Как я могу прочитать положение руки робота? Помогите

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Привет Ребята,

I Hope everyone is enjoying their happy Friday. I'm writing code to control a Robot Arm that has two motors on it to move Horizontal and vertical. I found similar code but it's in C# and I'm converting it into Vb.net. I'm able to move the arm backward, forward, up, down and can also home motors. I'm trying to read the position of the both Horizontal and vertical motors in textbox - textPosH & textPosV. It shows moved position in textPosH but then it changes to 8 so let's say if I moved forward 100mm then in text box it will show 100 just for a second then changes back to 8 and that 8 always stays in there while vertical doesn't even show any info. I'm including the both version ( C# and VB.Net) of code below. If anyone can help me to read the actual live position of both Horizontal and vertical motors that would be great. I'm new to programming. That's my first project. For the information C# version of the code works perfectly and shows positions live and correctly. I'm changing that code into vb.net because I'm more familiar with it and later on I want to add some more features to the application. I'm only interested in the position not in the speed, acceleration and origin. Thanks in advance.

Что я уже пробовал:

VB.Net версия кода -

Imports System
Imports System.Collections.Generic
Imports System.ComponentModel
Imports System.Data
Imports System.Drawing
Imports System.Linq
Imports System.Text
Imports System.Threading.Tasks
Imports System.Windows.Forms



Public Class MainMenuForm
    Inherits Form

    Const RUN_ACC_H As Integer = 10
    Const RUN_ACC_V As Integer = 10
    Const RUN_SPEED_H As Integer = 2000
    Const RUN_SPEED_V As Integer = 15



    Enum MOVE_DIRECTION
        Stationary
        StationaryMouseDown
        MovingBack
        MovingFwd
    End Enum
    Dim _tcpClient As System.Net.Sockets.TcpClient
    Dim _tcpStream As System.Net.Sockets.NetworkStream
    Dim _logStream As System.IO.FileStream
    Dim _readBuffer As Byte()
    Dim _strBuffer As String
    Dim _bDisconnecting As Boolean
    Dim _movingH As MOVE_DIRECTION
    Dim _movingV As MOVE_DIRECTION
    Public Sub New()
        _bDisconnecting = True
        _readBuffer = New Byte(256) {}
        _logStream = Nothing

        _logStream = New System.IO.FileStream("RxLog.log", System.IO.FileMode.Append)
        _strBuffer = ""
        _movingH = MOVE_DIRECTION.Stationary
        _movingV = MOVE_DIRECTION.Stationary
        _tcpClient = Nothing
        InitializeComponent()
        Dim assembly As System.Reflection.Assembly = System.Reflection.Assembly.GetExecutingAssembly()
        EnableButtons(False)
        SettingsForm.hScrollSpeedH.LargeChange = RUN_SPEED_H / 20
        SettingsForm.hScrollSpeedH.Maximum = RUN_SPEED_H + SettingsForm.hScrollSpeedH.LargeChange - 1
        SettingsForm.hScrollSpeedH.Value = RUN_SPEED_H
        SettingsForm.hScrollSpeedH_Scroll(Nothing, Nothing)
        SettingsForm.hScrollSpeedV.LargeChange = RUN_SPEED_V / 10
        SettingsForm.hScrollSpeedV.Maximum = RUN_SPEED_V + SettingsForm.hScrollSpeedV.LargeChange - 1
        SettingsForm.hScrollSpeedV.Value = RUN_SPEED_V
        SettingsForm.hScrollSpeedV_Scroll(Nothing, Nothing)

    End Sub

    Private Sub EnableButtons(ByVal enable As Boolean)
        BtnHome.Enabled = enable
        BtnUp.Enabled = enable
        BtnDown.Enabled = enable
        BtnForword.Enabled = enable
        BtnBackword.Enabled = enable
        BtnStop.Enabled = enable
        BtnStart.Enabled = enable
        textPosH.Enabled = enable
        textPosV.Enabled = enable
    End Sub
    Delegate Sub SetTextCallback(ByVal text As String, ByVal Vertical As Boolean)
    Delegate Sub SetTextOnlyCallback(ByVal text As String)
    Delegate Sub SetColourCallback(ByVal colour As Color, ByVal Vertical As Boolean)
    
    Private Sub SetColourPos(ByVal colour As Color, ByVal Vertical As Boolean)
        If If(Vertical, textPosV.InvokeRequired, textPosH.InvokeRequired) Then

            Try
                Dim d As SetColourCallback = New SetColourCallback(AddressOf SetColourPos)
                Invoke(d, New Object() {colour, Vertical})
            Catch __unusedException1__ As Exception
            End Try
        Else

            If Vertical Then
                textPosV.BackColor = colour
            Else
                textPosH.BackColor = colour
            End If
        End If
    End Sub


    Private Sub SetTextPos(ByVal text As String, ByVal Vertical As Boolean)
        If If(Vertical, textPosV.InvokeRequired, textPosH.InvokeRequired) Then

            Try
                Dim d As SetTextCallback = New SetTextCallback(AddressOf SetTextPos)
                Invoke(d, New Object() {text, Vertical})
            Catch __unusedException1__ As Exception
            End Try
        Else

