public int setMode(AX12Mode modeAX)
{
byte len, error = 1;
byte outID;
m_mode = modeAX;
if (m_mode == AX12Mode.joint)
{
int CW = 0;
int CCW = 1023;
byte[] limitsCW = { 0x06, (byte)CW, (byte)(CW >> 8) };
byte[] limitsCCW = { 0x08, (byte)CCW, (byte)(CCW >> 8) };
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCW);
getReponse(out outID, out len, out error, null);
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCCW);
getReponse(out outID, out len, out error, null);
}
else if (m_mode == AX12Mode.wheel)
{
int CW = 0;
int CCW = 0;
byte[] limitsCW = { 0x06, (byte)CW, (byte)(CW >> 8) };
byte[] limitsCCW = { 0x08, (byte)CCW, (byte)(CCW >> 8) };
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCW);
getReponse(out outID, out len, out error, null);
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCCW);
getReponse(out outID, out len, out error, null);
}
return((int)error);
}
public int setMode(AX12Mode modeAX)
{
byte len, error = 1;
m_mode = modeAX;
if (m_mode == AX12Mode.joint)
{
int CW = 0;
int CCW = 1023;
byte[] limitsCW = { (byte)Address.AX_CW_ANGLE_LIMIT_LOW, (byte)CW, (byte)(CW >> 8) };
byte[] limitsCCW = { (byte)Address.AX_CCW_ANGLE_LIMIT_LOW, (byte)CCW, (byte)(CCW >> 8) };
sendCommand(Instruction.AX_WRITE_DATA, limitsCW);
getReponse(out len, out error, null);
sendCommand(Instruction.AX_WRITE_DATA, limitsCCW);
getReponse(out len, out error, null);
}
else if (m_mode == AX12Mode.wheel)
{
int CW = 0;
int CCW = 0;
byte[] limitsCW = { (byte)Address.AX_CW_ANGLE_LIMIT_LOW, (byte)CW, (byte)(CW >> 8) };
byte[] limitsCCW = { (byte)Address.AX_CCW_ANGLE_LIMIT_LOW, (byte)CCW, (byte)(CCW >> 8) };
sendCommand(Instruction.AX_WRITE_DATA, limitsCW);
getReponse(out len, out error, null);
sendCommand(Instruction.AX_WRITE_DATA, limitsCCW);
getReponse(out len, out error, null);
}
return((int)error);
}
public int setMode(AX12Mode modeAX)
{
m_mode = modeAX;
if (m_mode == AX12Mode.joint)
{
int CW = 0;
int CCW = 1023;
byte[] limitsCW = { 0x06, (byte)CW, (byte)(CW >> 8) };
byte[] limitsCCW = { 0x08, (byte)CCW, (byte)(CCW >> 8) };
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCW);
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCCW);
}
else if (m_mode == AX12Mode.wheel)
{
int CW = 0;
int CCW = 0;
byte[] limitsCW = { 0x06, (byte)CW, (byte)(CW >> 8) };
byte[] limitsCCW = { 0x08, (byte)CCW, (byte)(CCW >> 8) };
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCW);
sendCommand(m_ID, Instruction.AX_WRITE_DATA, limitsCCW);
}
return(-1);
}
