Help changing speed while program run

som1995 · August 9, 2017, 2:50pm

Hello everyone

I have an application that through a function that runs every 5 msg gives me the position of some motors and the value of some gauges, my intention is that when the user tightens a gauge and this has X value the motor moves at a speed determined.

Dim valorgf1 As String

        Dim valorgt1 As String
        Dim valorgf2 As String
        Dim valorgt2 As String
        Dim valorgf3 As String
        Dim valorgt3 As String
        Dim valorgf4 As String
        Dim valorgt4 As String
        Dim valorgf5 As String
        Dim valorgt5 As String

        Dim valormot1 As String = 0
        Dim valormot2 As String = 0
        Dim valormot3 As String = 0
        Dim valormot4 As String = 0
        Dim valormot5 As String = 0

        Dim gf1 As Decimal
        Dim gt1 As Decimal
        Dim gf2 As Decimal
        Dim gt2 As Decimal
        Dim gf3 As Decimal
        Dim gt3 As Decimal
        Dim gf4 As Decimal
        Dim gt4 As Decimal
        Dim gf5 As Decimal
        Dim gt5 As Decimal
      
        'Dim limite = TextBox3.Text

        Try
            Using device As Usc = connectToDevice() ' Find a device and temporarily connect.


                device.getVariables(st1)

                'System.Threading.Thread.Sleep(2)
                galfaf1 = st1(0).position
                galfat1 = st1(1).position
                galfaf2 = st1(7).position
                galfat2 = st1(8).position
                galfaf3 = st1(9).position
                galfat3 = st1(10).position
                galfaf4 = st1(13).position
                galfat4 = st1(14).position
                galfaf5 = st1(15).position
                galfat5 = st1(16).position

                slide1 = st1(2).position
                ' MsgBox(st1(2).position)
                slide2 = st1(6).position
                slide3 = st1(12).position
                slide4 = st1(18).position
                slide5 = st1(23).position

                valorgf1 = (5 * galfaf1) / 1023
                valorgt1 = (5 * galfat1) / 1023
                valorgf2 = (5 * galfaf2) / 1023
                valorgt2 = (5 * galfat2) / 1023
                valorgf3 = (5 * galfaf3) / 1023
                valorgt3 = (5 * galfat3) / 1023
                valorgf4 = (5 * galfaf4) / 1023
                valorgt4 = (5 * galfat4) / 1023
                valorgf5 = (5 * galfaf5) / 1023
                valorgt5 = (5 * galfat5) / 1023

                If Desde1 <> "" Then
                    valormot1 = 0.1 * (slide1 / 4 - 1000)

                End If
                If Desde2 <> "" Then
                    valormot2 = 0.1 * (slide2 / 4 - 1000)
                End If
                If Desde3 <> "" Then
                    valormot3 = 0.1 * (slide3 / 4 - 1000)
                End If
                If Desde4 <> "" Then
                    valormot4 = 0.1 * (slide4 / 4 - 1000)
                End If
                If Desde5 <> "" Then
                    valormot5 = 0.1 * (slide5 / 4 - 1000)
                End If

                If Desde1 <> "" Then
                    If valorgf1 >= 0 And valorgf1 <= 0.1 Then
                        gf1 = (19.23 * valorgf1)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1

                    ElseIf valorgf1 > 0.1 And valorgf1 <= 1.3 Then
                        gf1 = (19.23 * valorgf1 + 25)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1

                    ElseIf valorgf1 > 1.3 And valorgf1 <= 2.5 Then
                        gf1 = (225 * (valorgf1 - 1.3) + 50)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1

                    ElseIf valorgf1 > 2.5 And valorgf1 <= 3.4 Then
                        gf1 = (755.5 * (valorgf1 - 2.5) + 320)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1
                    End If


                    If valorgt1 >= 0 And valorgt1 <= 0.1 Then
                        gt1 = (19.23 * valorgt1)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1

                    ElseIf valorgt1 > 0.1 And valorgt1 <= 1.3 Then
                        gt1 = (19.23 * valorgt1 + 25)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1
                    ElseIf valorgt1 > 1.3 And valorgt1 <= 2.5 Then
                        gt1 = (225 * (valorgt1 - 1.3) + 50)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1