            If Vertical Then
                textPosV.Text = text

                If Int32.Parse(text) >= Int32.Parse(SettingsForm.textMaxPosV.Text) * 0.98 Then
                    SettingsForm.textMaxPosV.BackColor = Color.Orange
                Else
                    SettingsForm.textMaxPosV.BackColor = SystemColors.Window
                End If
            Else
                textPosH.Text = text

                If Int32.Parse(text) >= Int32.Parse(SettingsForm.textMaxPosH.Text) * 0.98 Then
                    SettingsForm.textMaxPosH.BackColor = Color.Orange
                Else
                    SettingsForm.textMaxPosH.BackColor = SystemColors.Window
                End If
            End If
        End If
    End Sub
    Private Function HandleReply(ByVal reply As String) As Boolean
        Dim Handled As Boolean = False
        Dim pos As Integer = 0
        Dim isV As Boolean = (reply.IndexOf(".2") >= 0)
        'Ux.1=8<cr><lf>          Movement complete       any movement cmd
        'Ux.2=8<cr><lf>          Movement complete       any movement cmd
        'Ux.1=0<cr><lf>          Motor Status            ?99.1
        '                          0=Running, 1=overflow, 2=overspeed, 4=overload, 8=In position
        If ((pos = reply.IndexOf("Ux.") >= 0)) Then
            Dim posEq As Integer = reply.IndexOf("="c)
            If (posEq >= 0) Then
                Dim res As Integer = 1
                Int32.TryParse(reply.Substring(posEq + 1), res)
                Dim setColour As Color = Color.Red

                If res = 0 Then
                    setColour = Color.Green
                ElseIf res = 8 Then
                    setColour = SystemColors.Control
                End If

                SetColourPos(setColour, (reply(pos + 3) = "2"c))
                Handled = True
            End If

        End If

        'Px.1=245<cr><lf>        Current Pos             ?96.1
        If (pos = reply.IndexOf("Px.") >= 0) Then
            Dim posEq As Integer = reply.IndexOf("="c)
            If (posEq >= 0) Then
                Dim res As Integer = -999
                Int32.TryParse(reply.Substring((posEq + 1)), res)
                Me.SetTextPos(res.ToString(), (reply(pos + 3) = "2"c))
                Handled = True
            End If

        End If

        'Sx.1=0<cr><lf>          Current Speed           ?97.1
        If (pos = reply.IndexOf("Sx.") >= 0) Then
            Dim posEq As Integer = reply.IndexOf("="c)
            If (posEq >= 0) Then
                Dim res As Integer = -999
                Int32.TryParse(reply.Substring((posEq + 1)), res)

                Handled = True
            End If

        End If

        'Ix.1=0<cr><lf>          Current Acc             ?98.1
        If ((pos = reply.IndexOf("Ix.") >= 0)) Then
            Dim posEq As Integer = reply.IndexOf("="c)
            If (posEq >= 0) Then
                Dim res As Integer = -999
                Int32.TryParse(reply.Substring((posEq + 1)), res)

                Handled = True
            End If

        End If

        'Origin.1=909<cr><lf>    Found and set origin    |.1
        'Origin.2=41<cr><lf>     Found and set origin    |.2
        If (pos = reply.IndexOf("Origin.") >= 0) Then
            Dim posEq As Integer = reply.IndexOf("="c)
            If (posEq >= 0) Then

                Handled = True
            End If

        End If

        'Check for echoed commands
        Select Case (reply.Substring(0, 1))
            Case "?", "(", ")", "|", "^", "A", "P", "S"
                Handled = True
        End Select

        Return Handled
    End Function
    Private Sub OnDataAvailable(ByVal result As IAsyncResult)
        If Not _bDisconnecting Then

            Try
                Dim nRead As Integer = _tcpStream.EndRead(result)

                If nRead > 0 Then
                    _strBuffer += Encoding.ASCII.GetString(_readBuffer, 0, nRead)
                    _logStream.Write(_readBuffer, 0, nRead)
                    Dim [end] As Integer = 0

                    While [end] >= 0 AndAlso Not _bDisconnecting
                        Dim nIgnore As Integer = 0

                        While nIgnore < _strBuffer.Length AndAlso (_strBuffer(nIgnore) = vbCr OrElse _strBuffer(nIgnore) = vbLf)
                            nIgnore += 1
                        End While

                        [end] = _strBuffer.IndexOf(vbCrLf, nIgnore)

                        If [end] >= 0 Then
                            Dim sRx As String = _strBuffer.Substring(nIgnore, [end] + 2)

                            If _strBuffer.Length > [end] + 2 Then
                                _strBuffer = _strBuffer.Substring([end] + 2)
                            Else
                                _strBuffer = ""
                            End If

                            If Not HandleReply(sRx) Then AppendLog("Rx: " & sRx)
                        End If
                    End While
                End If

                If Not _bDisconnecting Then _tcpStream.BeginRead(_readBuffer, 0, 256, New AsyncCallback(AddressOf OnDataAvailable), Nothing)
            Catch __unusedException1__ As Exception
            End Try
        End If
    End Sub


    Private Sub BtnConnect_Click(sender As Object, e As EventArgs) Handles BtnConnect.Click
        If BtnConnect.Text = "Connect" Then

