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program Delphi_test;
{$APPTYPE CONSOLE}
uses
SysUtils,
Windows,
ST_function in 'ST_function.pas';
var
Dev: Longword;
DVS: TUSMC_Devices;
StandaClass: TStandaClass;
SMPower:boolean = FALSE;
procedure Cls;
var
buffer: TConsoleScreenBufferInfo;
i: integer;
begin
GetConsoleScreenBufferInfo(GetStdHandle(STD_OUTPUT_HANDLE),buffer);
for i:=0 to buffer.dwSize.y do writeln;
end;
// Function that prints information about connected devices to console
procedure PrintDevices(DVS: TUSMC_Devices);
var
i: integer;
Serial,Version:array of PChar;
begin
Serial:=DVS.Serial;
SetLength(Serial,DVS.NOD);
Version:=DVS.Version;
SetLength(Version,DVS.NOD);
for i:=0 to DVS.NOD-1 do
begin
writeln( Format('Device - %d,'+#9+'Serial Number - %.16s,'+#9+'Version - %.4s', [i+1, Serial[i], Version[i]] ));
end;
end;
// Function that prints last error information
procedure PrintError;
var
err: array[0..100] of Char;
p_err: PChar;
begin
err:='';
p_err:=err;
StandaClass.USMC_GetLastErr(p_err,100);
writeln('');
write(p_err);
end;
// Function that prints information about device state to console
procedure PrintDState(const State: TUSMC_State);
var
s,ss: string;
begin
writeln( 'The state is:' );
writeln( Format('- Current Position in microsteps - %d', [State.CurPos] ));
writeln( Format('- Temperature - %.2f'+#248+#67, [State.Temp] ));
writeln( Format('- Step Divisor - %d', [State.SDivisor]));
if (State.Loft) then s:='Indefinite' else s:='Fixed';
writeln( Format('- Loft State - %s', [s] ));
if (State.Power) then
begin
if (State.FullPower) then s:='Full' else s:='Half';
end
else s:='Off';
writeln( Format( '- Power - %s', [s] ));
if State.RUN then
begin
if State.CW_CCW then s:='CCW' else s:='CW';
if ((State.SDivisor=1) and State.FullSpeed) then ss:='at Full Speed' else ss:='';
writeln( Format('- Step Motor is Running in %s Direction %s', [s,ss]));
end
else writeln( '- Step Motor is Not Running' );
if State.AReset then s:='is After Reset' else s:='Position Already Set';
writeln( Format('- Device %s', [s]));
if State.SyncIN then s:='TRUE' else s:='FALSE';
writeln( Format('- Input Synchronization Logical Pin State - %s', [s]));
if State.SyncOUT then s:='TRUE' else s:='FALSE';
writeln( Format('- Output Synchronization Logical Pin State - %s', [s]));
if State.RotTr then s:='TRUE' else s:='FALSE';
writeln( Format('- Rotary Transducer Logical Pin State - %s', [s]));
if State.RotTrErr then s:='Error' else s:='Clear';
writeln( Format('- Rotary Transducer Error Flag - %s', [s]));
if State.EmReset then s:='Pushed' else s:='Unpushed';
writeln( Format('- Emergency Disable Button - %s', [s]));
if State.Trailer1 then s:='Pushed' else s:='Unpushed';
writeln( Format('- Trailer 1 Press State - %s', [s]));
if State.Trailer2 then s:='Pushed' else s:='Unpushed';
writeln( Format('- Trailer 2 Press State - %s', [s]));
if State.Voltage = 0.0 then
writeln( '- Input Voltage - Low' )
else
writeln( Format('- Input Voltage - %.1fV', [State.Voltage]));
end;
// Function that scans start parameters
procedure ScanDStartParameters(var DPos: integer; var Speed:single; var SP: TUSMC_StartParameters);
var
s:string;
begin
// Defaults
Speed:= 2000.0;
DPos:= 0;
SP.SDivisor:= 8;
write( 'Destination position:' );
readln(s);
DPos:= StrToIntDef(s,DPos);
write( 'Speed (in tacts):' );
readln(s);
Speed:= StrToFloatDef(s,Speed);
write( 'Steps Divisor:' );
readln(s);
SP.SDivisor:= StrToIntDef(s,SP.SDivisor);
