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ebbits tisch demo

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BlubbFish 2015-11-27 12:19:02 +00:00
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20
AdvancedServo-simple.sln Normal file
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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 2012
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AdvancedServo-simple", "AdvancedServo-simple\AdvancedServo-simple.csproj", "{94AEADEA-85AF-4DBD-AA16-4BE165FF538B}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{94AEADEA-85AF-4DBD-AA16-4BE165FF538B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{94AEADEA-85AF-4DBD-AA16-4BE165FF538B}.Debug|Any CPU.Build.0 = Debug|Any CPU
{94AEADEA-85AF-4DBD-AA16-4BE165FF538B}.Release|Any CPU.ActiveCfg = Release|Any CPU
{94AEADEA-85AF-4DBD-AA16-4BE165FF538B}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

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AdvancedServo-simple/AdvancedServo-simple.csproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="4.0">
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProductVersion>8.0.50727</ProductVersion>
<SchemaVersion>2.0</SchemaVersion>
<ProjectGuid>{94AEADEA-85AF-4DBD-AA16-4BE165FF538B}</ProjectGuid>
<OutputType>Exe</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>AdvancedServo_simple</RootNamespace>
<AssemblyName>AdvancedServo-simple</AssemblyName>
<TargetFrameworkVersion>v2.0</TargetFrameworkVersion>
<FileUpgradeFlags>
</FileUpgradeFlags>
<UpgradeBackupLocation>
</UpgradeBackupLocation>
<OldToolsVersion>2.0</OldToolsVersion>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<ItemGroup>
<Reference Include="Phidget21.NET, Version=2.1.2.0, Culture=neutral, PublicKeyToken=c2b1f2a3594bce52, processorArchitecture=x86">
<SpecificVersion>False</SpecificVersion>
</Reference>
<Reference Include="System" />
<Reference Include="System.Data" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
</ItemGroup>
<Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.
<Target Name="BeforeBuild">
</Target>
<Target Name="AfterBuild">
</Target>
-->
</Project>

272
AdvancedServo-simple/Program.cs Normal file
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/*- AdvancedServo simple -
0****************************************************************************************
* This example simply displays the Phidget AdvancedServo serial number when it is
* attached and sets the servo positions, velocity, and acceleration to 0. Then we will
* do a simple simulation of a basic movement of a servo motor at 100.00 velocity and
* 100.00 Acceleration. I decided to leave out the current change event handler for
* easier readability. For a more detailed example, see the Servo-full example.
*
* Please note that this example was designed to work with only one Phidget AdvanceServo
* connected.
* For an example showing how to use two Phidgets of the same time concurrently, please see the
* Servo-multi example in the Servo Examples.
* Copyright 2007 Phidgets Inc. All rights reserved.*/
using System;
using System.Collections.Generic;
using System.Text;
//Needed for the AdvancedServo class, phidget base classes, and PhidgetException class
using Phidgets;
//Needed for the event handling classes
using Phidgets.Events;
//Using this simply for the sleep() method so that the for loop will wail for the motor
//to finish moving to the previous new position before setting a new position
using System.Threading;
using System.IO.Ports;
namespace AdvancedServo_simple {
class Program {
private static AdvancedServo advServo;
private static SerialPort led;
static void Main(string[] args) {
connectLed("COM50");
trainOn(1);
Console.WriteLine("Train Engaged. Press Key");
Console.ReadLine();
trainMove();
readStop();
//Console.WriteLine("Wait to its stop. Press Key, then it Laser and Move");
//Console.ReadLine();
controlLaser(169861);
trainMove();
readStop();
//Console.WriteLine("Wait to its stop. Press Key, then it Paint and Move");