                    ElseIf valorgt1 > 2.5 And valorgt1 <= 3.4 Then
                        gt1 = (755.5 * (valorgt1 - 2.5) + 320)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1
                    End If
                End If

                If Desde2 <> "" Then
                    If valorgf2 >= 0 And valorgf2 <= 0.1 Then
                        gf2 = (19.23 * valorgf2)
                        valor3 = (gf2 / 1000).ToString("0.0")
                        TrackBar15.Value = gf2

                    ElseIf valorgf2 > 0.1 And valorgf2 <= 1.3 Then
                        gf2 = (19.23 * valorgf2 + 25)
                        valor3 = (gf2 / 1000).ToString("0.0")
                        TrackBar15.Value = gf2

                    ElseIf valorgf2 > 1.3 And valorgf2 <= 2.5 Then
                        gf2 = (225 * (valorgf2 - 1.3) + 50)
                        valor3 = (gf2 / 1000).ToString("0.0")
                        TrackBar15.Value = gf2

                    ElseIf valorgf2 > 2.5 And valorgf2 <= 3.4 Then
                        gf2 = (755.5 * (valorgf2 - 2.5) + 320)
                        valor3 = (gf2 / 1000).ToString("0.0")
                        TrackBar15.Value = gf2
                    End If



                    If valorgt2 >= 0 And valorgt2 <= 0.1 Then
                        gt2 = (19.23 * valorgt2)
                        valor4 = (gt2 / 1000).ToString("0.0")
                        TrackBar14.Value = gt2

                    ElseIf valorgt2 > 0.1 And valorgt2 <= 1.3 Then
                        gt2 = (19.23 * valorgt2 + 25)
                        valor4 = (gt2 / 1000).ToString("0.0")
                        TrackBar14.Value = gt2
                    ElseIf valorgt2 > 1.3 And valorgt2 <= 2.5 Then
                        gt2 = (225 * (valorgt2 - 1.3) + 50)
                        valor4 = (gt2 / 1000).ToString("0.0")
                        TrackBar14.Value = gt2

                    ElseIf valorgt2 > 2.5 And valorgt2 <= 3.4 Then
                        gt2 = (755.5 * (valorgt2 - 2.5) + 320)
                        valor4 = (gt2 / 1000).ToString("0.0")
                        TrackBar14.Value = gt2
                    End If
                End If

                If Desde3 <> "" Then
                    If valorgf3 >= 0 And valorgf3 <= 0.1 Then
                        gf3 = (19.23 * valorgf3)
                        valor5 = (gf3 / 1000).ToString("0.0")
                        TrackBar8.Value = gf3

                    ElseIf valorgf3 > 0.1 And valorgf3 <= 1.3 Then
                        gf3 = (19.23 * valorgf3 + 25)
                        valor5 = (gf3 / 1000).ToString("0.0")
                        TrackBar8.Value = gf3

                    ElseIf valorgf3 > 1.3 And valorgf3 <= 2.5 Then
                        gf3 = (225 * (valorgf3 - 1.3) + 50)
                        valor5 = (gf3 / 1000).ToString("0.0")
                        TrackBar8.Value = gf3

                    ElseIf valorgf3 > 2.5 And valorgf3 <= 3.4 Then
                        gf3 = (755.5 * (valorgf3 - 2.5) + 320)
                        valor5 = (gf3 / 1000).ToString("0.0")
                        TrackBar8.Value = gf3
                    End If



                    If valorgt3 >= 0 And valorgt3 <= 0.1 Then
                        gt3 = (19.23 * valorgt3)
                        valor6 = (gt3 / 1000).ToString("0.0")
                        TrackBar9.Value = gt3

                    ElseIf valorgt3 > 0.1 And valorgt3 <= 1.3 Then
                        gt3 = (19.23 * valorgt3 + 25)
                        valor6 = (gt3 / 1000).ToString("0.0")
                        TrackBar9.Value = gt3
                    ElseIf valorgt3 > 1.3 And valorgt3 <= 2.5 Then
                        gt3 = (225 * (valorgt3 - 1.3) + 50)
                        valor6 = (gt3 / 1000).ToString("0.0")
                        TrackBar9.Value = gt3