end;
// Function that prints information about device start parameters to console
procedure PrintDStartParameters(DPos:integer; Speed:single; const SP:TUSMC_StartParameters);
var
s:string;
begin
writeln( Format('Destination position - %d', [DPos]));
writeln( Format('Speed - %.2f tacts/s', [Speed] ));
writeln( Format('Steps Divisor - %d', [SP.SDivisor] ));
if SP.SDivisor = 1 then
begin
if SP.SlStart then s:='Enabled' else s:='Disabled';
writeln( Format( 'Slow start/stop mode - %s', [s] ));
end
else if SP.LoftEn then
begin
writeln('Automatic backlash operation - Enabled' );
if SP.DefDir then s:='CCW' else s:='CW';
writeln(Format('Automatic backlash operation direction - %s', [s]));
if SP.ForceLoft then s:='TRUE' else s:='FALSE';
writeln(Format('Force automatic backlash operation - %s', [s]));
end
else
begin
writeln('Automatic backlash operation - Disabled');
end;
if SP.WSyncIN then
writeln('Controller will wait for input synchronization signal to start' )
else
writeln('Input synchronization signal ignored' );
if SP.SyncOUTR then s:='' else s:='not ';
writeln(Format('Output synchronization counter will %sbe reset', [s]));
end;
// Function that prints information about device "mode" parameters to console
procedure PrintDMode(const Mode:TUSMC_Mode);
var
s:string;
begin
writeln('Mode parameters:' );
write('Buttons - ');
if Mode.PMode then
writeln('Disabled')
else
begin
writeln('Enabled');
if Mode.Butt1T then s:='+3/+5 V' else s:='0 V(GND)';
writeln('Button 1 TRUE state - '+s);
if Mode.Butt2T then s:='+3/+5 V' else s:='0 V(GND)';
writeln('Button 2 TRUE state - '+s);
end;
if Mode.PReg then s:='Used' else s:='Not Used';
writeln('Current reduction regime - '+s);
if Mode.ResetD then
begin
if Mode.EMReset then s:='Emerjency Off' else s:='Off';
writeln('Power - '+s);
end
else
writeln('Power - On' );
if (Mode.Tr1En or Mode.Tr2En) then
begin
if Mode.TrSwap then s:='Swapped' else s:='Direct';
writeln('Trailers are - '+s);
end;
write( 'Trailer 1 - ');
if Mode.Tr1En then
begin
if Mode.Tr1T then s:='+3/+5 V' else s:='0 V(GND)';
writeln('Enabled');
writeln('Trailer 1 TRUE state - '+s);
end
else
writeln('Disabled');
write( 'Trailer 2 - ');
if Mode.Tr2En then
begin
if Mode.Tr2T then s:='+3/+5 V' else s:='0 V(GND)';
writeln('Enabled');
writeln('Trailer 2 TRUE state - '+s);
end
else
writeln('Disabled');
if Mode.EncoderEn then
begin
writeln( 'Encoder - Enabled');
if Mode.EncoderInv then s:='Inverted' else s:='Direct';
writeln( Format('Encoder Position Counter is %s', [s]));
writeln( 'Rotary Transducer and Input Syncronisation are');
writeln( 'Disabled Because of Encoder');
end
else
begin
writeln( 'Encoder - Disabled');
write( 'Rotary Transducer - ');
if Mode.RotTeEn then
begin
writeln('Enabled');
if Mode.RotTrT then s:='+3/+5 V' else s:='0 V(GND)';
writeln('Rotary Transducer TRUE state - '+s);
if Mode.RotTrOp then s:='Stop on error' else s:='Check and ignore error';
writeln('Rotary Transducer Operation - '+s);
if Mode.ResetRT then s:='Initiated' else s:='No, why?';
writeln('Reset Rotary Transducer Check Positions - '+s);
end
else writeln('Disabled');
writeln('Synchronization input mode:');
if Mode.SyncINOp then writeln('Step motor will move one time to the destination position')
else writeln('Step motor will move multiple times by [destination position]');
end;
write( 'Output Syncronization - ');
if Mode.SyncOUTEn then
begin
if Mode.SyncOUTR then s:='Initiated' else s:='No, why?';
