Subversion Repositories f9daq

// C++ Example for Thorlabs LTS stages;

// 2023-09-06; 

// 2023-09-06;

// C++20;

// Kinesis 1.14.37;

// ==================

// This example uses the Kinesis C++ API to move and control Thorlabs integrated stepper motor, LTS, K10CR1, and MLJ stages.

//CVI Add dll path to: Options>Environment>Include Path> C:\Program Files\Thorlabs\Kinesis

#include <stdio.h>

#include <stdlib.h>

#include <stdbool.h>

#include <windows.h> 

#include <utility.h>

#include "ThorlabsMotionControlIntegratedStepperMotors.h"

void waitMove(char serialNo[]);

void waitHome(char serialNo[]);

char serialNumbers[][9] = {"45388004", "45387934","45388034"};  

// Set number of microsteps, found in APT communications protocol. Should be changed to 136533 if using K10CR1

int conversionRate = 409600;

void LTS_Home(int i){

//Set up homing parameters. 

                MOT_HomingParameters homingParams;

                ISC_GetHomingParamsBlock(serialNumbers[i], &homingParams);

                homingParams.direction = MOT_Reverse;

                ISC_SetHomingParamsBlock(serialNumbers[i], &homingParams);

                //Clear existing messages in the hardware buffer.

                ISC_ClearMessageQueue(serialNumbers[i]);

                //Home the stage and wait for the return message before continuing.

                ISC_Home(serialNumbers[i]);

                printf( "Homing...\n");

                waitHome(serialNumbers[i]);

                printf( "Homed...\n");

}

int LTS_Init(int i){

  int errorReturn = ISC_Open(serialNumbers[i]);

  Sleep(1000);

  if (errorReturn == 0){

          printf( "Device %d (%s) Connected...\n",i, serialNumbers[i] );

          //Settings are loaded based on Stage Name. The integrated stepper class holds LTS and K10CR1 Information.

          ISC_StartPolling(serialNumbers[i], 50);

          Sleep(1000);

  } else {

          printf( "Error connecting device %d (%s)\n",i, serialNumbers[i] );  

  }

  return errorReturn;

}

void LTS_Close(int i){

//Close the stage

        ISC_StopPolling(serialNumbers[i]);

        ISC_Close(serialNumbers[i]);

        printf( "Device Disconnected...\n");

}

void LTS_MoveAbsolute(int i, int position){

        ISC_SetMoveAbsolutePosition(serialNumbers[i], conversionRate * position);

    ISC_MoveAbsolute(serialNumbers[i]);

}

void LTS_MoveRelative(int i, int distance){

        ISC_SetMoveRelativeDistance(serialNumbers[i], distance);

    ISC_MoveRelativeDistance(serialNumbers[i]);

}

int LTS_GetPosition(int i){

  return ISC_GetPosition(serialNumbers[i]);

}

//Waits should only be used for Home commands. The home command has a different status return.

void waitHome(char serialNo[])// Waits until a single axis is homed.

{

        WORD messageType;

        WORD messageId;

        DWORD messageData;

        ISC_WaitForMessage(serialNo, &messageType, &messageId, &messageData);

        while (messageType != 2 || messageId != 0)

        {

                ISC_WaitForMessage(serialNo, &messageType, &messageId, &messageData);

                printf( "pos: %d\n" ,     ISC_GetPosition(serialNo) );

        }

}

void waitMove(char serialNo[])// Waits until axis is stopped.

{

        WORD messageType;

        WORD messageId;

        DWORD messageData;

        ISC_WaitForMessage(serialNo, &messageType, &messageId, &messageData);

        while (messageType != 2 || messageId != 1)

        {

                ISC_WaitForMessage(serialNo, &messageType, &messageId, &messageData);

                printf( "pos: %d\n",      ISC_GetPosition(serialNo) );      

        }

}

#ifdef THORLABS_MAIN

int __stdcall WinMain (HINSTANCE hInstance, HINSTANCE hPrevInstance,

                       LPSTR lpszCmdLine, int nCmdShow) {

  int i,j;

  int nlines,atline;

  int evcontrl,evpanel,p1_h,ierr,type;

  int rstat,n1,n2, n3, nid;

  int comled;

  int lid[16]= {P1_L1,P1_L2,P1_L3,P1_L4,P1_L5,P1_L6,P1_L7,P1_L8,

                P1_L9,P1_L10,P1_L11,P1_L12,P1_L13,P1_L14,P1_L15,P1_L16

               };

  short int ns2, port;

  char tline[80];

  if (InitCVIRTE (hInstance, 0, 0) == 0) return -1; /* out of memory */

//  p1_h = LoadPanel (0,"ThorlabsLTS_ui.uir", P1);

  p1_h = BuildP1 (0);

  ierr = DisplayPanel (p1_h);

  ierr = SetActiveCtrl (p1_h,P1_B1);

  ierr = SetActiveCtrl (p1_h,P1_B2);

  ierr = SetActiveCtrl (p1_h,P1_B3);

  while (1) {

    ierr = GetUserEvent (1, &evpanel, &evcontrl);

    if (evcontrl == P1_B1) break;

    GetCtrlVal (p1_h, P1_COMLED, &comled);

    if (!comled) {

      GetCtrlVal (p1_h, P1_PORT, &port);

      if (MIKRO_Open (port)) continue;

      MIKRO_Init(1,0);

      MIKRO_Init(2,0);

      MIKRO_Init(3,0);

      SetCtrlVal (p1_h, P1_COMLED, 1);

