/// <summary>
/// This function enables synchonizing two motors.
/// Synchonization should be used when motors should run as synchrone as possible,
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <param name="speed">Speed level, [-100 – 100]</param>
/// <param name="turnRatio">Turn ratio, [-200 - 200]
/// 0 : Motor will run with same power
/// 100 : One motor will run with specified power while the other will be close to zero
/// 200: One motor will run with specified power forward while the other will run in the opposite direction at the same power level.
/// </param>
/// <param name="time">Time in milliseconds, 0 = Infinite</param>
/// <param name="brake">Specify break level, [0: Float, 1: Break]</param>
/// <remarks>
/// Instruction opOutput_Time_Sync (LAYER, NOS, SPEED, TURN, STEP, BRAKE)
/// Opcode 0xB1
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// (Data8) SPEED – Power level, [-100 – 100]
/// (Data16) TURN – Turn ratio, [-200 - 200], see documentation below
/// (Data32) TIME – Time in milliseconds, 0 = Infinite
/// (Data8) BRAKE - Specify break level [0: Float, 1: Break]
/// Dispatch status Unchanged
/// Description This function enables synchonizing two motors. Synchonization should be used when motors should run as synchrone as possible,
/// </remarks>
public static async Task TimeSync(ISocket socket, ChainLayer layer, OutputPortFlag ports, int speed, int turnRatio, int time, Brake brake = Brake.Float, bool requireReply = true)
{
if (time < 0)
{
throw new ArgumentOutOfRangeException(nameof(time), ">=0");
}
if (speed < -100 || speed > 100)
{
throw new ArgumentOutOfRangeException(nameof(speed), "[-100,100]");
}
if (turnRatio < -200 || turnRatio > 200)
{
throw new ArgumentOutOfRangeException(nameof(turnRatio), "[-200,200]");
}
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_TIME_SYNC);
cb.SHORT((int)layer);
cb.SHORT((int)ports);
cb.PAR8(speed);
cb.PAR16(turnRatio);
cb.PAR32(time);
cb.PAR8((byte)brake);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
/// <summary>
/// This function enables specifying a full motor power cycle in time.
/// RampUp specifies the power ramp up periode in milliseconds,
/// ContinuesRun specifies the constant power period in milliseconds,
/// RampDown specifies the power down period in milliseconds.
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <param name="power">Specify output power [-100 – 100]</param>
/// <param name="timeRampUp">Time in milliseconds for ramp up</param>
/// <param name="timeContinuesRun">Time in milliseconds for continues run</param>
/// <param name="timeRampDown">Time in milliseconds for ramp down</param>
/// <param name="brake">Specify break level, [0: Float, 1: Break]</param>
/// <remarks>
/// Instruction opOutput_Time_Power (LAYER, NOS, POWER, STEP1, STEP2, STEP3, BRAKE)
/// Opcode 0xAD
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// (Data8) POWER – Power level, [-100 – 100]
/// (Data32) STEP1 – Time in milliseconds for ramp up
/// (Data32) STEP2 – Time in milliseconds for continues run
/// (Data32) STEP3 – Time in milliseconds for ramp down
/// (Data8) BRAKE - Specify break level [0: Float, 1: Break]
/// Dispatch status Unchanged
/// Description This function enables specifying a full motor power cycle in time. Step1 specifies the power ramp up periode in milliseconds, Step2 specifies the constant power period in milliseconds, Step 3 specifies the power down period in milliseconds.
/// </remarks>
public static async Task TimePower(ISocket socket, ChainLayer layer, OutputPortFlag ports, int power, int timeRampUp, int timeContinuesRun, int timeRampDown, Brake brake = Brake.Float, bool requireReply = true)
{
if (power < -100 || power > 100)
{
throw new ArgumentOutOfRangeException(nameof(power), "[-100,100]");
}
if (timeContinuesRun < 0)
{
throw new ArgumentOutOfRangeException(nameof(timeContinuesRun), ">=0");
}
if (timeRampUp < 0)
{
throw new ArgumentOutOfRangeException(nameof(timeRampUp), ">=0");
}
if (timeRampDown < 0)
{
throw new ArgumentOutOfRangeException(nameof(timeRampDown), ">=0");
}
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_TIME_POWER);
cb.SHORT((int)layer);
cb.SHORT((int)ports);
cb.PAR8(power);
cb.PAR32(timeRampUp);
cb.PAR32(timeContinuesRun);
cb.PAR32(timeRampDown);
cb.PAR8((byte)brake);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
/// <summary>
/// This function enables the program to clear the tacho count used as sensor input.
