jog.cs

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using System;
 
namespace examples
{
    public static partial class Examples
    {
 
        public static int Jog(gclib gclib)
        {
            gclib.GCommand("ST");       // Stop all motors
            gclib.GMotionComplete("A"); // Wait for motion to complete
            gclib.GCommand("SHA");      // Set servo here
            gclib.GCommand("DPA=0");    // Start position at absolute zero
            gclib.GCommand("JGA=0");    // Start jogging with 0 speed
            gclib.GCommand("BGA");      // Begin motion on A Axis
 
            bool isJogging = true;
            int speed = 0;
 
            Console.WriteLine("Enter a character on the keyboard to change the" +
                              " motor's speed:\n<q> Quit\n<a> -2000 counts/s\n" +
                              "<s> -500  counts/s\n<d> +500  counts/s\n<f> " +
                              "+2000 counts/s\n<r> Direction Reversal\n");
 
            while (isJogging)
            {
                gclib.GCommand("JGA=" + speed);
 
                Console.WriteLine("Jog Speed: " + speed);
 
                switch (Console.ReadKey(true).Key)
                {
                    case ConsoleKey.Q:
                        isJogging = false;
                        break;
                    case ConsoleKey.A:
                        speed -= 2000;
                        break;
                    case ConsoleKey.S:
                        speed -= 500;
                        break;
                    case ConsoleKey.D:
                        speed += 500;
                        break;
                    case ConsoleKey.F:
                        speed += 2000;
                        break;
                    case ConsoleKey.R:
                        speed *= -1;
                        break;
                }
            }
 
            gclib.GCommand("ST");
            gclib.GMotionComplete("A");
 
            return GALIL_EXAMPLE_OK;
        }
    }
}