writeln('Enabled');
writeln('Reset Output Synchronization Counter - '+s);
writeln(Format('Number of steps after which synchronization output sygnal occures - %u', [Mode.SyncCount] ));
end
else writeln('Disabled');
writeln('Synchronization input mode:');
if Mode.SyncINOp then
writeln('Step motor will move one time to the destination position')
else
writeln('Step motor will move multiple times by [destination position]');
write('Synchronization Output is ');
if Mode.SyncInvert then
writeln('INVERTED')
else
writeln('NORMAL');
end;
procedure PrintEnState(EnState:TUSMC_EncoderState;up:TUSMC_Parameters);
begin
writeln('The encoder state is:');
writeln(Format('- Current Position in microsteps - %.2f', [EnState.ECurPos/up.EncMult] ));
writeln(Format('- Encoder Position in microsteps - %.2f', [EnState.EncoderPos/up.EncMult] ));
writeln('');
writeln(Format('- Current Position in "Half of Encoder Step" - %d', [EnState.ECurPos] ));
writeln(Format('- Encoder Position in "Half of Encoder Step" - %d', [EnState.EncoderPos] ));
end;
// Function that prints information about device parameters to console
procedure PrintDParameters(Parameters:TUSMC_Parameters);
begin
writeln('The parameters are:' );
writeln(Format('Full acceleration time - %.0f ms', [ Parameters.AccelT] ));
writeln(Format('Full deceleration time - %.0f ms', [Parameters.DecelT] ));
writeln(Format('Power reduction timeout - %.0f ms', [ Parameters.PTimeout] ) );
writeln(Format('Button speedup timeout 1 - %.0f ms', [ Parameters.BTimeout1] ) );
writeln(Format('Button speed after timeout 1 - %.2f steps/s', [ Parameters.BTO1P] ) );
writeln(Format('Button speedup timeout 2 - %.0f ms', [ Parameters.BTimeout2] ) );
writeln(Format('Button speed after timeout 2 - %.2f steps/s', [ Parameters.BTO2P] ) );
writeln(Format('Button speedup timeout 3 - %.0f ms', [ Parameters.BTimeout3] ) );
writeln(Format('Button speed after timeout 3 - %.2f steps/s', [ Parameters.BTO3P] ) );
writeln(Format('Button speedup timeout 4 - %.0f ms', [ Parameters.BTimeout4] ) );
writeln(Format('Button speed after timeout 4 - %.2f steps/s', [ Parameters.BTO4P] ) );
writeln(Format('Button reset timeout - %.0f ms', [ Parameters.BTimeoutR] ) );
writeln(Format('Button reset operation speed - %.2f steps/s', [ Parameters.MinP] ) );
writeln(Format('Backlash operation distance - %d steps', [ Parameters.MaxLoft] ) );
writeln(Format('Revolution distance - %d steps', [ Parameters.RTDelta] ) );
writeln(Format('Minimal revolution distance error - %d steps', [ Parameters.RTMinError] ) );
writeln(Format('Power off temperature - %.2f'+#248+#67, [Parameters.MaxTemp] ) );
write('Duration of the output synchronization pulse - ');
if (Parameters.SynOUTP=0) then
writeln('minimal')
else
writeln(Format('%.1f * [Tact Period]', [Parameters.SynOUTP - 0.5]));
write('Speed of the last phase of the backlash operation - ');
if(Parameters.LoftPeriod = 0) then
writeln('normal' )
else
writeln(Format('%.2f steps/s', [Parameters.LoftPeriod] ));
writeln(Format('<Angular Encoder Step> Equals <Angular Step Motor Step>/<%.2f>', [Parameters.EncMult]));
end;
function Menu: integer;
var
Speed: single;
DestPos:integer;
s:string;
State: TUSMC_State;
StPrms: TUSMC_StartParameters;
Prms: TUSMC_Parameters;
Mode: TUSMC_Mode;
EnState: TUSMC_EncoderState;
newCurPos: integer;
begin
Speed:=2000;
writeln('Menu:');
writeln('1 - Get device state');
writeln('2 - START');
writeln('3 - STOP');