            Try
                _tcpClient = New System.Net.Sockets.TcpClient()
                _tcpClient.Connect("193.240.200.203", 10001)
                _tcpStream = _tcpClient.GetStream()
                _tcpStream.BeginRead(_readBuffer, 0, 256, New AsyncCallback(AddressOf OnDataAvailable), Nothing)
                BtnConnect.Text = "Disconnect"
                _bDisconnecting = False
                EnableButtons(True)
                SendCmd("S.1=" & SettingsForm.hScrollSpeedH.Value.ToString())
                SendCmd("A.1=" & RUN_ACC_H.ToString())
                SendCmd("S.2=" & SettingsForm.hScrollSpeedV.Value.ToString())
                SendCmd("A.2=" & RUN_ACC_V.ToString())
            Catch ex As System.Net.Sockets.SocketException
                MessageBox.Show(ex.Message, "Socket Exception")
            End Try
        Else
            _bDisconnecting = True
            timerQuery.Enabled = False
            _tcpClient.Close()
            _tcpClient = Nothing
            BtnConnect.Text = "Connect"
            EnableButtons(False)
        End If
    End Sub
    Private Sub SendCmd(ByVal cmd As String)

        cmd += vbCrLf
        Dim cmdHok As Boolean = (cmd.IndexOf(".1") >= 0)
        Dim cmdVok As Boolean = (cmd.IndexOf(".2") >= 0)

        If True Then

            Select Case cmd(0)
                Case "|"c

                Case Else
            End Select

            Dim send As Byte() = Encoding.ASCII.GetBytes(cmd)
            _tcpStream.Write(send, 0, send.Length)
            System.Threading.Thread.Sleep(10)
        End If
    End Sub


    Private Sub BtnHome_Click(sender As Object, e As EventArgs) Handles BtnHome.Click
        SendCmd(").1")
        SendCmd("(.1")
        SendCmd("|.1")
        SendCmd(").2")
        SendCmd("(.2")
        SendCmd("|.2")
    End Sub


    Private Sub BtnForword_Click(sender As Object, e As EventArgs) Handles BtnForword.Click
        Dim p As Integer = Int32.Parse(textPosH.Text)
        Dim inc As Integer = Int32.Parse(SettingsForm.textMoveH.Text)
        Dim target As Integer = p + inc
        Dim maxVal As Integer = 0


        If Int32.TryParse(SettingsForm.textMaxPosH.Text, maxVal) Then
            If target > maxVal Then target = maxVal
            SendCmd("P.1=" & target.ToString())
            SendCmd("^.1")
        End If

    End Sub



    Private Sub BtnBackword_Click(sender As Object, e As EventArgs) Handles BtnBackword.Click
        Dim p As Integer = Int32.Parse(textPosH.Text)
        Dim inc As Integer = Int32.Parse(SettingsForm.textMoveH.Text)
        Dim target As Integer = p - inc
        If target < 0 Then target = 0
        SendCmd("P.1=" & target.ToString())
        SendCmd("^.1")
    End Sub

    Private Sub BtnUp_Click(sender As Object, e As EventArgs) Handles BtnUp.Click
        Dim p As Integer = Int32.Parse(textPosV.Text)
        Dim inc As Integer = Int32.Parse(SettingsForm.textMoveV.Text)
        Dim target As Integer = p + inc
        Dim maxVal As Integer = 0

        If Int32.TryParse(SettingsForm.textMaxPosV.Text, maxVal) Then
            If target > maxVal Then target = maxVal
            SendCmd("P.2=" & target.ToString())
            SendCmd("^.2")
        End If
    End Sub

    Private Sub BtnDown_Click(sender As Object, e As EventArgs) Handles BtnDown.Click
        Dim p As Integer = Int32.Parse(textPosV.Text)
        Dim inc As Integer = Int32.Parse(SettingsForm.textMoveV.Text)
        Dim target As Integer = p - inc
        If target < 0 Then target = 0
        SendCmd("P.2=" & target.ToString())
        SendCmd("^.2")
    End Sub
    Private Sub MainMenu_FormClosed(ByVal sender As Object, ByVal e As FormClosedEventArgs)
        _logStream.Close()
    End Sub

    Private Sub HineMotorSetup_FormClosing(ByVal sender As Object, ByVal e As FormClosingEventArgs)
        _bDisconnecting = True

        If BtnConnect.Text = "Disconnect" Then
            BtnConnect_Click(sender, Nothing)
            System.Threading.Thread.Sleep(100)
        End If
    End Sub



    Private Sub EXITToolStripMenuItem_Click(sender As Object, e As EventArgs) Handles EXITToolStripMenuItem.Click

    End Sub

    Private Sub Timer1_Tick(sender As Object, e As EventArgs) Handles TimerQuery.Tick

        SendCmd("?97.1")
        SendCmd("?96.1")
        SendCmd("?97.2")
        SendCmd("?96.2")

    End Sub

    Private Sub BtnStop_Click(sender As Object, e As EventArgs) Handles BtnStop.Click
        SendCmd(").1")
        SendCmd(").2")
    End Sub


    Private Sub BtnStart_Click(sender As Object, e As EventArgs) Handles BtnStart.Click
        SendCmd("(.1")
        SendCmd("(.2")
    End Sub

    Private Sub ExitToolStripMenuItem1_Click(sender As Object, e As EventArgs) Handles ExitToolStripMenuItem1.Click
        End

