warpiotest.pas

System will automatically delete the directory of debug and release, so please do not put files on t

  Application.ProcessMessages;
  NumberOfBytes := Form1.Comport1.InputCount;
  Form1.ComPort1.ReadStr(S, 30 {NumberOfBytes});  //  S := GetStr;
  If length(S) > 8 then
  begin
    S := Form1.CleanStr(S);
    Sign := '+';
    If Pos('-',S) <> 0 then begin
       Sign := '-';
       S := Copy(S,2,Length(S));
    end;
    P := Pos('.',S);
    S := Copy(S,1,P-1);   // remove all after the .
    While Length(S) < 7 do
       S := '0' + S;
    Label2.Caption := ' ' + Sign + S + ' ';
  end;
end;

Function TWarpIOForm.ReadInput(Inp : integer):Integer;
var N : integer;
 Str,  S : String;
   Ch : Char;
begin
  result := 0;
  Form1.Comport1.WriteStr('IN('+InttoStr(Inp)+')'+CR);
  Sleep(15);
  Str := '';
  N := 0;
  Ch := '0';
  repeat
    sleep(5);
    application.ProcessMessages;
    Form1.ComPort1.ReadStr(S, 1);  //  S := GetStr;
    if length(S) > 0 then Ch := S[1];
    if Ch in['0'..'1']
       then Str :=  Str + Ch;
    INC(N);
    if Running = False then N := 101; // stop with running
    application.ProcessMessages;
  until (Ch = #13) or (N > 50);
  if ((N < 100) and ( length(Str) > 0)) then begin // valid value
     try
       Ch := Str[1];
       IP[Inp] := Ch;
       result := StrToInt(Ch);
     except
//       Form1.Edit2.Text := 'Input Error'; // ?????
     end;
  end;
end;

procedure TWarpIOForm.ReadIN1_5;
var  I : integer;
begin
  for I := 1 to 7 do begin
     ReadInput(I);
  end;
  for I := 1 to INmax do   // display on terminal screen
    Form1.Comterminal1.WriteStr(IP[I]);
  Form1.Comterminal1.WriteStr(CR+LF);
end;

procedure TWarpIOForm.ReadIN6_10;
var I : integer;
begin
  for I := 8 to 10 do begin
    ReadInput(I);
  end;
end;

procedure TWarpIOForm.ReadIN11_15;
var I : integer;
begin
  for I := 11 to 15 do begin
     ReadInput(I);
  end;
end;

procedure TWarpIOForm.ReadIN16_19;
var I : integer;
begin
  for I := 16 to INmax do begin // TDC 19 Warp 17
    ReadInput(I);
  end;
end;

Procedure TWarpIOForm.ReadInputs;
begin
  ReadIN1_5;
  ReadIN6_10;
  ReadIN11_15;
  ReadIN16_19;
end;

procedure TWarpIOForm.ReadOutputs;
{ used after start of the program to set outputs to the real position }
var I : integer;
    S : String;
   Ch : Char;
begin
  Ch := '0';
  Form1.Comport1.WriteStr(CHR($0D));
  Sleep(20);
  NumberOfBytes := Form1.Comport1.InputCount;
  Form1.ComPort1.ReadStr(S, NumberOfBytes);  //  S := GetStr;
  for I := 1 to OUTmax do begin
    Form1.Comport1.WriteStr('out('+InttoStr(I)+')'+CHR($0D));
    Sleep(50);
    NumberOfBytes := Form1.Comport1.InputCount;
    Form1.ComPort1.ReadStr(S, NumberOfBytes);  //  S := GetStr;
    S := Form1.CleanStr(S);
    if length(S) = 1 then begin
      Ch := S[1];
//      OP[I] := Ch;
    end;
    // set output checkboxes according to outputs,
    if ((I = 1) and (CH = '1')) then OUT1.Perform(BM_SETCHECK, Ord(true), 0);
    if ((I = 2) and (CH = '1')) then OUT2.Perform(BM_SETCHECK, Ord(true), 0);
    if ((I = 3) and (CH = '1')) then OUT3.Perform(BM_SETCHECK, Ord(true), 0);
    if ((I = 4) and (CH = '1')) then OUT4.Perform(BM_SETCHECK, Ord(true), 0);
    if ((I = 5) and (CH = '1')) then OUT5.Perform(BM_SETCHECK, Ord(true), 0);
    if ((I = 6) and (CH = '1')) then OUT6.Perform(BM_SETCHECK, Ord(true), 0);
    if ((I = 7) and (CH = '1')) then OUT7.Perform(BM_SETCHECK, Ord(true), 0);
    if ((I = 8) and (CH = '1')) then OUT8.Perform(BM_SETCHECK, Ord(true), 0);
  end;
end;

