public void AddQueue(float interval, int direction)
{
var command = new A10PistonCommand();
command.interval = interval;
command.direction = direction;
commandQueue.Enqueue(command);
}
public static void AddQueue(float interval, int direction)
{
Console.WriteLine("AddQueue interval: {interval}, direction: {direction}");
var command = new A10PistonCommand();
command.interval = interval;
command.direction = direction * -1;
commandQueue.Enqueue(command);
}
private static void PublishCommnand(A10PistonCommand command)
{
// 10-60 (The closer to 0, the slower.)
//
// 10 or more recommended.
// Is less than 10 not recommended, the burden on the motor is very heavy
//
byte speed = ResolveSpeed(command.interval, command.direction);
// 0-200 (Front is 0.)
//
byte position = (byte)(command.direction > 0 ? 200 : 0);
Console.WriteLine($"onPublish speed: {speed}, positon: {position}");
port.Write(new byte[] { 3, position, speed }, 0, 3);
}
