//SetStepMode-------------------------------
//Helper function for SetZStepperModeStruct
//Input: 0 (half-step), 1 (full step), or 2 (wave step)
//Ouput: 1 if successful, 0 if not
int zStepperDriver::SetStepMode(int stepperMode)
{
char out[5];
switch(stepperMode)
{
case 0:
sprintf(out, "SH\r");
break;
case 1:
sprintf(out, "SF\r");
break;
case 2:
sprintf(out, "SW\r");
break;
default:
//MessagePopup("Step Mode Error", "Invalid step mode specified.");
return 0; // Falls through to here if invalid input
}
ComWrt(port, out, 3);
stepMode = stepperMode;
return 1;
}
//ReadPos-------------------------------
//Report Position, save to member variables
//Input: none
//Ouput: motor position relative to origin in um
double zStepperDriver::ReadPos(double convFactor)
{
char out [5];
char in [15];
int termCharVal = 13;
int numBytesRead=0;
double pos;
//Output command to RS232
sprintf(out, "RC\r");
ComWrt(port, out, strlen(out));
Sleep(.05*1000); //*1000 because original value was for Delay function in CVI
//ComRd (port, in, 11);
numBytesRead = ComRdTerm (port, in, 11, termCharVal);
if (numBytesRead > 0)
in[numBytesRead]='\0'; //Add null terminator because sometimes there is random stuff in char array.
pos = atoi(in);
//if (getStepMode() ==0)
// pos = pos*2;
pos = pos * convFactor;
currentZPos = pos;
return pos;
}
//SetTorque-------------------------------
//helper function for toggleZTorqueStruct
//Input: mode = 0 (off) or 1 (on)
//Ouput: 1 if successful, 0 if not
int zStepperDriver::SetTorque(int mode)
{
char out[5];
switch(mode)
{
case 0:
sprintf(out, "SO\r");
break;
case 1:
sprintf(out, "SP\r");
break;
default:
//MessagePopup("Holding Torque Error", "Invalid torque mode specified.");
return 0;
}
ComWrt(port, out, 3);
return 1;
}
//Offset-------------------------------
//Move by value specified by stepSize field.
//Input: zStep = distance, in um, to move (relative to current position)
//Ouput: none
void zStepperDriver::Offset(double zStep, double convFactor)
{
char Str[15];
int numSteps;
//Calculate wait time
double waitTime = .015 * zStep;
if(waitTime < 0)
waitTime = -waitTime;
if(zStep > 0)
numSteps = (int) (zStep / convFactor + 0.5);
else
numSteps = (int) (zStep / convFactor - 0.5);
//Output command to RS232
sprintf(Str, "II%i\r", numSteps);
ComWrt(port, Str, strlen(Str));
Sleep(waitTime*1000); //*1000 because original value was for Delay function in CVI
ReadPos(currentStepConvFactor);
}
//OpenPort-------------------------------
//Initialize COM port, make stepper motor's current position home (0)
//Input: None
//Ouput: RS232 error code
int zStepperDriver::OpenPort()
{
int RS232Error;
char out[5];
char ptName[4];
//Initialize comm port
CloseCom(prevPort);
sprintf(ptName,"COM%i ",port);
RS232Error = OpenComConfig (port, ptName, 9600, 0, 8, 1, 512, 512);
SetXMode (port, 0);
SetCTSMode (port, 1);
SetComTime (port, 10);
sprintf(out, "HM0\r");
ComWrt(port, out, strlen(out));
//set previous port as newly opened port
prevPort = port;
return RS232Error;
}
int RKC_CommData ( int _ACT, int _ID, double *_Val)
{
int rLop = 0;
int RTNval = 0;
int BuffLEN = 0;
char Buff[128]={0};
char BBC = 0x00;
char dTRN[64] = {0};
static int Rs232Err = 0, NullPort = 0;
switch (_ACT)
{
case Config:
CloseCom(rkc.COM);
if (Rs232Err = ReturnRS232Err (), Rs232Err < 0)
return Rs232Err;
OpenComConfig(rkc.COM, "", rkc.Baud, rkc.Pari, rkc.Dbit, rkc.Sbit, 512, 512);
if (Rs232Err = ReturnRS232Err (), Rs232Err < 0)
{
NullPort = 1;
return Rs232Err;
}
SetCTSMode(rkc.COM, rkc.Flc);
if (Rs232Err = ReturnRS232Err (), Rs232Err < 0)
return Rs232Err;
SetComTime(rkc.COM, rkc.Tout);
if (Rs232Err = ReturnRS232Err (), Rs232Err < 0)
return Rs232Err;
NullPort = 0;
break;
case getTP:
Fmt(Buff, "%c%i[w2p0]%s[w2]%c", _EOT, (_ID & 0xFF), "M1", _ENQ);
// MessagePopup("getTP",Buff); //DJ_Added_0502KB_12_57
break;
case getSP:
Fmt(Buff, "%c%i[w2p0]%s[w2]%c", _EOT, (_ID & 0xFF), "S1", _ENQ);
break;
case getAL1:
Fmt(Buff, "%c%i[w2p0]%s[w2]%c", _EOT, (_ID & 0xFF), "A1", _ENQ);