    End Sub

    Private Sub SettingsToolStripMenuItem_Click(sender As Object, e As EventArgs) Handles SettingsToolStripMenuItem.Click
        SettingsForm.Show()
    End Sub

    Private Sub AppendLog(p1 As String)
        Throw New NotImplementedException
    End Sub



End Class

----------------------------------------------------------------------------------
Версия кода на языке C# -

#define HINEMOTORSETUP_LOG_ALL_RX
#define HINEMOTORSETUP_DISABLE_CORNERS

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;

namespace HineMotorSetup
{
  public partial class HineMotorSetup : Form
  {

    const int JOYSTICK_SIZE = 5;
    const int JOYSTICK_CENTRE = 10;
    const int RUN_ACC_H = 10;
    const int RUN_ACC_V = 10;
    const int JOYSTICK_ACC_H = 1;
    const int JOYSTICK_ACC_V = 1;
    const int RUN_SPEED_H = 2000;
    const int RUN_SPEED_V = 15;

    enum MOVE_DIRECTION
    {
      Stationary,
      StationaryMouseDown,
      MovingBack,
      MovingFwd
    };

    private System.Net.Sockets.TcpClient _tcpClient;
    private System.Net.Sockets.NetworkStream _tcpStream;
    private System.IO.FileStream _logStream;
    private Byte[] _readBuffer;
    private String _strBuffer;
    private MOVE_DIRECTION _movingH;
    private MOVE_DIRECTION _movingV;
    private bool _bDisconnecting;

    public HineMotorSetup()
    {
      _bDisconnecting = true;
      _readBuffer = new Byte[256];
      _logStream = null;
#if (HINEMOTORSETUP_LOG_ALL_RX)
        _logStream = new System.IO.FileStream("RxLog.log", System.IO.FileMode.Append);
#endif

      _strBuffer = "";
      _movingH = MOVE_DIRECTION.Stationary;
      _movingV = MOVE_DIRECTION.Stationary;
      _tcpClient = null;

      InitializeComponent();
      System.Reflection.Assembly assembly = System.Reflection.Assembly.GetExecutingAssembly();
      Text = "Hine Motor Setup v" + assembly.GetName().Version; 
      EnableButtons(false);
      hScrollSpeedH.LargeChange = RUN_SPEED_H / 20;
      hScrollSpeedH.Maximum = RUN_SPEED_H + hScrollSpeedH.LargeChange - 1;
      hScrollSpeedH.Value = RUN_SPEED_H;
      hScrollSpeedH_Scroll(null, null);
      hScrollSpeedV.LargeChange = RUN_SPEED_V / 10;
      hScrollSpeedV.Maximum = RUN_SPEED_V + hScrollSpeedV.LargeChange - 1;
      hScrollSpeedV.Value = RUN_SPEED_V;
      hScrollSpeedV_Scroll(null, null);
    }

    public static DialogResult InputBox(string title, string promptText, ref string value)
    {
      Form form = new Form();
      Label label = new Label();
      TextBox textBox = new TextBox();
      Button buttonOk = new Button();
      Button buttonCancel = new Button();

      form.Text = title;
      label.Text = promptText;
      textBox.Text = value;

      buttonOk.Text = "OK";
      buttonCancel.Text = "Cancel";
      buttonOk.DialogResult = DialogResult.OK;
      buttonCancel.DialogResult = DialogResult.Cancel;

      label.SetBounds(9, 20, 372, 13);
      textBox.SetBounds(12, 36, 372, 20);
      buttonOk.SetBounds(228, 72, 75, 23);
      buttonCancel.SetBounds(309, 72, 75, 23);

      label.AutoSize = true;
      textBox.Anchor = textBox.Anchor | AnchorStyles.Right;
      buttonOk.Anchor = AnchorStyles.Bottom | AnchorStyles.Right;
      buttonCancel.Anchor = AnchorStyles.Bottom | AnchorStyles.Right;

      form.ClientSize = new Size(396, 107);
      form.Controls.AddRange(new Control[] { label, textBox, buttonOk, buttonCancel });
      form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
      form.FormBorderStyle = FormBorderStyle.FixedDialog;
      form.StartPosition = FormStartPosition.CenterScreen;
      form.MinimizeBox = false;
      form.MaximizeBox = false;
      form.AcceptButton = buttonOk;
      form.CancelButton = buttonCancel;

      DialogResult dialogResult = form.ShowDialog();
      value = textBox.Text;
      return dialogResult;
    }

    private void EnableButtons(bool enable)
    {
      btnHome.Enabled = enable;
      btnJogDn.Enabled = enable;
      btnJogUp.Enabled = enable;
      btnJogExtend.Enabled = enable;
      btnJogRetract.Enabled = enable;
      btnSend.Enabled = enable;
      btnStop.Enabled = enable;
      btnEnableMotors.Enabled = enable;
      textPosH.Enabled = enable;
      textPosV.Enabled = enable;
    }

    delegate void SetTextOnlyCallback(string text);
    delegate void SetTextCallback(string text, bool Vertical);
    delegate void SetColourCallback(Color colour, bool Vertical);

