public GripperController(NexMotion_IOAdapter ioadapter, uint tx_offset, uint rx_offset)
{
/* TxPDO OFFSET */
INPUT_DATA_OFFSET = tx_offset;
CONTROLLER_FLAG_OFFSET = INPUT_DATA_OFFSET + 2;
CURRENT_POSITION_OFFSET = INPUT_DATA_OFFSET + 4;
CURRENT_SPEED_OFFSET = INPUT_DATA_OFFSET + 8;
CURRENT_PUSHGIN_FORCE_OFFSET = INPUT_DATA_OFFSET + 10;
SET_TARGET_POSITION_OFFSET = INPUT_DATA_OFFSET + 12;
ALARM1_OFFSET = INPUT_DATA_OFFSET + 16;
/* RxPDO OFFSET */
OUTPUT_DATA_OFFSET = rx_offset;
DATA_FLAG_OFFSET = OUTPUT_DATA_OFFSET + 2;
START_FLAG_OFFSET = OUTPUT_DATA_OFFSET + 4;
MOVEMENT_MODE_OFFSET = OUTPUT_DATA_OFFSET + 5;
SPEED_OFFSET = OUTPUT_DATA_OFFSET + 6;
TARGET_POSITION_OFFSET = OUTPUT_DATA_OFFSET + 8;
ACC_OFFSET = OUTPUT_DATA_OFFSET + 12;
DEC_OFFSET = OUTPUT_DATA_OFFSET + 14;
PUSHING_FORCE_OFFSET = OUTPUT_DATA_OFFSET + 16;
TRIGGER_LV_OFFSET = OUTPUT_DATA_OFFSET + 18;
PUSHING_SPEED_OFFSET = OUTPUT_DATA_OFFSET + 20;
MOVEING_FORCE_OFFSET = OUTPUT_DATA_OFFSET + 22;
AREA1_OFFSET = OUTPUT_DATA_OFFSET + 24;
AREA2_OFFSET = OUTPUT_DATA_OFFSET + 28;
IN_POSINTION_OFFSET = OUTPUT_DATA_OFFSET + 32;
mIoAdapter = ioadapter;
}
public void InitIOForRobot(uint offset, int group_id)
{
if (robots.Count < 1)
{
Console.WriteLine("No such group to be assign to!");
return;
}
if (offset > SystemConfig.NEXCOMROBOT_MAX_IO)
{
Console.WriteLine("Exceed pre-defined io range!");
return;
}
NexMotion_IOAdapter tmp_IOAdapter = new NexMotion_IOAdapter(mRobot.DeviceID);
GripperController tmp_gripper_ctl = new GripperController(tmp_IOAdapter, offset, offset);
robots[group_id].SetGripper(tmp_gripper_ctl);
}