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <remarks>
/// Instruction opOutput_Clr_Count (LAYER, NOS)
/// Opcode 0xB2
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// Dispatch status Unchanged
/// Description This function enables the program to clear the tacho count used as sensor input.
/// </remarks>
public static async Task ResetTachoCount(ISocket socket, ChainLayer layer, OutputPortFlag ports, bool requireReply = true)
{
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_CLR_COUNT);
cb.SHORT((int)layer);
cb.SHORT((int)ports);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
/// <summary>
/// This function sends stop to all individual output ports
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <param name="brake">Specify break level [0: Float, 1: Break]</param>
/// <remarks>
/// Instruction opOutput_Stop (LAYER, NOS, BRAKE)
/// Opcode 0xA3
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// (Data8) BRAKE – Specify break level [0: Float, 1: Break]
/// Dispatch status Unchanged
/// Description This function enables restting the tacho count for the individual output ports
/// </remarks>
public static async Task Stop(ISocket socket, ChainLayer layer, OutputPortFlag ports, Brake brake = Brake.Float, bool requireReply = true)
{
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_STOP);
cb.SHORT((int)layer);
cb.SHORT((int)ports);
cb.PAR8((byte)brake);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
/// <summary>
/// This function enables specifying the output device type
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="port">Port number [0 - 3]</param>
/// <param name="type">Output device type, (0x07: Large motor, Medium motor = 0x08)</param>
/// <param name="requireReply">indicate if the brick should respond OK on method call</param>
/// <remarks>
/// Instruction opOutput_Set_Type (LAYER, NO, TYPE)
/// Opcode 0xA1
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NO – Port number [0 - 3]
/// (Data8) TYPE – Output device type, (0x07: Large motor, Medium motor = 0x08)
/// Dispatch status Unchanged
/// Description This function enables specifying the output device type
/// </remarks>
public static async Task SetType(ISocket socket, ChainLayer layer, OutputPortName port, DeviceType type, bool requireReply = true)
{
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_SET_TYPE);
cb.SHORT((int)layer);
cb.SHORT((int)port);
cb.PAR8((byte)type);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
/// <summary>
/// This function enables setting the output percentage speed on the output ports.
/// This automatically enables speed control, which means the system will automatically adjust the power to keep the specified speed.
/// </summary>
/// <param name="socket">socket for executing command to brick</param>
/// <param name="layer">Specify chain layer number [0 - 3]</param>
/// <param name="ports">Output bit field [0x00 – 0x0F]</param>
/// <param name="speed">Specify output speed [-100 – 100 %]</param>
/// <remarks>
/// Instruction opOutput_Speed (LAYER, NOS, SPEED)
/// Opcode 0xA5
/// Arguments (Data8) LAYER – Specify chain layer number [0 - 3]
/// (Data8) NOS – Output bit field [0x00 – 0x0F]
/// (Data8) SPEED – Specify output speed [-100 – 100 %]
/// Dispatch status Unchanged
/// Description This function enables setting the output percentage speed on the output ports. This modes automatically enables speed control, which means the system will automa-tically adjust the power to keep the specified speed.
/// </remarks>
public static async Task SetSpeed(ISocket socket, ChainLayer layer, OutputPortFlag ports, int speed, bool requireReply = true)
{
if (speed < -100 || speed > 100)
{
throw new ArgumentException(nameof(speed), "[-100 and 100]");
}
Command cmd = null;
using (CommandBuilder cb = new CommandBuilder(requireReply ? CommandType.DIRECT_COMMAND_REPLY : CommandType.DIRECT_COMMAND_NO_REPLY))
{
cb.OpCode(OP.opOUTPUT_SPEED);
cb.SHORT((int)layer);
cb.SHORT((int)ports);
cb.PAR8(speed);
cmd = cb.ToCommand();
}
await socket.Execute(cmd);
}
