/// <summary>
/// Initializes a new instance of the <c>ServoMotorController</c> class.
/// </summary>
public ServoMotorController()
{
commJob = new DelegateCommunicationJob(delegate()
{
return String.Format("servo {0}:{1}", (ushort)ServoMotorId, position);
});
}
/// <summary>
/// Initializes a new instance of the <c>PwmDCMotorController</c> class.
/// </summary>
public PwmDCMotorController()
{
commJob = new DelegateCommunicationJob(delegate()
{
return String.Format("pwm r:{0} {1}:{2}", _rampingRate, (ushort)DCMotorId, Speed);
});
velCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("vel {0}", (ushort)DCMotorId);
});
}
/// <summary>
/// Initializes a new instance of the <c>PwmDCMotorController</c> class.
/// </summary>
public DifferentialMotorController()
{
Enabled = false;
commJob = new DelegateCommunicationJob(delegate()
{
string cmd = String.Format("pwm {0}:{1} {2}:{3}", (ushort)_rightMotorId, _rightMotorSpeed, (ushort)_leftMotorId, _leftMotorSpeed);
//Debug.WriteLine("Command: " + cmd);
return cmd;
});
rampCommJob = new DelegateCommunicationJob(delegate()
{
string cmd = String.Format("pwm r:{0} {1}:{2} {3}:{4}", _rampingRate, (ushort)_rightMotorId, _rightMotorSpeed, (ushort)_leftMotorId, _leftMotorSpeed);
//Debug.WriteLine("Command: " + cmd);
return cmd;
});
}
/// <summary>
/// Initializes a new instance of the <c>BipolarStepperMotorController</c> class.
/// </summary>
public BipolarStepperMotorController()
{
stepCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("step {0}:{1}:{2}", _direction, _speed, _steps);
});
sweepCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("sweep {0}:{1}", _speed, _steps);
});
stopCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("stop");
});
}
/// <summary>
/// Initializes a new instance of the <c>GpioPin</c> class.
/// </summary>
public GpioPin()
{
commJob = new DelegateCommunicationJob(delegate
{
int p = 0;
if (pin == GpioPinId.Pin0)
p = 0;
else if (pin == GpioPinId.Pin1)
p = 1;
else if (pin == GpioPinId.Pin2)
p = 2;
else if (pin == GpioPinId.Pin3)
p = 3;
else if (pin == GpioPinId.Pin4)
p = 4;
else if (pin == GpioPinId.Pin5)
p = 5;
else if (pin == GpioPinId.Pin6)
p = 6;
else if (pin == GpioPinId.Pin7)
p = 7;
else if (pin == GpioPinId.Pin8)
p = 8;
else if (pin == GpioPinId.Pin9)
p = 9;
else if (pin == GpioPinId.PinHB)
p = 10;
else if (pin == GpioPinId.PinSCL)
p = 11;
else if (pin == GpioPinId.PinSDA)
p = 12;
//else if (pin == GpioPinId.PinRTS)
// p = 13;
//else if (pin == GpioPinId.PinCTS)
// p = 14;
if (state == false)
return String.Format("setio {0}:0", p);
else
return String.Format("setio {0}:1", p);
});
}
private const double TrackCircumferenceDefault = 22.777; // track * pi -- used for rotational calcs
#endregion
#region CTORS
/// <summary>
/// Initializes a new instance of the <c>PidDCMotorController</c> class.
/// </summary>
public PIDMotorController()
{
vPidCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format(
"vpid {0}:{1}:{2}:{3}", vProp, vInteg, vDeriv, vLoop);
});
stopCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("stop");
});
dPidCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format(
"dpid {0}:{1}:{2}:{3}", dProp, dInteg, dDeriv, dAccel);
});
dPidDBCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format(
"dpid {0}:{1}:{2}:{3}:{4}", dProp, dInteg, dDeriv, dAccel, dDeadband);
});
mogoCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("mogo 1:{0} 2:{1}", motor1Velocity, motor2Velocity);
});
digoCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("digo 1:{0}:{1} 2:{2}:{3}", motor1Distance, motor1Velocity, motor2Distance, motor2Velocity);
});
stingerPidCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("rpid s");
});
traxsterPidCommJob = new DelegateCommunicationJob(delegate()
{
return String.Format("rpid t");
});
}
