkBox1.Checked)
{
ThisTimer.Start();
}
else
{
ThisTimer.Stop();
}
}
private void btnClose_Click(object sender, EventArgs e)
{
if (SessionStarted)
{
eeipClient.UnRegisterSession();
SessionStarted = false;
grpAlertReg.Visible = false;
grpStatusReg.Visible = false;
grpConfigData.Visible = false;
grpFeedback.Visible = false;
grpMConnector.Visible = false;
motorControls.Visible = false;
rdoShowM0.Enabled = false;
rdoShowM1.Enabled = false;
rdoShowM2.Enabled = false;
rdoShowM3.Enabled = false;
}
else
{
}
checkBox1.Checked = false;
checkBox1.Enabled = false;
checkBox2.Enabled = false;
}
private void checkBox2_CheckedChanged(object sender, EventArgs e)
{
if (checkBox2.Checked)
{
ThisTimer.Stop();
ThisTimer.Interval = TimeSpan.FromMilliseconds(50);
ThisTimer.Start();
}
else
{
ThisTimer.Stop();
ThisTimer.Interval = TimeSpan.FromMilliseconds(myDelay);
ThisTimer.Start();
}
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
if (SessionStarted)
{
eeipClient.UnRegisterSession();
}
else
{
}
}
private void UpdateLabels(object sender, EventArgs e)
{
UpdateMyLabels();
}
private void UpdateMyLabels()
{
if (rdoShowM0.Checked) { M0Bit = true; }
else { M0Bit = false; }
if (rdoShowM1.Checked) { M1Bit = true; }
else { M1Bit = false; }
if (rdoShowM2.Checked) { M2Bit = true; }
else { M2Bit = false; }
if (rdoShowM3.Checked) { M3Bit = true; }
else { M3Bit = false; }
if (M0Bit)
{
grpAlertReg.Text = "Motor 0 Alert Reg";
grpStatusReg.Text = "Motor 0 Status Reg";
grpFeedback.Text = "Motor 0 Motion Data";
grpConfigData.Text = "Motor 0 Config Data";
myInstance = 1;
UpdateOutputRegs();
}
if (M1Bit)
{
grpAlertReg.Text = "Motor 1 Alert Reg";
grpStatusReg.Text = "Motor 1 Status Reg";
grpFeedback.Text = "Motor 1 Motion Data";
grpConfigData.Text = "Motor 1 Config Data";
myInstance = 2;
UpdateOutputRegs();
}
if (M2Bit)
{
grpAlertReg.Text = "Motor 2 Alert Reg";
grpStatusReg.Text = "Motor 2 Status Reg";
grpFeedback.Text = "Motor 2 Motion Data";
grpConfigData.Text = "Motor 2 Config Data";
myInstance = 3;
UpdateOutputRegs();
}
if (M3Bit)
{
grpAlertReg.Text = "Motor 3 Alert Reg";
grpStatusReg.Text = "Motor 3 Status Reg";
grpFeedback.Text = "Motor 3 Motion Data";
grpConfigData.Text = "Motor 3 Config Data";
myInstance = 4;
UpdateOutputRegs();
}
}
private void grpCCIOIOStatus_Enter(object sender, EventArgs e)
{
}
private void grpMConnector_Enter(object sender, EventArgs e)
{
}
private void linkLabel1_Click(object sender, EventArgs e)
{
try
{
VisitLink();
}
catch (Exception)
{
MessageBox.Show("Unable to open link that was clicked.");
}
}
private void VisitLink()
{
Process.Start("explorer", "https://teknic.com/files/downloads/clearlink_ethernet-ip_object_reference.pdf");
}
private void button1_Click(object sender, EventArgs e)
{
Discover discover = new Discover();
discover.ShowDialog();
}
private void button2_Click(object sender, EventArgs e)
{
int myVelocity = Convert.ToInt32(textBox1.Text);
byte[] intBytes = BitConverter.GetBytes(myVelocity);
//byte[] result = intBytes;
eeipClient.SetAttributeSingle(0x66, myInstance, 2, intBytes);
checkBox7.Checked = true;
}
private void updateDWORD()
{
uint myBoxes = bitOne | bitTwo | bitThree | bitFour | bitFive | bitSix | bitSeven | bitEight;
byte[] bytes = BitConverter.GetBytes(myBoxes);
eeipClient.SetAttributeSingle(0x66, myInstance, 6, bytes);
}
private void checkBox3_CheckedChanged(object sender, EventArgs e)
{
if (checkBox3.Checked)
{
bitOne = 0b_0000_0001;
}
else if (!checkBox3.Checked)
{
bitOne = 0b_0000_0000;
}
updateDWORD();
}
private void checkBox4_CheckedChanged(object sender, EventArgs e)
{
if (checkBox4.Checked)
{
bitTwo = 0b_0000_0010;
}
else if (!checkBox4.Checked)
{
bitTwo = 0b_0000_0000;
}
updateDWORD();
}
private void checkBox5_CheckedChanged(object sender, EventArgs e)
{
if (checkBox5.Checked)
{
bitThree = 0b_0000_0100;
}
else if (!checkBox5.Checked)
{