//Console.ReadLine();
controlPaint(169889);
trainMove();
readStop();
//Console.WriteLine("Wait to its stop. Press Key, then it put the Glas and Move");
//Console.ReadLine();
controlGlass(169887);
trainMove();
readStop();
//Console.WriteLine("Wait to its stop. Press Key, then it moves Back");
//Console.ReadLine();
changeDir(0);
trainMove();
readStop();
//Console.WriteLine("Wait to its stop. Press Key, then it moves Back");
//Console.ReadLine();
trainMove();
led.Close();
}
private static void readStop() {
string r = led.ReadLine();
while(!System.Text.RegularExpressions.Regex.Match(r, "\\*r[0-9]=[0-9A-Fa-f]*\\$.*#").Success) {
r = led.ReadLine();
}
}
private static void changeDir(byte dir) {
serialSend('d', 2, dir); //Richtung = 0
}
private static void trainMove() {
serialSend('b', 2, 0); //Bremse aus
}
private static void trainOn(byte dir) {
serialSend('p', 2, 1); //Speed = 1
serialSend('d', 2, dir); //Richtung = 1
serialSend('b', 2, 1); //Bremse = an
}
private static void setLaser(byte p) {
serialSend('l', 1, p);
}
private static void setColor(byte p) {
serialSend('c', 1, p);
}
private static int serialReadCurrent() {
serialSend('u', 1, 0, false);
string r = led.ReadLine();
return Int32.Parse(r.Substring(3, (r.Length - 7)));
}
private static void serialSend(char key, byte pos, byte val, bool loud = true) {
string cdata = key + pos + "=" + val;
char c = '$';
foreach(char t in cdata) {
c = (char)(c ^ t);
}
string s = "*"+key+pos.ToString()+"="+val.ToString()+"$"+c+"#";
if(loud) {
Console.WriteLine("Serial: " + s);
}
led.WriteLine(s);
}
private static void connectLed(string led_com) {
led = new SerialPort(led_com, 57600);
led.Open();
led.WriteLine("");
}
private static void controlLaser(int serial) {
connectServo(serial);
if(!advServo.Attached) { return; }
setStartPosition(new int[] { 0, 77, 175, 155, 84 });
Thread.Sleep(200);
Console.WriteLine("Servos are in Start!");
setPosition(new int[] { -1, 77, 157, 134, 84 }, 400);
setPosition(new int[] { -1, 83, 97, 116, 44 }, 200);
setLaser(1);
setPosition(new int[] { -1, 102, 90, 108, 42 }, 20);
setPosition(new int[] { -1, 98, 79, 90, 48 }, 20);
setPosition(new int[] { -1, 83, 82, 95, -1 }, 20);
setPosition(new int[] { -1, 83, 97, 116, 44 }, 20);
setLaser(0);
setPosition(new int[] { -1, 77, 157, 134, 84 }, 400);
setPosition(new int[] { -1, 77, 175, 155, 84 }, 400);
//Thread.Sleep(100);
shutdownServo();
}
private static void controlPaint(int serial) {
connectServo(serial);
if(!advServo.Attached) { return; }
/* not needed, turn, */
setStartPosition(new int[] { 0, 87, 175, 160, 92 });
Thread.Sleep(1000);
Console.WriteLine("Servos are in Start!");
setPosition(new int[] { -1, 87, 153, 138, 92 }, 400);
setPosition(new int[] { -1, 44, 111, 161, 63 }, 200);
setColor(2);
setPosition(new int[] { -1, 90, -1, -1, -1 }, 50);
setColor(0);
setPosition(new int[] { -1, -1, 140, -1, -1 }, 200);
setPosition(new int[] { -1, -1, 71, 55, 110 }, 200);
setPosition(new int[] { -1, -1, 43, 42, 175 }, 200);
setColor(2);
setPosition(new int[] { -1, 60, 33, 22, -1 }, 50);
setColor(0);
setPosition(new int[] { -1, -1, 63, 45, 150 }, 200);
setPosition(new int[] { -1, 50, 68, 76, 132 }, 200);
setColor(7);
setPosition(new int[] { -1, -1, -1, -1, 160 }, 100);
setPosition(new int[] { -1, 60, -1, -1, 172 }, 100);
setPosition(new int[] { -1, -1, -1, -1, 144 }, 100);
setPosition(new int[] { -1, 70, -1, -1, 150 }, 100);
setPosition(new int[] { -1, -1, -1, -1, 175 }, 100);
setPosition(new int[] { -1, 80, -1, -1, -1 }, 100);
setPosition(new int[] { -1, -1, -1, -1, 155 }, 100);
setPosition(new int[] { -1, 90, 74, 84, 148 }, 100);
setPosition(new int[] { -1, -1, -1, -1, 175 }, 100);
setPosition(new int[] { -1, 100, -1, -1, 166 }, 100);
setPosition(new int[] { -1, -1, -1, -1, 146 }, 100);
setColor(0);
setPosition(new int[] { -1, -1, 100, -1, -1 }, 200);
setPosition(new int[] { 0, 87, 175, 160, 92 }, 400);
//Thread.Sleep(100);
shutdownServo();
}
private static void controlGlass(int serial) {
connectServo(serial);