writeln('4 - Set Parameters (can be changed only in curret example code)');
writeln('5 - Set Mode (can be changed only in curret example code)');
writeln('6 - Set Current Position (can be changed only in curret example code)');
writeln('7 - Turn Off and Save Current Position to Flash');
writeln('r - Revert Start Position to 0');
writeln('8 - Get Encoder State');
writeln('');
if SMPower then s:='Off'
else s:='On';
writeln(Format('p - Turn %s Power',[s]));
writeln('');
writeln('9 - Select other device');
writeln('0 - Exit');
writeln('Choose:');
readln(s);
if s='' then s:=' ';
case s[1] of
'1':
begin
if StandaClass.USMC_GetState(Dev, State)>0 then
begin
PrintError();
result:=0;
exit;
end;
Cls;
PrintDState(State);
writeln('');
end;
'2':
begin
if StandaClass.USMC_GetStartParameters(Dev, StPrms)>0 then
begin
PrintError();
result:=0;
exit;
end;
Cls;
ScanDStartParameters(DestPos, Speed, StPrms);
if StandaClass.USMC_Start(Dev, DestPos, Speed, StPrms) >0 then
begin
PrintError();
result:=0;
exit;
end;
Cls;
PrintDStartParameters(DestPos, Speed, StPrms);
writeln('');
end;
'3':
begin
if StandaClass.USMC_Stop(Dev)>0 then
begin
PrintError();
result:=0;
exit;
end;
Cls;
end;
'4':
begin
if StandaClass.USMC_GetParameters(Dev, Prms)>0 then
begin
PrintError();
result:=0;
exit;
end;
// Set anything you want here
Prms.MaxTemp:= 70.0;
//Prms.LoftPeriod:= 0.0;
Prms.BTimeout1:= 500.0;
Prms.BTimeout2:= 500.0;
Prms.BTimeout3:= 500.0;
Prms.BTimeout4:= 500.0;
Prms.BTO1P:= 200.0;
Prms.BTO2P:= 300.0;
Prms.BTO3P:= 400.0;
Prms.BTO4P:= 500.0;
Prms.AccelT:= 200.0;
Prms.DecelT:= 200.0;
Prms.BTimeoutR:= 500.0;
Prms.LoftPeriod:= 500.0;
Prms.RTDelta:= 200;
Prms.RTMinError:= 15;
Prms.EncMult:= 2.5;
Prms.MaxLoft:= 32;
Prms.PTimeout:= 100.0;
Prms.SynOUTP:= 1;
if StandaClass.USMC_SetParameters( Dev, Prms )>0 then
begin
PrintError();
result:=0;
exit;
end;
if StandaClass.USMC_SaveParametersToFlash( Dev )>0 then
begin
PrintError();
result:=0;
exit;
end;
Cls;
PrintDParameters( Prms );
writeln('');
writeln('These Parameters are Saved to Flash');
writeln('Press Enter to exit');
readln(s);
Cls;
end;
'5':
begin
if StandaClass.USMC_GetMode(Dev, Mode)>0 then
begin
PrintError;
result:=0;
exit;
end;
// Set anything you want here
Mode.SyncInvert:= not Mode.SyncInvert;
Mode.EncoderEn:= TRUE;
Mode.RotTrOp:= FALSE;
Mode.ResetRT:= TRUE;
// Set anything you want here
if StandaClass.USMC_SetMode(Dev, Mode)>0 then
begin
PrintError;
result:=0;
exit;
end;
Cls;
PrintDMode(Mode);
writeln('');
writeln('Press Enter to exit');
readln(s);
Cls;
end;
//Set_Current_Position
'6':
begin
newCurPos:= 1000;
if StandaClass.USMC_SetCurrentPosition(Dev, newCurPos)>0 then
begin
PrintError;
result:=0;
exit;
end;
Cls;
writeln(Format('SetCurrentPosition executed with argument %d',[newCurPos]));
writeln('Press Enter to exit');
readln(s);
Cls;
end;
'7':
begin
//Turn_Off_and_Save_Current_Position_to_Flash
// Initialize structures (in case this function runs first)
if StandaClass.USMC_GetParameters(Dev, Prms)>0 then
begin
PrintError;
result:=0;
exit;
end;
if StandaClass.USMC_GetMode(Dev, Mode)>0 then
begin
PrintError;
result:=0;
exit;
end;
// Go to Full Step (automaticaly), then Turn Off
Mode.ResetD:= TRUE;
if StandaClass.USMC_SetMode(Dev, Mode)>0 then
begin
PrintError;
result:=0;
exit;
end;
// Wait until Previous Comand is Done
repeat
Sleep(50);
if StandaClass.USMC_GetState(Dev, State)>0 then
begin
PrintError;
result:=0;
exit;
end;
until State.Power<>TRUE;