    private void AppendLog(string text)
    {
      // InvokeRequired required compares the thread ID of the
      // calling thread to the thread ID of the creating thread.
      // If these threads are different, it returns true.
      if (textLog.InvokeRequired)
      {
        try
        {
          SetTextOnlyCallback d = new SetTextOnlyCallback(AppendLog);
          Invoke(d, new object[] { text });
        }
        catch (Exception)
        {
        }
      }
      else
      {
        textLog.Text += text;
        textLog.Select(textLog.Text.Length, 0);
        textLog.ScrollToCaret();
      }
    }

    private void SetTextOrig(string text, bool Vertical)
    {
      // InvokeRequired required compares the thread ID of the
      // calling thread to the thread ID of the creating thread.
      // If these threads are different, it returns true.
      if (Vertical ? textOrigV.InvokeRequired : textOrigH.InvokeRequired)
      {
        try 
        { 
          SetTextCallback d = new SetTextCallback(SetTextOrig);
          Invoke(d, new object[] { text, Vertical });
        }
        catch (Exception)
        {
        }
      }
      else
      {
        if (Vertical)
          textOrigV.Text = text;
        else
          textOrigH.Text = text;
      }
    }

    private void SetColourPos(Color colour, bool Vertical)
    {
      // InvokeRequired required compares the thread ID of the
      // calling thread to the thread ID of the creating thread.
      // If these threads are different, it returns true.
      if (Vertical ? textPosV.InvokeRequired : textPosH.InvokeRequired)
      {
        try
        { 
          SetColourCallback d = new SetColourCallback(SetColourPos);
          Invoke(d, new object[] { colour, Vertical });
        }
        catch (Exception)
        {
        }
      }
      else
      {
        if (Vertical)
          textPosV.BackColor = colour;
        else
          textPosH.BackColor = colour;
      }
    }

    private void SetTextPos(string text, bool Vertical)
    {
      // InvokeRequired required compares the thread ID of the
      // calling thread to the thread ID of the creating thread.
      // If these threads are different, it returns true.
      if (Vertical ? textPosV.InvokeRequired : textPosH.InvokeRequired)
      {
        try
        {
          SetTextCallback d = new SetTextCallback(SetTextPos);
          Invoke(d, new object[] { text, Vertical });
        }
        catch (Exception)
        {
        }
      }
      else
      {
        if (Vertical)
        {
          textPosV.Text = text;
          if (Int32.Parse(text) >= Int32.Parse(textMaxPosV.Text) * 0.98)
          {
            textMaxPosV.BackColor = Color.Orange;
          }
          else
          {
            textMaxPosV.BackColor = SystemColors.Window;
          }
        }
        else
        {
          textPosH.Text = text;
          if (Int32.Parse(text) >= Int32.Parse(textMaxPosH.Text)*0.98)
          {
            textMaxPosH.BackColor = Color.Orange;
          }
          else
          {
            textMaxPosH.BackColor = SystemColors.Window;
          }
        }
      }
    }

    private void SetTextSpeed(string text, bool Vertical)
    {
      // InvokeRequired required compares the thread ID of the
      // calling thread to the thread ID of the creating thread.
      // If these threads are different, it returns true.
      if (Vertical ? textSpeedV.InvokeRequired : textSpeedH.InvokeRequired)
      {
        try
        {
          SetTextCallback d = new SetTextCallback(SetTextSpeed);
          Invoke(d, new object[] { text, Vertical });
        }
        catch (Exception)
        {
        }
      }
      else
      {
        if (Vertical)
          textSpeedV.Text = text;
        else
          textSpeedH.Text = text;
      }
    }

    private void SetTextAccel(string text, bool Vertical)
    {
      // InvokeRequired required compares the thread ID of the
      // calling thread to the thread ID of the creating thread.
      // If these threads are different, it returns true.
      if (Vertical ? textAccelV.InvokeRequired : textAccelH.InvokeRequired)
      {
        try
        {
          SetTextCallback d = new SetTextCallback(SetTextAccel);
          Invoke(d, new object[] { text, Vertical });
        }
        catch (Exception)
        {
        }
      }
      else
      {
        if (Vertical)
          textAccelV.Text = text;
        else
          textAccelH.Text = text;
      }
    }

    private bool HandleReply(String reply)
    {
      bool Handled = false;
      int pos = 0;
      bool isV = reply.IndexOf(".2") >= 0;

      //Ux.1=8<cr><lf>          Movement complete       any movement cmd
      //Ux.2=8<cr><lf>          Movement complete       any movement cmd
      //Ux.1=0<cr><lf>          Motor Status            ?99.1
      //                          0=Running, 1=overflow, 2=overspeed, 4=overload, 8=In position
      if ((pos = reply.IndexOf("Ux.")) >= 0)
      {
        int posEq = reply.IndexOf('=');
        if (posEq >= 0)
        {
          int res = 1;
          Int32.TryParse(reply.Substring(posEq + 1), out res);
          Color setColour = Color.Red;
          if (res == 0)
            setColour = Color.Green;
          else if (res == 8)
          {
            setColour = SystemColors.Control;
          }

          SetColourPos(setColour, (reply[pos + 3] == '2'));
          Handled = true;
        }
      }

      //Px.1=245<cr><lf>        Current Pos             ?96.1
      if ((pos = reply.IndexOf("Px.")) >= 0)
      {
        int posEq = reply.IndexOf('=');
        if (posEq >= 0)
        {
          int res = -999;
          Int32.TryParse(reply.Substring(posEq + 1), out res);