if(!advServo.Attached) { return; }
setStartPosition(new int[] { 20, 68, 175, 175, 20 });
Thread.Sleep(1000);
Console.WriteLine("Servos are in Start!");
setPosition(new int[] { 20, 68, 160, 162, 20 }, 400);
setPosition(new int[] { -1, 154, 88, 88, -1 }, 400);
setPosition(new int[] { -1, -1, 86, 116, 42 }, 200);
setPosition(new int[] { -1, -1, 77, -1, 48 }, 50);
setPosition(new int[] { 160, -1, -1, -1, -1 }, 200);
setPosition(new int[] { -1, -1, 85, -1, -1 }, 20);
setPosition(new int[] { -1, -1, -1, 106, -1 }, 200);
setPosition(new int[] { -1, -1, 118, 122, 174 }, 200);
Console.WriteLine("Picked Up Glas");
setPosition(new int[] { -1, 13, -1, -1, -1 }, 300);
setPosition(new int[] { -1, -1, 90, 100, 20 }, 200);
setPosition(new int[] { -1, -1, 82, 97, 25 }, 20); // Fine Settings
Console.WriteLine("Placed Glas!");
Thread.Sleep(1000);
setPosition(new int[] { -1, -1, 90, 90, 20 }, 20); // Fine Lift
setPosition(new int[] { -1, -1, 103, 105, 80 }, 150);
setPosition(new int[] { -1, -1, -1, -1, 174 }, 300);
setPosition(new int[] { -1, 154, 118, 122, -1 }, 300);
setPosition(new int[] { -1, -1, 86, 102, 42 }, 300);
setPosition(new int[] { -1, -1, 81, 113, 48 }, 100);
setPosition(new int[] { -1, -1, -1, 117, -1 }, 20);
setPosition(new int[] { 20, -1, 78, -1, -1 }, 150);
setPosition(new int[] { -1, -1, 81, 111, -1 }, 20);
setPosition(new int[] { -1, -1, 90, -1, -1 }, 100);
Console.WriteLine("Put Glas back!");
setPosition(new int[] { 20, 68, 160, 162, 20 }, 400);
setPosition(new int[] { 20, 68, 175, 175, 20 }, 400);
Thread.Sleep(100);
shutdownServo();
}
private static void shutdownServo() {
servosStop();
//Console.WriteLine("End. Press Key");
//Console.ReadLine();
return;
}
private static void connectServo(int serial) {
advServo = new AdvancedServo();
advServo.open(serial);
Console.WriteLine("Waiting for Advanced Servo \"" + serial + "\" to be attached...");
advServo.waitForAttachment();
//Console.WriteLine("Pess KEY... To start!");
//Console.ReadLine();
}
private static void setPosition(int[] pos, int speed) {
for(int i = 0; i < 5; i++) {
if(pos[i] != -1) {
AdvancedServoServo s = advServo.servos[i];
s.Acceleration = speed;
s.Position = pos[i];
}
}
for(int i = 0; i < 5; i++) {
if(pos[i] != -1) {
AdvancedServoServo s = advServo.servos[i];
while(Math.Abs(s.Position - pos[i]) > 0.01) { Thread.Sleep(10); s.Position = pos[i]; }
}
}
}
private static void servosStop() {
for(int i = 0; i < 5; i++) {
advServo.servos[i].Engaged = false;
}
}
private static void setStartPosition(int[] positions) {
for(int i = 0; i < 5; i++) {
AdvancedServoServo s = advServo.servos[i];
s.Type = ServoServo.ServoType.TOWERPRO_MG90;
s.Acceleration = 10000;
s.VelocityLimit = 200;
s.Position = positions[i];
s.Engaged = true;
}
}
}
}

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AdvancedServo-simple/Properties/AssemblyInfo.cs Normal file
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using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// General Information about an assembly is controlled through the following
// set of attributes. Change these attribute values to modify the information
// associated with an assembly.
[assembly: AssemblyTitle("AdvancedServo-simple")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("Phidgets Inc.")]
[assembly: AssemblyProduct("AdvancedServo-simple")]
[assembly: AssemblyCopyright("Copyright © Phidgets Inc. 2007")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// Setting ComVisible to false makes the types in this assembly not visible
// to COM components. If you need to access a type in this assembly from
// COM, set the ComVisible attribute to true on that type.
[assembly: ComVisible(false)]
// The following GUID is for the ID of the typelib if this project is exposed to COM
[assembly: Guid("35c7dfbc-b70d-4603-9844-3fd32bce5b60")]
// Version information for an assembly consists of the following four values:
//
// Major Version
// Minor Version
// Build Number
// Revision
//
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]