private void UpdatePumpMotor(ElmoWhistleMotor motor, double setPoint, ref ElmoWhistleMotor.Modes requestedMode, ref double requestedSetPoint)
{
if (null == motor.FaultReason)
{
bool modeChange = false;
ElmoWhistleMotor.Modes neededMode = ElmoWhistleMotor.Modes.undefined;
double neededValue = 0;
if (0 == setPoint)
{
if (0 == requestedSetPoint)
{
neededMode = ElmoWhistleMotor.Modes.off;
neededValue = 0;
}
else
{
neededMode = ElmoWhistleMotor.Modes.velocity;
neededValue = 0;
}
}
else
{
neededMode = ElmoWhistleMotor.Modes.velocity;
neededValue = setPoint;
}
if (neededMode != requestedMode)
{
motor.SetMode(neededMode);
requestedMode = neededMode;
modeChange = true;
Tracer.WriteMedium(TraceGroup.TBUS, null, "{0} {1}", motor.Name, requestedMode.ToString());
}
if (ElmoWhistleMotor.Modes.velocity == requestedMode)
{
if ((neededValue != requestedSetPoint) || (false != modeChange))
{
motor.SetVelocity((int)neededValue);
requestedSetPoint = neededValue;
Tracer.WriteMedium(TraceGroup.TBUS, null, "{0} velocity {1} {2}", motor.Name, neededValue, requestedSetPoint);
}
}
}
}
private void UpdateGuideMotor(ElmoWhistleMotor motor, GuideMotorStatus status)
{
if (null == motor.FaultReason)
{
double neededValue = 0;
if (GuideDirections.retract == status.direction)
{
if (status.RetractionLimit == false)
{
neededValue = ParameterAccessor.Instance.GuideRetractionSpeed.OperationalValue;
}
else
{
status.direction = GuideDirections.off;
neededValue = 0;
}
}
else if (GuideDirections.extend == status.direction)
{
if (status.ExtensionLimit == false)
{
neededValue = ParameterAccessor.Instance.GuideExtensionSpeed.OperationalValue * -1;
}
else
{
status.direction = GuideDirections.off;
neededValue = 0;
}
}
else
{
neededValue = 0;
}
if (status.requestedVelocity != neededValue)
{
int velocityRpm = (int)(neededValue);
motor.SetVelocity(velocityRpm);
status.requestedVelocity = neededValue;
Tracer.WriteMedium(TraceGroup.TBUS, null, "{0} velocity {1}", motor.Name, neededValue);
}
}
}