                    ElseIf valorgt3 > 2.5 And valorgt3 <= 3.4 Then
                        gt3 = (755.5 * (valorgt3 - 2.5) + 320)
                        valor6 = (gt3 / 1000).ToString("0.0")
                        TrackBar9.Value = gt3
                    End If
                End If

                If Desde4 <> "" Then
                    If valorgf4 >= 0 And valorgf4 <= 0.1 Then
                        gf4 = (19.23 * valorgf4)
                        valor7 = (gf4 / 1000).ToString("0.0")
                        TrackBar10.Value = gf4

                    ElseIf valorgf4 > 0.1 And valorgf4 <= 1.3 Then
                        gf4 = (19.23 * valorgf4 + 25)
                        valor7 = (gf4 / 1000).ToString("0.0")
                        TrackBar10.Value = gf4

                    ElseIf valorgf4 > 1.3 And valorgf4 <= 2.5 Then
                        gf4 = (225 * (valorgf4 - 1.3) + 50)
                        valor7 = (gf4 / 1000).ToString("0.0")
                        TrackBar10.Value = gf4

                    ElseIf valorgf4 > 2.5 And valorgf4 <= 3.4 Then
                        gf4 = (755.5 * (valorgf4 - 2.5) + 320)
                        valor7 = (gf4 / 1000).ToString("0.0")
                        TrackBar10.Value = gf4
                    End If

                    If valorgt4 >= 0 And valorgt4 <= 0.1 Then
                        gt4 = (19.23 * valorgt4)
                        valor8 = (gt4 / 1000).ToString("0.0")
                        TrackBar11.Value = gt4

                    ElseIf valorgt4 > 0.1 And valorgt4 <= 1.3 Then
                        gt4 = (19.23 * valorgt4 + 25)
                        valor8 = (gt4 / 1000).ToString("0.0")
                        TrackBar11.Value = gt4
                    ElseIf valorgt4 > 1.3 And valorgt4 <= 2.5 Then
                        gt4 = (225 * (valorgt4 - 1.3) + 50)
                        valor8 = (gt4 / 1000).ToString("0.0")
                        TrackBar11.Value = gt4

                    ElseIf valorgt4 > 2.5 And valorgt4 <= 3.4 Then
                        gt4 = (755.5 * (valorgt4 - 2.5) + 320)
                        valor8 = (gt4 / 1000).ToString("0.0")
                        TrackBar11.Value = gt4
                    End If
                End If

                If Desde5 <> "" Then
                    If valorgf5 >= 0 And valorgf5 <= 0.1 Then
                        gf5 = (19.23 * valorgf5)
                        valor9 = (gf5 / 1000).ToString("0.0")
                        TrackBar13.Value = gf5

                    ElseIf valorgf5 > 0.1 And valorgf5 <= 1.3 Then
                        gf5 = (19.23 * valorgf5 + 25)
                        valor9 = (gf5 / 1000).ToString("0.0")
                        TrackBar13.Value = gf5

                    ElseIf valorgf5 > 1.3 And valorgf5 <= 2.5 Then
                        gf5 = (225 * (valorgf5 - 1.3) + 50)
                        valor9 = (gf5 / 1000).ToString("0.0")
                        TrackBar13.Value = gf5

                    ElseIf valorgf5 > 2.5 And valorgf5 <= 3.4 Then
                        gf5 = (755.5 * (valorgf5 - 2.5) + 320)
                        valor9 = (gf5 / 1000).ToString("0.0")
                        TrackBar13.Value = gf5
                    End If

                    If valorgt5 >= 0 And valorgt5 <= 0.1 Then
                        gf5 = (19.23 * valorgt5)
                        valor10 = (gt5 / 1000).ToString("0.0")
                        TrackBar12.Value = gf5

                    ElseIf valorgt5 > 0.1 And valorgt5 <= 1.3 Then
                        gt5 = (19.23 * valorgt5 + 25)
                        valor10 = (gt5 / 1000).ToString("0.0")
                        TrackBar12.Value = gf5
                    ElseIf valorgt5 > 1.3 And valorgt5 <= 2.5 Then
                        gt5 = (225 * (valorgt5 - 1.3) + 50)
                        valor10 = (gt5 / 1000).ToString("0.0")
                        TrackBar12.Value = gf5