{ ------------------------------------------------------------}
{     I/O Test section for the Cobra  WB 15.06.1998           }
{     Converted to Delphi4 WB 25.05.2001                      }
{ ------------------------------------------------------------}
PROCEDURE  TWarpIOForm.CC_IO;
begin
   Application.ProcessMessages;
   ReadInputs;
   ReadBCD;
   SwitchAll;
   // show communication by flashing the leds
   Form1.Comport1.WriteStr('ledtest'+CHR($0D));
   Sleep(20);
   Repeat
     RunLabel.visible  := true;
     Form1.Comport1.WriteStr('ledtest'+CHR($0D));
     Application.ProcessMessages;
     Sleep(150);
     Application.ProcessMessages;
     ReadIN1_5;
     If EncoderBox.Visible = True then
        ReadEncoders;
     Application.ProcessMessages;
     ReadIN6_10;
     RunLabel.visible  := false;  // flashing label
     Application.ProcessMessages;
     if RunMode = 1 then
        ReadIN11_15;
     Application.ProcessMessages;
     ReadIN16_19;
     SwitchAll;
     If ServoStat = 1 then   // send start commands
     begin
        Form1.Comport1.WriteStr('SERVOOUT=1'+CHR($0D));
        Form1.Comport1.WriteStr('SERVOOUT=0'+CHR($0D));
        Form1.Comport1.WriteStr('WNDGS=1'+CHR($0D));
        ServoStat := 9;  // run mode
     end;
     If ServoStat = 2 then  // send stop commands
     begin
        Form1.Comport1.WriteStr('TORQUE=0'+CHR($0D));
        Form1.Comport1.WriteStr('SERVOOUT=1'+CHR($0D));
        Form1.Comport1.WriteStr('TORQUE=0'+CHR($0D));
        ServoStat := 0;
     end;
     If ServoStat = 9 then  // send torque command
        Form1.Comport1.WriteStr('TORQUE='+IntToStr(TorqueCMD)+CHR($0D));
     Sleep(100);
     WriteOutput;
     if RunMode = 0 then
        ReadBCD;
     Application.ProcessMessages;
     if AnalogIn.Visible = True then
        ReadAnalog;
   until Running = False;
   // stop motor if running in torque mode.
// If ServoStat = 9 then  // stop any motion
   Form1.Comport1.WriteStr('TORQUE=0'+CHR($0D));
   Form1.Comport1.WriteStr('SERVOOUT=1'+CHR($0D));
   Form1.Comport1.WriteStr('TORQUE=0'+CHR($0D));
   Form1.Comport1.WriteStr('WNDGS=0'+CHR($0D));
   RunLabel.visible   := true;
   RunLabel.Enabled   := False;
   RunLabel.Caption   := '  Stopped  ';
end;

procedure TWarpIOForm.Button2Click(Sender: TObject);
begin
  Application.ProcessMessages;
  Running := not Running;
  if Running then begin
//   OptoPanel.Enabled := True;
     BCDOut.Enabled    := True;
     BCDOut.Enabled    := True;
     StopBtn.Enabled   := False;
     Button2.Caption   := 'Stop';
     RunLabel.visible  := true;
     RunLabel.Enabled  := True;
     RunLabel.Caption  := '  Running  ';
     CC_IO;
  end
  else begin
//  OptoPanel.Enabled := False;
    BCDOut.Enabled    := False;
    BCDOut.Enabled    := False;
    Button2.Caption   := 'Start';
    StopBtn.Enabled   := true;
  end;
end;

procedure TWarpIOForm.OUT1Click(Sender: TObject);
begin
  OP[(Sender as TCheckbox).Tag] := '1' ; // update request
//  WriteOut((Sender as TCheckbox).Tag) ;
end;

procedure TWarpIOForm.BtBCDClick(Sender: TObject);
begin
  WegBoxen;
  BCDSwitch.Visible := True;
  // switch off the BCD-I/O outputs
  OUT5.Perform(BM_SETCHECK, Ord(false), 0);
  OUT6.Perform(BM_SETCHECK, Ord(false), 0);
  OUT7.Perform(BM_SETCHECK, Ord(false), 0);
  OUT8.Perform(BM_SETCHECK, Ord(false), 0);
end;

procedure TWarpIOForm.BtBCDIOClick(Sender: TObject);
begin
  WegBoxen;
  RunMode := 1;
  BCDBox.Visible := True;
  BCDOut.Visible := True;
end;

