| gclib 1.32.6 Communications API for Galil controllers and PLCs |

record_position.cs
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1
10 using System;
11 using System.Collections.Generic;
12 using System.Linq;
13 using System.IO;
14 using System.Threading;
15
16 namespace examples
17 {
18 public static partial class Examples
19 {
31
32 public static int Record_Position(gclib gclib, string fileA, string fileB)
33 {
34 StreamWriter writerA = new StreamWriter(fileA, false);
35 StreamWriter writerB = new StreamWriter(fileB, false);
36
37 int recording = 1;
38
39 gclib.GProgramDownload(
40 "RC 0;' Disable Recording\n" +
41 "DP 0, 0;' Set current position to 0\r" +
42 "DM posA[1000], posB[1000];' Define a new array that will hold positional data\r" +
43 "RA posA[], posB[];' Sets position array to be where recorded data will be stored\r" +
44 "RD _TPA, _TPB;' Defines Position to be the type of data that will be recorded\r" +
45 "RC 1,-1000;' Begins recording at 512Hz in continuous mode\r" +
46 "MO AB;' Turns motors off\r" +
47 "AI -1;' Waits for active low on Input 1\r" +
48 "RC 0;' Disable Recording after Input 1 goes low\r" +
49 "EN;' End program"
50 );
51
52 gclib.GCommand("XQ");
53
54 int rd = 0;
55 int previous_rd = 0;
56 bool leading_comma = false;
57
58 do
59 {
60 Thread.Sleep(1000); //Sleep while we wait for roughly half the array to be written
61 rd = gclib.GCmdI("MG _RD"); //Gets address of next value in the position array
62
63 //Get values from posA[] array and write to file
64 Write_Array_To_File(gclib, writerA, "posA", previous_rd, rd, leading_comma);
65
66 //Get values from posB[] array and write to file
67 Write_Array_To_File(gclib, writerB, "posB", previous_rd, rd, leading_comma);
68
69 leading_comma = true;
70
71 recording = gclib.GCmdI("MG _RC"); //Check status of RC
72
73 previous_rd = rd;
74
75 } while (recording > 0); //While recording is active
76
77 writerA.Close();
78 writerB.Close();
79
80 return Examples.GALIL_EXAMPLE_OK;
81 }
82
83 private static void Write_Array_To_File(gclib gclib, StreamWriter writer, string array_name, int previous_rd, int rd, bool leading_comma)
84 {
85 List<double> values = new List<double>();
86 if (previous_rd < rd) // No array wrap around
87 {
88 //Grab list of doubles from controller and add it to values
89 values.AddRange(gclib.GArrayUpload(array_name, (short)previous_rd, (short)(rd - 1)));
90 }
91 else
92 {
93 //Grab list of doubles from controller and add it to values
94 values.AddRange(gclib.GArrayUpload(array_name, (short)previous_rd, 999));
95
96 if (rd != 0)
97 {
98 //Grab list of doubles from controller and add it to values
99 values.AddRange(gclib.GArrayUpload(array_name, 0, (short)(rd - 1)));
100 }
101 }
102
103
104 for (int i = 0; i < values.Count(); i++)
105 {
106 if (leading_comma)
107 writer.Write(", ");
108
109 leading_comma = true;
110
111 writer.Write(String.Format(("{0:0.000}"), values[i]));
112 }
113 }
115 }
116 }
examples.Examples
Provides a class of shared constants and methods for gclib's example projects.
Definition: commands.cs:16
examples.Examples.GALIL_EXAMPLE_OK
const int GALIL_EXAMPLE_OK
Examples success code.
Definition: examples.cs:29
examples.Examples.Record_Position
static int Record_Position(gclib gclib, string fileA, string fileB)
Record user's training and saves to a text file.
Definition: record_position.cs:32
examples
Definition: commands.cs:14