    }

    switch (evcontrl) {

      case P1_BL:

        MoveRelative(0,1000);

        break;

      case P1_BR:

        MoveRelative(1,1000);

        break;

      case P1_BU:

        MoveRelative(2,1000);

        break;

      case P1_BD:

        MoveRelative(0,-1000);

        break;

      case P1_BF:

        MoveRelative(1,-1000);

        break;

      case P1_BB:

        MoveRelative(2,-1000);

        break;

      case P1_HO:

        ierr = GetCtrlVal (p1_h, P1_N3, &nid);

        LTS_Home(nid);

        break;

      case P1_GX:

        GetCtrlVal (p1_h, P1_XG, &n2);

                LTS_MoveAbsolute(0,n2);

        break;

      case P1_GY:

        GetCtrlVal (p1_h, P1_YG, &n2);

        LTS_MoveAbsolute(1,n2);

        break;

      case P1_GZ:

        GetCtrlVal (p1_h, P1_ZG, &n3);

        LTS_MoveAbsolute(2,n2);

        break;

      case P1_G:

        GetCtrlVal (p1_h, P1_XG, &n2);

        LTS_MoveAbsolute(0,n2);

        GetCtrlVal (p1_h, P1_YG, &n2);

        LTS_MoveAbsolute(1,n2);

        GetCtrlVal (p1_h, P1_ZG, &n3);

        LTS_MoveAbsolute(2,n3);

      case P1_B2:

      case P1_S1:

                  /*

        ierr = GetCtrlVal (p1_h, P1_S1, MIKRO_Send);

        nout = strlen (MIKRO_Send);

        MIKRO_Send[nout++]=13;

        rstat = FlushInQ (MIKRO_Port);

        rstat = ComWrt (MIKRO_Port, MIKRO_Send, nout);

        if ((nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa))!=0)

          nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa);

        if (nin!=0) nin--;

        MIKRO_Receive[nin]=0;

        switch (nin) {

          case 0:

            ierr = SetCtrlVal (p1_h, P1_N2, 0);

            break;

          case 9:

            nout = sscanf (MIKRO_Receive, "%x %hx", &n1,&ns2);

            ierr = SetCtrlVal (p1_h, P1_N2, ns2);

            break;

          case 13:

            nout = sscanf (MIKRO_Receive, "%x %x", &n1,&n2);

            ierr = SetCtrlVal (p1_h, P1_N2, n2);

            break;

          default:

            break;

        }

        ierr = SetCtrlVal (p1_h, P1_N1, nin);

        ierr = SetCtrlVal (p1_h, P1_S2, MIKRO_Receive);

                  */

        break;

      case P1_B3: // reset

                /*

                  ierr = GetCtrlVal (p1_h, P1_N3, &nid);

        ierr = GetCtrlVal (p1_h, P1_STAGETYPE, &type);

        MIKRO_Reset(nid);

        rstat = GetNumTextBoxLines (p1_h, P1_T1, &atline);

        rstat = InsertTextBoxLine (p1_h, P1_T1, atline, MIKRO_Receive);

        MIKRO_Init(nid, type);

                */

        break;

      case P1_B4: // status

                  /*

        ierr = GetCtrlVal (p1_h, P1_N3, &nid);

        n2=MIKRO_GetStat(nid);

        ierr = SetCtrlVal (p1_h, P1_N2, n2);

        ierr = SetCtrlVal (p1_h, P1_N1, nin);

        ierr = SetCtrlVal (p1_h, P1_S2, MIKRO_Receive);

        for (i=0; i<16; i++) {

          ierr = SetCtrlVal (p1_h, lid[i], n2 & 1);

          n2>>=1;

        }

                  */

        break;

      case P1_EN:

                  /*

        ierr = GetCtrlVal (p1_h, P1_N3, &nid);

        MIKRO_Cmd(nid,"en");

                  */

        break;

      default:

        break;

    }

    Delay(0.1);

    n2 = LTS_GetPosition(0);

    SetCtrlVal (p1_h, P1_XP, n2);

    n2 = LTS_GetPosition(1);

    SetCtrlVal (p1_h, P1_YP, n2);

    n2 = LTS_GetPosition(2);

    SetCtrlVal (p1_h, P1_ZP, n2);

  }

  GetCtrlVal (p1_h, P1_COMLED, &comled);

  if (comled) for (int i=0;i<3;i++) LTS_Close (i);

  return 0;

}

#else

// *************************************

int main(int argc, char ** argv)

{

        //Sets up simulations. Comment in if running on physical hardware. 

        //TLI_InitializeSimulations();

        //Input serial number. Change for your specific device. 

        //serials = ["45388004", "45387934","45388034"] 

        //Build Device List and open device.

        TLI_BuildDeviceList();

        TLI_DeviceInfo info;

        int err=0;

        for (int i=0;i<3;i++){

          TLI_GetDeviceInfo(serialNumbers[i], &info);

          printf("%s\n", info.description);

          Sleep(1000);

          err |= LTS_Init(i);

        }  

        for (int i=0;i<3;i++){

                //Move the stage and wait for the return message before continuing.

                for (int k=0;k<10;k++){

                  LTS_MoveAbsolute(i,k);

                  printf( "Moving ...\n");

                  waitMove(serialNumbers[i]);

                  printf( "Move Complete...\n");

                }

        }

        for (int i=0;i<3;i++){

           LTS_Close(i);

        }

        //Closes simulations. Comment if running on physical hardware. 

        //TLI_UninitializeSimulations();

        Delay(10);

        return 0;

}

#endif