public FeederMotorParameters()
{
this.Location = "";
this.State = default(MotorStates);
this.Direction = default(MotorDirections);
this.PositivePusher = default(bool);
this.PositionInversion = default(bool);
}
public void Set(MovementMotorParameters parameters)
{
this.Location = parameters.Location;
this.State = parameters.State;
this.Direction = parameters.Direction;
this.AxialMode = parameters.AxialMode;
this.CircumferentialMode = parameters.CircumferentialMode;
this.CornerAxialMode = parameters.CornerAxialMode;
this.LaunchAxialMode = parameters.LaunchAxialMode;
}
public MovementMotorParameters()
{
this.Location = "";
this.State = default(MotorStates);
this.Direction = default(MotorDirections);
this.AxialMode = default(MovementForwardControls); ;
this.CircumferentialMode = default(MovementForwardControls); ;
this.CornerAxialMode = default(MovementForwardControls); ;
this.LaunchAxialMode = default(MovementForwardControls); ;
}
/// <summary>
/// Sends data to a stepper motor daughtercard.
/// </summary>
/// <param name = "deviceAddr">The device address of the specific
/// stepper motor daughtercard to send data to.</param>
/// <param name = "motorNum">The motor number (1-4) of the motor to control.</param>
/// <param name = "direction">A value from the <see cref = "MotorDirections" /> enumeration, indicating the direction (clockwise or counterclockwise) to move the motor (this ultimately depends on how the motor is wired to the card).</param>
/// <param name = "numSteps">A byte, whose value (0-127) represents the number of discrete steps to command the stepper motor to move, in the indicated direction.</param>
/// <param name = "stepType">A value from the <see cref = "MotorStepTypes" /> enumeration, indicating whether to move the motor in full-steps or in half-steps.</param>
public void DoaSendStepperMotor(byte deviceAddr, byte motorNum, MotorDirections direction, byte numSteps,
MotorStepTypes stepType)
{
if (motorNum < 1 || motorNum > 4)
{
throw new ArgumentOutOfRangeException(nameof(motorNum), "must be between 1 and 4");
}
if (numSteps < 0 || numSteps > 127)
{
throw new ArgumentOutOfRangeException(nameof(numSteps), "must be between 0 and 127");
}
if (stepType == MotorStepTypes.HalfStep)
{
motorNum += 4;
}
DoaSendRaw(deviceAddr, (byte)(motorNum - 1), ((byte)((byte)direction | numSteps)));
}
public void Set(FeederMotorParameters parameters)
{
this.Location = parameters.Location;
this.State = parameters.State;
this.Direction = parameters.Direction;
}