bitThree = 0b_0000_0000;
}
updateDWORD();
}
private void checkBox6_CheckedChanged(object sender, EventArgs e)
{
if (checkBox6.Checked)
{
bitFour = 0b_0000_1000;
}
else if (!checkBox6.Checked)
{
bitFour = 0b_0000_0000;
}
updateDWORD();
}
private void checkBox7_CheckedChanged(object sender, EventArgs e)
{
if (checkBox7.Checked)
{
bitFive = 0b_0001_0000;
}
else if (!checkBox7.Checked)
{
bitFive = 0b_0000_0000;
}
updateDWORD();
}
private void checkBox8_CheckedChanged(object sender, EventArgs e)
{
if (checkBox8.Checked)
{
bitSix = 0b_0010_0000;
}
else if (!checkBox8.Checked)
{
bitSix = 0b_0000_0000;
}
updateDWORD();
}
private void checkBox9_CheckedChanged(object sender, EventArgs e)
{
if (checkBox9.Checked)
{
bitSeven = 0b_0100_0000;
}
else if (!checkBox9.Checked)
{
bitSeven = 0b_0000_0000;
}
updateDWORD();
}
private void checkBox10_CheckedChanged(object sender, EventArgs e)
{
if (checkBox10.Checked)
{
bitEight = 0b_1000_0000;
}
else if (!checkBox10.Checked)
{
bitEight = 0b_0000_0000;
}
updateDWORD();
}
private void button3_Click(object sender, EventArgs e)
{
int myAccel = Convert.ToInt32(txtAccel.Text);
byte[] intBytes = BitConverter.GetBytes(myAccel);
byte[] accelResult = intBytes;
eeipClient.SetAttributeSingle(0x66, myInstance, 4, accelResult);
}
private void button4_Click(object sender, EventArgs e)
{
int myVelocity = 0;
byte[] intBytes = BitConverter.GetBytes(myVelocity);
byte[] result = intBytes;
eeipClient.SetAttributeSingle(0x66, myInstance, 2, result);
checkBox7.Checked = true;
}
private void button5_Click(object sender, EventArgs e)
{
int myVelocity = Convert.ToInt32(textBox1.Text);
int myReVelocity = myVelocity * -1;
byte[] intBytes = BitConverter.GetBytes(myReVelocity);
byte[] result = intBytes;
eeipClient.SetAttributeSingle(0x66, myInstance, 2, result);
checkBox7.Checked = true;
}
private void button6_Click(object sender, EventArgs e)
{
int myVelocity = Convert.ToInt32(textBox1.Text);
byte[] intBytes = BitConverter.GetBytes(myVelocity);
byte[] result = intBytes;
eeipClient.SetAttributeSingle(0x66, myInstance, 2, result);
}
private void button7_Click(object sender, EventArgs e)
{
byte[] CurrentAccel = eeipClient.GetAttributeSingle(0x66, myInstance, 4);
int myCurrentAccel = BitConverter.ToInt32(CurrentAccel, 0);
txtAccel.Text = myCurrentAccel.ToString();
}
private void button8_Click(object sender, EventArgs e)
{
byte[] CommandedPosition = eeipClient.GetAttributeSingle(0x65, myInstance, 1);
int myCommandedPosition = BitConverter.ToInt32(CommandedPosition, 0);
int myCurrentPosition = myCommandedPosition * -1;
byte[] intBytes = BitConverter.GetBytes(myCurrentPosition);
byte[] result = intBytes;
eeipClient.SetAttributeSingle(0x66, myInstance, 7, result);
}
private void UpdateOutputRegs()
{
/* Step and Direction Motor Output Register Objects */
/* Output Register DWORD Valid bits 0-7 */
byte[] thisControlReg = eeipClient.GetAttributeSingle(0x66, myInstance, 6);
var myControlReg = new BitArray(thisControlReg);
/*
* Bit 0 Motor Enable
* Bit 1 Absolute Flag
* Bit 2 Homing Move Flag
* Bit 3 Load Position Move Flag
* Bit 4 Load Velocity Move Flag
* Bit 5 SW E-Stop
* Bit 6 Clear Alerts
* Bit 7 Clear Motor Fault
*/
checkBox3.Checked = myControlReg[0];
checkBox4.Checked = myControlReg[1];
checkBox5.Checked = myControlReg[2];
checkBox6.Checked = myControlReg[3];
checkBox7.Checked = myControlReg[4];
checkBox8.Checked = myControlReg[5];
checkBox9.Checked = myControlReg[6];
checkBox10.Checked = myControlReg[7];
byte[] CurrentMoveDistance = eeipClient.GetAttributeSingle(0x66, myInstance, 1);
int myCurrentMoveDistance = BitConverter.ToInt32(CurrentMoveDistance, 0);
txtMoveDist.Text = myCurrentMoveDistance.ToString();
byte[] CurrentVelocity = eeipClient.GetAttributeSingle(0x66, myInstance, 2);
int myCurrentVeloc = BitConverter.ToInt32(CurrentVelocity, 0);
textBox1.Text = myCurrentVeloc.ToString();