          SetTextPos(res.ToString(), (reply[pos + 3] == '2'));
          Handled = true;
        }
      }

      //Sx.1=0<cr><lf>          Current Speed           ?97.1
      if ((pos = reply.IndexOf("Sx.")) >= 0)
      {
        int posEq = reply.IndexOf('=');
        if (posEq >= 0)
        {
          int res = -999;
          Int32.TryParse(reply.Substring(posEq + 1), out res);

          SetTextSpeed(res.ToString(), (reply[pos + 3] == '2'));
          Handled = true;
        }
      }

      //Ix.1=0<cr><lf>          Current Acc             ?98.1
      if ((pos = reply.IndexOf("Ix.")) >= 0)
      {
        int posEq = reply.IndexOf('=');
        if (posEq >= 0)
        {
          int res = -999;
          Int32.TryParse(reply.Substring(posEq + 1), out res);

          SetTextAccel(res.ToString(), (reply[pos + 3] == '2'));
          Handled = true;
        }
      }


      //Origin.1=909<cr><lf>    Found and set origin    |.1
      //Origin.2=41<cr><lf>     Found and set origin    |.2
      else if ((pos = reply.IndexOf("Origin.")) >= 0)
      {
        int posEq = reply.IndexOf('=');
        if (posEq >= 0)
        {
          SetTextOrig(reply.Substring(posEq + 1), (reply[pos + 7] == '2'));
          Handled = true;
        }
      }

      //Check for echoed commands
      switch (reply.Substring(0,1))
      {
        case "?":
        case "(":
        case ")":
        case "|":
        case "^":
        case "A":
        case "P":
        case "S":
        Handled = true;
        break;
      }
      return Handled;
    }
    
    private void OnDataAvailable(IAsyncResult result)
    {
      if (!_bDisconnecting)
      {
        try
        {
          int nRead = _tcpStream.EndRead(result);

          if (nRead > 0)
          {
            _strBuffer += Encoding.ASCII.GetString(_readBuffer, 0, nRead);
#if (HINEMOTORSETUP_LOG_ALL_RX)
            _logStream.Write(_readBuffer, 0, nRead);
#endif

            int end = 0;
            while (end >= 0 && !_bDisconnecting)
            {
              //Ignore leading /r/n
              int nIgnore = 0;
              while (nIgnore < _strBuffer.Length && (_strBuffer[nIgnore] == '\r' || _strBuffer[nIgnore] == '\n'))
                nIgnore++;
              end = _strBuffer.IndexOf("\r\n", nIgnore);
              if (end >= 0)
              {
                String sRx = _strBuffer.Substring(nIgnore, end + 2);
                if (_strBuffer.Length > end + 2)
                  _strBuffer = _strBuffer.Substring(end + 2);
                else
                  _strBuffer = "";

                if (!HandleReply(sRx))
                  AppendLog("Rx: " + sRx);
              }
            }
          }
          //Setup the Async Read again for the next data received.
          if (!_bDisconnecting)
            _tcpStream.BeginRead(_readBuffer, 0, 256, new AsyncCallback(OnDataAvailable), null);
        }
        catch (Exception)
        {

        }
      }
    }

    private void btnConnect_Click(object sender, EventArgs e)
    {
      if (btnConnect.Text == "Connect")
      {
        try
        {
          _tcpClient = new System.Net.Sockets.TcpClient();
          _tcpClient.Connect("193.240.200.203", 10001);
          _tcpStream = _tcpClient.GetStream();
          _tcpStream.BeginRead(_readBuffer, 0, 256, new AsyncCallback(OnDataAvailable), null);
          btnConnect.Text = "Disconnect";
          EnableButtons(true);
          timerQuery.Enabled = true;
          _bDisconnecting = false;

          //Set Dynamic Command speed and acceleration
          SendCmd("S.1=" + hScrollSpeedH.Value.ToString());
          SendCmd("A.1=" + RUN_ACC_H.ToString());
          SendCmd("S.2=" + hScrollSpeedV.Value.ToString());
          SendCmd("A.2=" + RUN_ACC_V.ToString());
        }
        catch (System.Net.Sockets.SocketException ex)
        {
          MessageBox.Show(ex.Message, "Socket Exception");
        }
      }
      else
      {
        _bDisconnecting = true;
        timerQuery.Enabled = false;
        EnableButtons(false);
        _tcpClient.Close();
        _tcpClient = null;
        btnConnect.Text = "Connect";
      }
    }

    private void SendCmd(String cmd)
    {
      if (!_bDisconnecting)
      {
        cmd += "\r\n";
        bool cmdHok = (cmd.IndexOf(".1") >= 0);
        bool cmdVok = (cmd.IndexOf(".2") >= 0);
        {
          switch (cmd[0])
          {
            case '|':
              if (cmdHok)
              {
                SetColourPos(Color.Orange, cmdVok);
              }
              else if (cmdVok)
              {
                SetColourPos(Color.Orange, cmdVok);
              }
              break;
            default:
              break;
          }

          byte[] send = Encoding.ASCII.GetBytes(cmd);
          _tcpStream.Write(send, 0, send.Length);
          System.Threading.Thread.Sleep(10); //Seems to stop overlapping replies!
        }
      }
    }