                    ElseIf valorgt5 > 2.5 And valorgt5 <= 3.4 Then
                        gt5 = (755.5 * (valorgt5 - 2.5) + 320)
                        valor10 = (gt5 / 1000).ToString("0.0")
                        TrackBar12.Value = gf5
                    End If
                End If

                If CheckBox2.Checked = True Then
                    If valor2 >= 0 And valor2 <= 0.1 Then
                        Velo1 = 0
                    ElseIf valor2 > 0.1 And valor2 <= 2 Then
                        Velo1 = 2
                    ElseIf valor2 > 2 And valor2 <= 4 Then
                        Velo1 = 2
                    ElseIf valor2 > 4 And valor2 <= 6 Then
                        Velo1 = 3
                    ElseIf valor2 > 6 And valor2 <= 8 Then
                        Velo1 = 4
                    ElseIf valor2 > 8 And valor2 <= 10 Then
                        Velo1 = 5
                    End If
                End If

                array1.Add(valor1)
                array2.Add(valor2)

                array3.Add(valor3)
                array4.Add(valor4)

                array5.Add(valor5)
                array6.Add(valor6)

                array7.Add(valor7)
                array8.Add(valor8)

                array9.Add(valor9)
                array10.Add(valor10)

                array1.Sort()
                array2.Sort()

                array3.Sort()
                array4.Sort()

                array5.Sort()
                array6.Sort()

                array7.Sort()
                array8.Sort()

                array9.Sort()
                array10.Sort()

                array1.Reverse()
                array2.Reverse()

                array3.Reverse()
                array4.Reverse()

                array5.Reverse()
                array6.Reverse()

                array7.Reverse()
                array8.Reverse()

                array9.Reverse()
                array10.Reverse()

                TextBox5.Text = array1(0)
                TextBox12.Text = array2(0)

                TextBox7.Text = array3(0)
                TextBox6.Text = array4(0)

                TextBox9.Text = array5(0)
                TextBox8.Text = array6(0)

                TextBox11.Text = array7(0)
                TextBox10.Text = array8(0)

                TextBox14.Text = array9(0)
                TextBox13.Text = array10(0)

                TrackBar1.Value = valormot1
                TrackBar5.Value = valormot2
                TrackBar4.Value = valormot3
                TrackBar3.Value = valormot4
                TrackBar2.Value = valormot5




                If CheckBox3.Checked = True Then
                    If TextBox5.Text >= TextBox4.Text OrElse TextBox7.Text >= TextBox4.Text OrElse TextBox9.Text >= TextBox4.Text OrElse TextBox11.Text >= TextBox4.Text OrElse TextBox14.Text >= TextBox4.Text Then
                        Timer16.Enabled = False
                        Timer1.Enabled = False
                        Button2.BackColor = Color.Crimson
                        Button2.Enabled = False
                        Button1.Enabled = True
                        Button1.BackColor = Color.Transparent
                        xTimer.Enabled = False
                        TrySetTarget(2, slide1)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(6, slide2)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(12, slide3)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(18, slide4)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(23, slide5)
                    End If

                End If
                If CheckBox4.Checked = True Then
                    If TextBox12.Text >= TextBox3.Text OrElse TextBox6.Text >= TextBox3.Text OrElse TextBox8.Text >= TextBox3.Text OrElse TextBox10.Text >= TextBox3.Text OrElse TextBox13.Text >= TextBox3.Text Then
                        Timer16.Enabled = False
                        Timer1.Enabled = False
                        Button2.BackColor = Color.Crimson
                        Button2.Enabled = False
                        Button1.Enabled = True
                        Button1.BackColor = Color.Transparent
                        xTimer.Enabled = False
                        TrySetTarget(2, slide1)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(6, slide2)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(12, slide3)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(18, slide4)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(23, slide5)
                    End If
                End If
               

                ' device.Dispose() is called automatically when the "Using" block ends,
                ' allowing other functions and processes to use the device.
            End Using
        Catch exception As Exception  ' Handle exceptions by displaying them to the user.
            'displayException(exception)
        End Try

This function using the position to obtained the values of the gauges and the position of the servos.After that there is a group of if that calculate the value of the gauges using that position and finally the last if calculate the speed of the first servo.