// Remember CurPos in Parameters Only While State.Power - FALSE
Prms.StartPos:= State.CurPos;
if StandaClass.USMC_SetParameters( Dev, Prms )>0 then
begin
PrintError;
result:=0;
exit;
end;
// Then of Course You Need to SaveToFlash
if StandaClass.USMC_SaveParametersToFlash( Dev )>0 then
begin
PrintError;
result:=0;
exit;
end;
// Now You Can Unplug ME
Cls;
writeln(Format('The Position "%d" is Saved to Flash',[Prms.StartPos]));
writeln('When Controller is Powered Up Next Time');
writeln('It Will Start From This Position');
writeln('Press Enter to exit');
readln(s);
Cls;
end;
// Initialize structures (in case this function runs first)
'r':
begin
if StandaClass.USMC_GetParameters(Dev, Prms)>0 then
begin
PrintError;
result:=0;
exit;
end;
Prms.StartPos:= 0;
if StandaClass.USMC_SetParameters( Dev, Prms )>0 then
begin
PrintError;
result:=0;
exit;
end;
// Then of Course You Need to SaveToFlash
if StandaClass.USMC_SaveParametersToFlash( Dev )>0 then
begin
PrintError;
result:=0;
exit;
end;
Cls;
writeln('Start Position is Reset to 0');
writeln('Press Enter to exit');
readln(s);
Cls;
end;
'8':
begin
if StandaClass.USMC_GetEncoderState(Dev, EnState)>0 then
begin
PrintError;
result:=0;
exit;
end;
if StandaClass.USMC_GetParameters(Dev, Prms)>0 then
begin
PrintError;
result:=0;
exit;
end;
Cls;
PrintEnState(EnState, Prms);
writeln('');
writeln('Press Enter to exit');
readln(s);
Cls;
end;
'p','P':
begin
if StandaClass.USMC_GetMode(Dev, Mode)>0 then
begin
PrintError;
result:=0;
exit;
end;
SMPower:= not SMPower;
Mode.ResetD:= not SMPower;
if StandaClass.USMC_SetMode(Dev, Mode)>0 then
begin
PrintError;
result:=0;
exit;
end;
Cls;
if Mode.ResetD then writeln('Now, Power is Off')
else writeln('Now, Power is On');
writeln('');
writeln('Press Enter to exit');
readln(s);
Cls;
end;
'9':
begin
result:=1;
exit;
end;
'0':
begin
writeln('');
result:=0;
exit;
end;
else
Cls;
end;
result:=2;
end;
function SelectMenu: integer;
var
ret: integer;
s: string;
begin
Dev:= High(Longword);
while Dev>DVS.NOD do
begin
Cls;
PrintDevices( DVS );
writeln('');
writeln(#9+'0'+#9+'Exit');
writeln(#9+'x'+#9+'ReInitialize');
writeln(#9+'xx'+#9+'Close Driver Window and Exit');
writeln('');
write('Select:');
readln(s);
if s='x' then
begin
//// Perform "Refresh" of Driver
if StandaClass.USMC_Init( DVS )>0 then
begin
PrintError();
result:=0;
end;
end
else if s='xx' then
begin
//// Close the MicroSMC.exe process
if StandaClass.USMC_Close()>0 then
begin
PrintError();
result:=0;
end;
result:=0;
exit;
end;
Dev:=StrToIntDef(s,High(Longword));
if Dev=0 then
begin
result:=0;
exit;
end;
end;
dec(Dev);
Cls;
repeat
ret:=Menu;
until ret<>2;
result:=ret;
end;
procedure D_Exit(s:string);
var
ss:string;
begin
writeln('');
writeln(s);
writeln('Press Enter to exit');
readln(ss);
end;
begin
Cls;
StandaClass:=TStandaClass.Create;
if StandaClass = nil then
begin
D_Exit('Error: Can`t create object with DLL function');
exit;
end;
if not StandaClass.bDllLoadOK then
begin
StandaClass.Destroy;
D_Exit('Error: Can`t load DLL');
exit;
end;
if(StandaClass.USMC_Init( DVS ) > 0 ) then
begin
PrintError();
StandaClass.Destroy;
D_Exit('');
exit;
end;
while(SelectMenu>0) do ;
{***************************** Memory free ***************}
// when DVS.Serial is Pointer we comment this string
// We add this string when DVS.Serial is array of PChar
// Finalize(DVS);
{***************************** Memory free ***************}
StandaClass.Destroy;
D_Exit('');
end.