vector_mode.cs

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using System.IO;
using System.Threading;
 
namespace examples
{
    public static partial class Examples
    {
 
        public static int Vector_Mode(gclib gclib, string file)
        {
            gclib.GCommand("ST"); // Stop all motors
            gclib.GCommand("SH AB"); // Set servo here
            gclib.GCommand("DP 0,0"); // Start position at absolute zero
 
            gclib.GCommand("CAS"); // Defines S as active coordinate system
            gclib.GCommand("VS 20000"); // Defines vector speed
            gclib.GCommand("VA 200000"); // Defines vector acceleration
            gclib.GCommand("VD 200000"); // Defines vector decelerlation
            gclib.GCommand("VM AB"); // Begin vector segment
 
            using (StreamReader reader = new StreamReader(file))
            {
                //Stores the available space of the vector buffer in the capacity variable
                int capacity = gclib.GCmdI("MG _LMS");
                Load_Buffer(gclib, reader, capacity);
 
                gclib.GCommand("BG S");
 
                do // Load buffer with more commands
                {
                    Thread.Sleep(100);
 
                    //Stores the available space of the vector buffer in the capacity variable
                    capacity = gclib.GCmdI("MG _LMS");
                } while (Load_Buffer(gclib, reader, capacity));
            }
 
            gclib.GCommand("VE"); // Segment End
            gclib.GMotionComplete("S");
 
            return GALIL_EXAMPLE_OK;
        }
 
        private static bool Load_Buffer(gclib gclib, StreamReader reader, int capacity)
        {
            string s_cmd;
            // Fully load the vector buffer leaving room for one VE command
            for (; capacity > 1; capacity--)
            {
                // If there is another line of the text file
                if ((s_cmd = reader.ReadLine()) != null)
                {
                    // Run the command on each line of the text file
                    gclib.GCommand(s_cmd);
                }
                else
                    return false;
            }
 
            return true;
        }
    }
}