using?System;
using?System.Collections.Generic;
using?System.ComponentModel;
using?System.Data;
using?System.Drawing;
using?System.Linq;
using?System.Text;
using?System.Threading.Tasks;
using?System.Windows.Forms;
using?System.Runtime.InteropServices;
using?gts;

namespace?WindowsFormsApplication1
{
????public?partial?class?Form1?:?Form
????{
????????static?short?AXIS?=?2;
????????short?sRtn?=?1;
????????string?str?=?“11“;
????????string?version_str;
????????short?index?=?9;
????????mc.TPid?pid_me?set_pid;
????????int?pmode;
????????uint?pclock;
????????public?Form1（）
????????{
????????????InitializeComponent（）;
????????}
????????//獲取索引信息
????????private?void?button1_Click（object?sender?EventArgs?e）
????????{

????????????mc.GT_GetCardNo（out?index）;

????????????MessageBox.Show（Convert.ToString（index）?“索引“）;

????????}
????????//打開
????????private?void?button2_Click（object?sender?EventArgs?e）
????????{
????????????sRtn?=?mc.GT_Open（0?1）;
????????????MessageBox.Show（Convert.ToString（sRtn）?“打開控制卡“）;
????????}
????????//關(guān)閉
????????private?void?button3_Click（object?sender?EventArgs?e）
????????{
????????????mc.GT_Close（）;
????????}
????????//
????????private?void?Form1_Load（object?sender?EventArgs?e）
????????{
????????????MessageBox.Show（Convert.ToString（index）?“初始信息“）;
????????}
????????//設(shè)置PID
????????private?void?button4_Click（object?sender?EventArgs?e）
????????{
????????????set_pid.kp?=?0.5;
????????????set_pid.ki?=?0.3;
????????????set_pid.kd?=?0.7;

????????????//設(shè)置有一些問題....無法進行設(shè)置。
????????????mc.GT_SetPid（1?1?ref?set_pid）;
????????????mc.GT_GetPid（1?1?out?pid_me）;
????????????string?sb?=?“P參數(shù)：“?+?pid_me.kp.ToString（）?+?“?“?+?“i參數(shù)“?+?pid_me.ki.ToString（）?+?“d參數(shù)“?+?pid_me.kd.ToString（）;
????????????MessageBox.Show（sb?“PID參數(shù)“）;

????????}
????????//獲取PID參數(shù)
????????private?void?button5_Click（object?sender?EventArgs?e）
????????{
????????????mc.GT_GetPid（1?1?out?pid_me）;
????????????string?sb?=?“P參數(shù)：“?+?pid_me.kp.ToString（）?+?“?“?+?“i參數(shù)“?+?pid_me.ki.ToString（）?+?“d參數(shù)“?+?pid_me.kd.ToString（）;
????????????MessageBox.Show（sb?“PID參數(shù)“）;

????????}
????????//運動模式讀取
????????private?void?button6_Click（object?sender?EventArgs?e）
????????{
????????????mc.GT_GetPrfMode（（short）1?out?pmode?（short）1?out?pclock）;
????????????string?a?=?“運動模式：“?+?pmode.ToString（）?+?“?“?+?“控制器時鐘:“?+?pclock.ToString（）;
????????????MessageBox.Show（a?“運動模式讀取“）;
????????}

????????void?commandhandler（string?command?short?error）
????????{
????????????//?如果指令執(zhí)行返回值為非0，說明指令執(zhí)行錯誤，向屏幕輸出錯誤結(jié)果
????????????if?（Convert.ToBoolean（error））
????????????{
????????????????MessageBox.Show（command?+?“=“?+?Convert.ToString（sRtn）?“點位運動“）;
????????????}
????????}

????????//點位運動模式
????????private?void?button7_Click（object?sender?EventArgs?e）
????????{
????????????/*?short?sRtn;
????????????sRtn=?mc.GT_Open（0?1）;
????????????MessageBox.Show（Convert.ToString（sRtn）“點位運動“）;

?????????????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

????..A..H.?????55808??2020-07-09?10:26??WindowsFormsApplication1\WindowsFormsApplication1\.vs\WindowsFormsApplication1\v16\.suo

?????文件????????187??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\App.config

?????文件??????71167??2016-12-06?11:54??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\gts.cs

?????文件?????537600??2017-08-15?19:18??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\gts.dll

?????文件??????10526??2015-07-22?09:40??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\test.cfg

?????文件??????49152??2018-05-07?11:33??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\WindowsFormsApplication1.exe

?????文件????????187??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\WindowsFormsApplication1.exe.config

?????文件??????28160??2018-05-07?11:33??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\WindowsFormsApplication1.pdb

?????文件??????22472??2018-05-08?09:48??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\WindowsFormsApplication1.vshost.exe

?????文件????????187??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\WindowsFormsApplication1.vshost.exe.config

?????文件????????490??2012-06-06?02:06??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\bin\Debug\WindowsFormsApplication1.vshost.exe.manifest

?????文件???????6274??2020-07-09?10:26??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\Form1.cs

?????文件???????7602??2018-05-07?11:29??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\Form1.Designer.cs

?????文件???????5817??2018-05-07?11:29??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\Form1.resx

?????文件??????71167??2018-04-23?19:38??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\gts.cs

?????文件????????210??2020-07-09?10:13??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\.NETframeworkVersion=v4.5.AssemblyAttributes.cs

?????文件????????819??2020-07-09?10:14??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\DesignTimeResolveAssemblyReferences.cache

?????文件???????7202??2020-07-09?10:13??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\DesignTimeResolveAssemblyReferencesInput.cache

?????文件??????????0??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs

?????文件??????????0??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs

?????文件??????????0??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs

?????文件???????4196??2018-05-08?09:48??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\WindowsFormsApplication1.csproj.FileListAbsolute.txt

?????文件????????977??2018-05-07?11:33??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\WindowsFormsApplication1.csproj.GenerateResource.Cache

?????文件??????10835??2020-07-09?10:13??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\WindowsFormsApplication1.csprojAssemblyReference.cache

?????文件??????49152??2018-05-07?11:33??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\WindowsFormsApplication1.exe

?????文件????????180??2018-05-07?11:33??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\WindowsFormsApplication1.Form1.resources

?????文件??????28160??2018-05-07?11:33??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\WindowsFormsApplication1.pdb

?????文件????????180??2018-05-07?11:33??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\obj\Debug\WindowsFormsApplication1.Properties.Resources.resources

?????文件????????536??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\Program.cs

?????文件???????1368??2018-04-23?10:15??WindowsFormsApplication1\WindowsFormsApplication1\WindowsFormsApplication1\Properties\AssemblyInfo.cs

............此處省略24個文件信息