If CheckBox2.Checked = True Then

                    If valor2 >= 0 And valor2 <= 0.1 Then
                        Velo1 = 0
                    ElseIf valor2 > 0.1 And valor2 <= 2 Then
                        Velo1 = 2
                    ElseIf valor2 > 2 And valor2 <= 4 Then
                        Velo1 = 2
                    ElseIf valor2 > 4 And valor2 <= 6 Then
                        Velo1 = 3
                    ElseIf valor2 > 6 And valor2 <= 8 Then
                        Velo1 = 4
                    ElseIf valor2 > 8 And valor2 <= 10 Then
                        Velo1 = 5
                    End If
                End If

Then on other part of the code the program run sending the servo to target position after calculate the speed.
Here it is:

 Application.DoEvents()
                    System.Threading.Thread.Sleep(5)
                    Application.DoEvents()

                    'End If
                    'If slide1 = des1 Then

                    '    Velo1 = 1
                    '    TrySetTarget(2, has1)

                    'End If

                    While slide1 <> has1 ' Puede que sea des1, probar!!!

                        System.Threading.Thread.Sleep(5)
                        'Application.DoEvents()
                        If contador1 <> 0 Then
                            TextBox15.Text = TextBox15.Text - 1

                            If TextBox15.Text = 0 Then
                                Timer16.Enabled = False
                                Timer1.Enabled = False
                                Button2.BackColor = Color.Crimson
                                Button2.Enabled = False
                                Button1.Enabled = True
                                Button1.BackColor = Color.Transparent
                                xTimer.Enabled = False
                                contador1 = contador1 + 2

                            End If
                        End If

                        Application.DoEvents()
                        'System.Threading.Thread.Sleep(5)
                        'Application.DoEvents()


                        If Velo1 = 0 Then

                            TrySetTarget(2, slide1)
                            aviso = aviso + 1

                        Else

                            TrySetTarget(2, has1)
                            aviso = 0

                        End If

                        'Application.DoEvents()


                        If aviso = 4 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1 + 300)

                        End If
                        If aviso = 6 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1 + 300)
                        End If
                        If aviso = 8 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1 + 300)


                        End If
                        If aviso = 10 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1)

                            Timer16.Enabled = False
                            'Timer1.Enabled = False
                            Button2.BackColor = Color.Crimson
                            Button2.Enabled = False
                            Button1.Enabled = True
                            Button1.BackColor = Color.Transparent
                            xTimer.Enabled = False
                            'contador1 = contador1 + 2
                            MsgBox("Se finalizara la sesión debido a que el usuario no puede/quiere hacer el ejercicio")
                        End If
                    End While

My problem is that when the program run, at first the position is correct but when the while run again the position is the final, so there are no intermediate positions.

AmandaS · August 9, 2017, 11:24pm

Hello.

From your code, it looks like you are using one (or more) of our Maestro servo controllers.

It is difficult to help you troubleshoot your code, since the code you posted is quite lengthy and the variables names are not meaningful to me. Can you try simplifying your code as much as possible by removing irrelevant parts such as manipulating a form control format (e.g. Button2.BackColor = Color.Crimson)? Also, can you add comments explaining the purpose of each variable (e.g. has1, valorgt1, valorgt2, valorgf2, and valormot1)? Please post the modified version of your entire code here.

- Amanda

som1995 · August 10, 2017, 6:10am

Hello, of course.

Here it is:

</These variables will obtain the value resulting from a mathematical operation using the position of the gauge\>
        Dim valorgf1 As String
        Dim valorgt1 As String

</These variables will obtain the value resulting from a mathematical operation using the position of the servo\>
        Dim valormot1 As String = 0
        Dim valormot2 As String = 0

</These variables will convert the value of the variable valorgf1 or valorgt1 to decimal value\>
        Dim gf1 As Decimal
        Dim gt1 As Decimal

</Conect to device and get the position of gauges and servos, them make mathematical operations and comparisons\>
      Try
            Using device As Usc = connectToDevice() ' Find a device and temporarily connect.


                device.getVariables(st1)

               galfaf1 = st1(0).position
                galfat1 = st1(1).position
                
                slide1 = st1(2).position

          </Operation using the position of the gauges\>
                 valorgf1 = (5 * galfaf1) / 1023
                valorgt1 = (5 * galfat1) / 1023