    private void btnHome_Click(object sender, EventArgs e)
    {
      SendCmd(").1");
      SendCmd("(.1");
      SendCmd("|.1");
      SendCmd(").2");
      SendCmd("(.2");
      SendCmd("|.2");
    }

    private void btnSend_Click(object sender, EventArgs e)
    {
      SendCmd(textSend.Text);
    }

    private void timerQuery_Tick(object sender, EventArgs e)
    {
      SendCmd("?99.1"); //Motor status
      SendCmd("?98.1"); //Motor acceleration
      SendCmd("?97.1"); //Motor speed
      SendCmd("?96.1"); //Motor position
      SendCmd("?99.2");
      SendCmd("?98.2");
      SendCmd("?97.2");
      SendCmd("?96.2");

    }

    private void btnEnableMotors_Click(object sender, EventArgs e)
    {
      SendCmd("(.1");
      SendCmd("(.2");
    }

    private void btnStop_Click(object sender, EventArgs e)
    {
      SendCmd(").1");
      SendCmd(").2");
    }

    private void btnJogExtend_Click(object sender, EventArgs e)
    {
      int p = Int32.Parse(textPosH.Text);
      int inc = Int32.Parse(textJogH.Text);
      int target = p + inc;
      int maxVal = 0;
      if (Int32.TryParse(textMaxPosH.Text, out maxVal))
      {
        if (target > maxVal)
          target = maxVal;
        SendCmd("P.1=" + target.ToString());
        SendCmd("^.1");
      }
    }

    private void btnJogRetract_Click(object sender, EventArgs e)
    {
      int p = Int32.Parse(textPosH.Text);
      int inc = Int32.Parse(textJogH.Text);
      int target = p - inc;
      if (target < 0) 
        target = 0;
      SendCmd("P.1=" + target.ToString());
      SendCmd("^.1");
    }

    private void btnJogUp_Click(object sender, EventArgs e)
    {
      int p = Int32.Parse(textPosV.Text);
      int inc = Int32.Parse(textJogV.Text);
      int target = p + inc;
      int maxVal = 0;
      if (Int32.TryParse(textMaxPosV.Text, out maxVal))
      {
        if (target > maxVal)
          target = maxVal;
        SendCmd("P.2=" + target.ToString());
        SendCmd("^.2");
      }
    }

    private void btnJogDn_Click(object sender, EventArgs e)
    {
      int p = Int32.Parse(textPosV.Text);
      int inc = Int32.Parse(textJogV.Text);
      int target = p - inc;
      if (target < 0) 
        target = 0;
      SendCmd("P.2=" + target.ToString());
      SendCmd("^.2");
    }

    private void imgJoystick_Paint(object sender, PaintEventArgs e)
    {
      e.Graphics.DrawRectangle(Pens.Red, imgJoystick.Width / 2 - JOYSTICK_CENTRE, imgJoystick.Height / 2 - JOYSTICK_CENTRE, JOYSTICK_CENTRE * 2, JOYSTICK_CENTRE*2);

      int xpos = imgJoystick.Width / 2 - JOYSTICK_SIZE;
      if (_movingH == MOVE_DIRECTION.MovingBack)
        xpos = 0;
      else if (_movingH == MOVE_DIRECTION.MovingFwd)
        xpos = imgJoystick.Width - JOYSTICK_SIZE * 2 - 2;

      int ypos = imgJoystick.Height / 2 - JOYSTICK_SIZE;
      if (_movingV == MOVE_DIRECTION.MovingBack)
        ypos = imgJoystick.Height - JOYSTICK_SIZE * 2 - 2;
      else if (_movingV == MOVE_DIRECTION.MovingFwd)
        ypos = 0;

      e.Graphics.FillEllipse(Brushes.Black, xpos, ypos, JOYSTICK_SIZE * 2, JOYSTICK_SIZE * 2);
    }

    private void imgJoystick_MouseDown(object sender, MouseEventArgs e)
    {
      _movingH = MOVE_DIRECTION.StationaryMouseDown;
      _movingV = MOVE_DIRECTION.StationaryMouseDown;
      SendCmd("S.1=" + RUN_SPEED_H.ToString());
      SendCmd("S.2=" + RUN_SPEED_V.ToString());
      SendCmd("A.1=" + JOYSTICK_ACC_H.ToString());
      SendCmd("A.2=" + JOYSTICK_ACC_V.ToString());
      imgJoystick_MouseMove(sender, e);
    }

    private void imgJoystick_MouseUp(object sender, MouseEventArgs e)
    {
      _movingH = MOVE_DIRECTION.Stationary;
      _movingV = MOVE_DIRECTION.Stationary;
      SendCmd(").1");
      SendCmd("(.1");
      SendCmd(").2");
      SendCmd("(.2");
      SendCmd("S.1=" + hScrollSpeedH.Value.ToString());
      SendCmd("S.2=" + hScrollSpeedV.Value.ToString());
      SendCmd("A.1=" + RUN_ACC_H.ToString());
      SendCmd("A.2=" + RUN_ACC_V.ToString());
      imgJoystick.Refresh();
    }