procedure TWarpIOForm.WegBoxen;
begin
  RunMode := 0;
  BCDSwitch.Visible  := False;
  BCDBox.Visible     := False;
  BCDOut.Visible     := False;
  AnalogOut.Visible  := False;
  AnalogIn.Visible   := False;
  Encoderbox.Visible := false;
end;

procedure TWarpIOForm.BtEncoderClick(Sender: TObject);
begin
  WegBoxen;
  EncoderBox.Visible := True;
end;

procedure TWarpIOForm.BtAnalogIOClick(Sender: TObject);
begin
  WegBoxen;
  if ContrType = 6 then begin
     AnalogOut.Visible := True;
     AnalogOut.Enabled := true;
  end;
  AnalogIn.Visible  := True;
  AnalogOn := False;
end;

procedure TWarpIOForm.AnOutOffClick(Sender: TObject);
begin
   AnalogOn := Not AnalogOn;
   If AnalogOn then
   begin
      AnOutOff.Caption := 'Off';
      ServoStat := 1;
   end else
   begin
      AnOutOff.Caption := 'On';
      ServoStat := 2;
   end;
end;

procedure TWarpIOForm.UpDown1Changing(Sender: TObject; var AllowChange: Boolean);
var R : real;
    S : String;
begin
  R := UpDown1.Position / 100;
  S := FloatToStrF(R,ffFixed,4,2);
  VoltOut.Caption :=  S;
//  Form1.Edit2.Text := IntToStr(Round(R * 204.8));
  TorqueCMD := Round(R * 204.8);
end;

// taken from WETA program WB 19.12.2001
Function TWarpIOForm.PrintCCError( Er : Integer):String;
var S : String;
begin
 case Er of
   00 : S := 'There is no Error';
   01 : S := 'Could nort burn Flash succesfully';
   02 : S := 'Could not download file';
   03 : S := 'Not enough memory to execute user program';
   04 : S := 'Attempt to acces non-existing array element';
   05 : S := 'Real data too large to convert to integer data.';
   06 : S := 'Attempt to set accel data <= 0';
   07 : S := 'Attempt to set decel data <= 0';
   08 : S := 'Attempt to acces non-existing output';
   09 : S := 'Attempt to acces non-existing input';

   10 : S := 'Attempt to divide by zero';
   11 : S := 'Received serial data will not fit in buffer';
   12 : S := 'Motion occuring when program ended';
   13 : S := 'Attempt to execute user program that is not present';
   14 : S := 'Incorrect user program checksum';
   15 : S := 'Attempt to set Kp out of range';
   16 : S := 'Attempt to set Kd out of range';
   17 : S := 'Attempt to set Ki out of range';
   18 : S := 'Attempt to set Kvff out of range';
   19 : S := 'Attempt to set FOLERR < 0';

   20 : S := 'Attempt to set INTLIM out of range';
   21 : S := 'Move distance too large';
   22 : S := 'Function not implemented';
   23 : S := 'INPUT command error occured';
   24 : S := 'NVR specified location out of range(1-400)';
   25 : S := 'NVR device not detected.';

  128 : S := '+ limit switch activated';
  129 : S := '- limit switch activated';
  130 : S := '+ software travel limit exceeded';
  131 : S := '- software travel limit exceeded';
  132 : S := 'This code is reserved for future use';
  133 : S := 'Excessive position error';
  134 : S := 'Registration distance too small';
  135 : S := 'Attempt to move with drive not enable';
  136 : S := 'Attempt to move with drive not ready';
  137 : S := 'Gearing backlog overflow';
  138 : S := 'NVR data corrupt';
 else S := '---- Unknown Error ----'
 end;
 Result  := S;
end;

// taken from WETA program WB 19.12.2001
Procedure TWarpIOForm.GetCCError(var E : Integer);
var W    : String;
    M, I : Integer;
begin
  Sleep(20);
  Form1.ComPort1.ReadStr(W, 5);
  W := Form1.CleanStr(W);  //  W := GetStr;
//  W := Copy(W, 1, Pos(#13,(W)) - 1);  // get error number from string
  Form1.WriteScreen('Error #'+W +' : ');
  Val(W,I,M);
  If M = 0 Then Form1.WriteScreen(PrintCCError(I)+#13+#10); // WriteLn(PrintCCError(I));
  E := I;
end;


procedure TWarpIOForm.StopBtnClick(Sender: TObject);
begin
  close;
end;

procedure TWarpIOForm.SpeedButton3Click(Sender: TObject);
begin
  If BtBCD.Down = True then Application.HelpContext(4300);
  If BtBCDIO.Down = True then Application.HelpContext(4400);
  If BtAnalogIO.Down = True then Application.HelpContext(4500);
  If BtEncoder.Down = True then Application.HelpContext(4600);
end;

end.