          </Operation using the position of the servo, if the origin is different of nothing, enter and make the operation\>
                 If Desde1 <> "" Then

                    valormot1 = 0.1 * (slide1 / 4 - 1000)

                End If
</Right here what i do is using the value resulting from the above operation(valorgf1 and valorgt1), I get a value that will represent on a slide\>
                   
                If Desde1 <> "" Then
                    If valorgf1 >= 0 And valorgf1 <= 0.1 Then
                        gf1 = (19.23 * valorgf1)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1

                    ElseIf valorgf1 > 0.1 And valorgf1 <= 1.3 Then
                        gf1 = (19.23 * valorgf1 + 25)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1

                    ElseIf valorgf1 > 1.3 And valorgf1 <= 2.5 Then
                        gf1 = (225 * (valorgf1 - 1.3) + 50)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1

                    ElseIf valorgf1 > 2.5 And valorgf1 <= 3.4 Then
                        gf1 = (755.5 * (valorgf1 - 2.5) + 320)
                        valor1 = (gf1 / 1000).ToString("0.0")
                        TrackBar6.Value = gf1
                    End If


                    If valorgt1 >= 0 And valorgt1 <= 0.1 Then
                        gt1 = (19.23 * valorgt1)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1

                    ElseIf valorgt1 > 0.1 And valorgt1 <= 1.3 Then
                        gt1 = (19.23 * valorgt1 + 25)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1
                    ElseIf valorgt1 > 1.3 And valorgt1 <= 2.5 Then
                        gt1 = (225 * (valorgt1 - 1.3) + 50)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1

                    ElseIf valorgt1 > 2.5 And valorgt1 <= 3.4 Then
                        gt1 = (755.5 * (valorgt1 - 2.5) + 320)
                        valor2 = (gt1 / 1000).ToString("0.0")
                        TrackBar7.Value = gt1
                    End If
                End If

   </After all of this, using a public variable called valor 2, which I use to compare and get the speed\>
               If CheckBox2.Checked = True Then
                    If valor2 >= 0 And valor2 <= 0.1 Then
                        Velo1 = 0
                    ElseIf valor2 > 0.1 And valor2 <= 2 Then
                        Velo1 = 2
                    ElseIf valor2 > 2 And valor2 <= 4 Then
                        Velo1 = 2
                    ElseIf valor2 > 4 And valor2 <= 6 Then
                        Velo1 = 3
                    ElseIf valor2 > 6 And valor2 <= 8 Then
                        Velo1 = 4
                    ElseIf valor2 > 8 And valor2 <= 10 Then
                        Velo1 = 5
                    End If
                End If

</After this I compare two values in two text boxes and if they match the program, basically a force limiter that the user can do in the gauge\>
               If CheckBox3.Checked = True Then
                    If TextBox5.Text >= TextBox4.Text OrElse TextBox7.Text >= TextBox4.Text OrElse _
                    TextBox9.Text >= TextBox4.Text OrElse TextBox11.Text >= TextBox4.Text OrElse _ 
                     TextBox14.Text >= TextBox4.Text Then
                        Timer16.Enabled = False
                        Timer1.Enabled = False
                        Button2.BackColor = Color.Crimson
                        Button2.Enabled = False
                        Button1.Enabled = True
                        Button1.BackColor = Color.Transparent
                        xTimer.Enabled = False
                        TrySetTarget(2, slide1)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(6, slide2)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(12, slide3)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(18, slide4)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(23, slide5)
                    End If

                End If
                If CheckBox4.Checked = True Then
                    If TextBox12.Text >= TextBox3.Text OrElse TextBox6.Text >= TextBox3.Text OrElse _  
                       TextBox8.Text >= TextBox3.Text OrElse TextBox10.Text >= TextBox3.Text OrElse _  
                        TextBox13.Text >= TextBox3.Text Then
                        Timer16.Enabled = False
                        Timer1.Enabled = False
                        Button2.BackColor = Color.Crimson
                        Button2.Enabled = False
                        Button1.Enabled = True
                        Button1.BackColor = Color.Transparent
                        xTimer.Enabled = False
                        TrySetTarget(2, slide1)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(6, slide2)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(12, slide3)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(18, slide4)
                        System.Threading.Thread.Sleep(100)
                        TrySetTarget(23, slide5)
                    End If
                End If
               