    private void imgJoystick_MouseMove(object sender, MouseEventArgs e)
    {
      if (_movingH != MOVE_DIRECTION.Stationary)
      {
        MOVE_DIRECTION prevH = _movingH;
        int mid = imgJoystick.Width / 2;
        if (e.X < mid - JOYSTICK_CENTRE
        #if HINEMOTORSETUP_DISABLE_CORNERS
         && _movingV == MOVE_DIRECTION.StationaryMouseDown
        #endif
        )
        {
          _movingH = MOVE_DIRECTION.MovingBack;
        }
        else if (e.X > mid + JOYSTICK_CENTRE
        #if HINEMOTORSETUP_DISABLE_CORNERS
         && _movingV == MOVE_DIRECTION.StationaryMouseDown
        #endif
        )
        {
          _movingH = MOVE_DIRECTION.MovingFwd;
        }
        else
        {
          _movingH = MOVE_DIRECTION.StationaryMouseDown;
        }

        if (prevH != _movingH)
        {
          if (_movingH == MOVE_DIRECTION.MovingFwd)
          {
            SendCmd("P.1=" + textMaxPosH.Text);
            SendCmd("^.1");
          }
          else if (_movingH == MOVE_DIRECTION.MovingBack)
          {
            SendCmd("P.1=0");
            SendCmd("^.1");
          }
          else 
          {
            SendCmd(").1");
            SendCmd("(.1");
          }
        }
      }
      if (_movingV != MOVE_DIRECTION.Stationary)
      {
        MOVE_DIRECTION prevV = _movingV;
        int mid = imgJoystick.Height / 2;
        if (e.Y > mid + JOYSTICK_CENTRE
        #if HINEMOTORSETUP_DISABLE_CORNERS
         && _movingH == MOVE_DIRECTION.StationaryMouseDown
        #endif
        )
        {
          _movingV = MOVE_DIRECTION.MovingBack;
        }
        else if (e.Y < mid - JOYSTICK_CENTRE
        #if HINEMOTORSETUP_DISABLE_CORNERS
         && _movingH == MOVE_DIRECTION.StationaryMouseDown
        #endif
        )
        {
          _movingV = MOVE_DIRECTION.MovingFwd;
        }
        else
        {
          _movingV = MOVE_DIRECTION.StationaryMouseDown;
        }

        if (prevV != _movingV)
        {
          if (_movingV == MOVE_DIRECTION.MovingFwd)
          {
            SendCmd("P.2=" + textMaxPosV.Text);
            SendCmd("^.2");
          }
          else if (_movingV == MOVE_DIRECTION.MovingBack)
          {
            SendCmd("P.2=0");
            SendCmd("^.2");
          }
          else
          {
            SendCmd(").2");
            SendCmd("(.2");
          }
        }
      }
      imgJoystick.Refresh();
    }

    private void textPosH_Click(object sender, EventArgs e)
    {
      String rtn = "";
      if (InputBox("Move Horizontal", "Enter target value:", ref rtn) == DialogResult.OK)
      {
        int val = 0;
        int maxVal = 0;
        if (Int32.TryParse(rtn, out val) && Int32.TryParse(textMaxPosH.Text, out maxVal))
        {
          if (val > maxVal)
            val = maxVal;
          SendCmd("P.1=" + val.ToString());
          SendCmd("^.1");
        }
      }
    }

    private void textPosV_Click(object sender, EventArgs e)
    {
      String rtn = "";
      if (InputBox("Move Vertical", "Enter target value:", ref rtn) == DialogResult.OK)
      {
        int val = 0;
        int maxVal = 0;
        if (Int32.TryParse(rtn, out val) && Int32.TryParse(textMaxPosV.Text, out maxVal))
        {
          if (val > maxVal)
            val = maxVal;
          SendCmd("P.2=" + val.ToString());
          SendCmd("^.2");
        }
      }
    }

    private void hScrollSpeedH_Scroll(object sender, ScrollEventArgs e)
    {
      labelSetSpeedH.Text = "Set Speed = " + hScrollSpeedH.Value.ToString();
      SendCmd("S.1=" + hScrollSpeedH.Value.ToString());
    }

    private void hScrollSpeedV_Scroll(object sender, ScrollEventArgs e)
    {
      labelSetSpeedV.Text = "Set Speed = " + hScrollSpeedV.Value.ToString();
      SendCmd("S.2=" + hScrollSpeedV.Value.ToString());
    }

    private void HineMotorSetup_Deactivate(object sender, EventArgs e)
    {
      imgJoystick_MouseUp(sender, null);
    }

    private void HineMotorSetup_FormClosed(object sender, FormClosedEventArgs e)
    {
#if (HINEMOTORSETUP_LOG_ALL_RX)
        _logStream.Close();
#endif
    }

    private void HineMotorSetup_FormClosing(object sender, FormClosingEventArgs e)
    {
      _bDisconnecting = true;
      if (btnConnect.Text == "Disconnect")
      {
        btnConnect_Click(sender, null);
        System.Threading.Thread.Sleep(100);
      }
    }

    private void HineMotorSetup_Load(object sender, EventArgs e)
    {

    }

   
    private void textOrigH_TextChanged(object sender, EventArgs e)
    {

    }

    private void imgJoystick_Click(object sender, EventArgs e)
    {

    }

    private void textMaxPosH_TextChanged(object sender, EventArgs e)
    {

    }

  }
}

---