break;
case getAL2:
Fmt(Buff, "%c%i[w2p0]%s[w2]%c", _EOT, (_ID & 0xFF), "A2", _ENQ);
break;
case getAT:
Fmt(Buff, "%c%i[w2p0]%s[w2]%c", _EOT, (_ID & 0xFF), "G1", _ENQ);
break;
case getST:
Fmt(Buff, "%c%i[w2p0]%s[w2]%c", _EOT, (_ID & 0xFF), "G2", _ENQ);
break;
case setRUN:
Fmt(Buff, "%c%i[w2p0]%c%s[w2]%f[p1]%c", _EOT, (_ID & 0xFF), _STX, "SR", *_Val, _ETX);
break;
case setSP:
Fmt(Buff, "%c%i[w2p0]%c%s[w2]%f[p1]%c", _EOT, (_ID & 0xFF), _STX, "S1", *_Val, _ETX);
break;
case setAL1:
Fmt(Buff, "%c%i[w2p0]%c%s[w2]%f[p1]%c", _EOT, (_ID & 0xFF), _STX, "A1", *_Val, _ETX);
break;
case setAL2:
Fmt(Buff, "%c%i[w2p0]%c%s[w2]%f[p1]%c", _EOT, (_ID & 0xFF), _STX, "A2", *_Val, _ETX);
break;
case setAT:
Fmt(Buff, "%c%i[w2p0]%c%s[w2]%f[p1]%c", _EOT, (_ID & 0xFF), _STX, "G1", *_Val, _ETX);
break;
case setST:
Fmt(Buff, "%c%i[w2p0]%c%s[w2]%f[p1]%c", _EOT, (_ID & 0xFF), _STX, "G2", *_Val, _ETX);
break;
case setPB:
Fmt(Buff, "%c%i[w2p0]%c%s[w2]%f[p1]%c", _EOT, (_ID & 0xFF), _STX, "PB", *_Val, _ETX);
break;
}
if (NullPort)
{
*_Val = 0.00;
}
// Command Transfer Process
if ((_ACT > 0x1F) && (NullPort == 0))
{
// ========================================================= [ Set RKC Data ]
// Flush Out Queue
FlushOutQ (rkc.COM);
Delay(0.5);
// Count Buffer Length
BuffLEN = StringLength (Buff);
// Calc BBC
BBC = 0x00;
for (rLop=4; rLop < BuffLEN; rLop++) BBC ^= Buff[rLop];
// Append BBC
Fmt ( Buff, "%s[a]<%c", BBC);
BuffLEN +=1;
// Sending Command
ComWrt ( rkc.COM, Buff, BuffLEN);
// Flush In Queue
FlushInQ (rkc.COM);
Delay(0.5);
ComRd (rkc.COM, dTRN, 1);
if (dTRN[0] == 0x06)
RTNval = 0; // Sending OK
else if (dTRN[0] == 0x15)
RTNval = -10; // Sending Lost
else
RTNval = -1; // Connect Lost
}
else if ((_ACT > 0x0F) && (NullPort == 0))
{
// ========================================================= [ Get RKC Data ]
// Flush OUT Queue
FlushOutQ (rkc.COM);
Delay(0.5);
// Send CMD
ComWrt ( rkc.COM, Buff, 6);
// Flush IN Queue
FlushInQ (rkc.COM);
Delay(0.5);
// Receive CMD
dTRN[0] = 0x00;
ComRd (rkc.COM, dTRN, 11);
Rs232Err = ReturnRS232Err();
if (ReturnRS232Err() == 0)
Scan (dTRN ,"%s[i5]>%f", _Val);
Delay(0.5);
Fmt ( Buff, "%c%c", _EOT, 0x00);
ComWrt (rkc.COM, Buff, 1);
}
return RTNval;
}
//MoveTo-------------------------------
//Move to absolute position
//Input: desired z position in um, relative to origin, converstion factor
//Ouput: none
void zStepperDriver::MoveTo(double zPos, double convFactor)
{
char Str [15];
char out [15];
char in [15];
int retVal = 0;
int termCharVal = 13;
int numSteps;
//Calculate wait time
//double stepWait = 0.010 * (zPos - ReadPos(convFactor)) ; //In seconds
//if(stepWait < 0)
// stepWait = -stepWait;
//double waitTime = stepWait + .1;
if(zPos > 0)
{
numSteps = (int) (zPos / convFactor + 0.5);
numSteps += 0; //Fudge factor
}
else
{
numSteps = (int) (zPos / convFactor - 0.5);
numSteps -= 0; //Fudge factor
}
//Output command to RS232
sprintf(Str, "MI%i\r", numSteps);
ComWrt(port, Str, strlen(Str));
Sleep(0.1*1000); //*1000 because original value was for Delay function in CVI
// retVal = FlushInQ (port);
// Sleep(.5*1000); //*1000 because original value was for Delay function in CVI
//Sleep(waitTime*1000); //*1000 because original value was for Delay function in CVI
//Wait here until z has reached position
int delta;
int test;
int count = 0;
sprintf(out, "RT\r");
do
{
retVal=ComWrt(port, out, strlen(out));
Sleep(0.1*1000); //*1000 because original value was for Delay function in CVI
//ComRd (port, in, 5);
retVal=ComRdTerm (port, in, 7, termCharVal);
if (retVal > 0)
in[retVal]='\0';
Sleep(0.1*1000); //*1000 because original value was for Delay function in CVI
//printf("%s \n",in);
//retVal = FlushOutQ (port);
//Sleep(.5*1000); //*1000 because original value was for Delay function in CVI
//retVal=ComRdTerm (port, in, 7, termCharVal);
//Sleep(.5*1000); //*1000 because original value was for Delay function in CVI
delta = atoi(in);
test = abs(delta);
sprintf(in,"");
count++;
} while(test > 4);
ReadPos(convFactor);
}