                ' device.Dispose() is called automatically when the "Using" block ends,
                ' allowing other functions and processes to use the device.
            End Using
        Catch exception As Exception  ' Handle exceptions by displaying them to the user.
            'displayException(exception)
        End Try
</This is the in-servo code that will be repeated every 5 msg\>

Now the code that send the servo to target position depende of the speed:

 </These variables are used to calculate the origin and final position to which the servo has to go through a mathematical operation that appears below, thus obtaining a value between 4000 and 8000\>

        Dim has1 As String = 0
        Dim des1 As String = 0

        </The variable warning and warning1 are used so that in case the user does not tighten the g 
          auge is increased by one unit\>
        Dim aviso As Integer = 0
        Dim aviso1 As Integer = 0

        If Desde1 <> "" Then
            des1 = ((Desde1 / 0.1) + 1000) * 4        
        End If
        If Hasta1 <> "" Then
            has1 = ((Hasta1 / 0.1) + 1000) * 4      
        End If

</Now what I do is compare using a while if the current position of the servo is different to its final position, if so this loop will be repeated until both positions match\>

                    Application.DoEvents()
                                                    
                    While slide1 <> has1

                        System.Threading.Thread.Sleep(5)
                      
                        If contador1 <> 0 Then
                            TextBox15.Text = TextBox15.Text - 1

                            If TextBox15.Text = 0 Then
                                Timer16.Enabled = False
                                Timer1.Enabled = False
                                Button2.BackColor = Color.Crimson
                                Button2.Enabled = False
                                Button1.Enabled = True
                                Button1.BackColor = Color.Transparent
                                xTimer.Enabled = False
                                contador1 = contador1 + 2

                            End If
                        End If

                        Application.DoEvents()
                     
                      </This is where, depending on the speed obtained the servo will do one or the other 
                         thing, if the speed is 0 the servo will stop at its current position and if it is greater 
                         than 0 the servo is sent to its target position\>                      
                            
                            If Velo1 = 0 Then

                            TrySetTarget(2, slide1)
                            aviso = aviso + 1

                        Else

                            TrySetTarget(2, has1)
                            aviso = 0

                        End If

                    

                      </If the user does not tighten the gauges the warning variable is increased so that if 
                         you get the value 4, 6, 8 and 10 the motor will move a little to encourage the user 
                         and if it reaches 10 then it will stop\>

                        If aviso = 4 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1 + 300)

                        End If
                        If aviso = 6 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1 + 300)
                        End If
                        If aviso = 8 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1 + 300)


                        End If
                        If aviso = 10 Then
                            System.Threading.Thread.Sleep(1500)
                            TrySetTarget(2, slide1)

                            Timer16.Enabled = False
                            'Timer1.Enabled = False
                            Button2.BackColor = Color.Crimson
                            Button2.Enabled = False
                            Button1.Enabled = True
                            Button1.BackColor = Color.Transparent
                            xTimer.Enabled = False
                            'contador1 = contador1 + 2
                            MsgBox("Se finalizara la sesión debido a que el usuario no puede/quiere hacer 
                        el ejercicio")
                        End If
                    End While

As I explain in my first message the problem is that for some reason when I press, the speed is 1 but the servo does not move at that speed but it does to the maximum it has and when I stop squeezing, the servo does not stop simply keeps moving. One thing that I have noticed is at the beginning has a position of 4000 and nothing more tight for some reason gets directly the final position, without intermediate positions.

AmandaS · August 11, 2017, 12:02am

It sounds like the behavior you are seeing with the speed at the start of your program is described in the last question under the “FAQs” tab on the Maestro product page. As mentioned there, the speed and acceleration settings cannot be applied to the first movement because the Maestro has no way of knowing the current position of a servo to perform the calculations. Some ways to counteract this are described under that FAQ.

The recent code you posted is still difficult to follow. Considering there are a lot of calculations in your code, I suggest that you try stepping through your code and verifying its calculations to narrow down the source of the problem, and let us know your findings.

- Amanda