public void ActivateOrHold(MotorSelection motors)
{
lock (this)
{
SendCommand(new byte[] { (byte)RNCommands.ActivateOrHoldMotor, (byte)motors });
}
}
public void StartContinuousRotation(MotorSelection motors)
{
lock (this)
{
SendCommand(new byte[] { (byte)RNCommands.StartContinuousRotation, (byte)motors });
}
}
public void TurnOff(MotorSelection motors)
{
lock (this)
{
SendCommand(new byte[] { (byte)RNCommands.TurnOffMotor, (byte)motors });
}
}
public void SetRotatingDirection(MotorSelection motors, RotatingDirection direction)
{
lock (this)
{
SendCommand(new byte[] { (byte)RNCommands.SetRotationDirection, (byte)motors, (byte)direction });
}
}
public void SetSpeedAndAcceleration(MotorSelection motors, SpeedSetting speed, Acceleration acceleration)
{
lock (this)
{
SendCommand(new byte[] { (byte)RNCommands.SetSpeedAndAcceleration, (byte)motors, (byte)speed, (byte)acceleration });
}
}
public void SetCurrent(CurrentSelection current, MotorSelection motors, uint mA, SettingsDuration duration = SettingsDuration.UntilReset)
{
lock (this)
{
SendCommand(new byte[] { (byte)current, (byte)motors, (byte)(mA & 0x00FF), (byte)((mA & 0xFF00) >> 8), (byte)duration });
}
}
public void RotateSteps(MotorSelection motors, uint steps)
{
lock (this)
{
SendCommand(new byte[] { (byte)RNCommands.RotateNumberOfSteps, (byte)motors, (byte)(steps & 0x00FF), (byte)((steps & 0xFF00) >> 8) });
}
}
public void ResetStepCounter(MotorSelection motors)
{
lock (this)
{
SendCommand(new byte[] { (byte)RNCommands.ResetStepCounter, (byte)motors });
}
}
public uint[] GetStepCounter(MotorSelection motors)
{
lock (this)
{
byte[] answer = SendCommand(new byte[] { (byte)RNCommands.GetStepCounter, (byte)motors });
uint[] steps = new uint[answer.Length / 4];
for (int i = 0; i < answer.Length / 4; ++i)
{
steps[i] = 0;
for (int j = 0; j < 4; ++j)
steps[i] += answer[i * 4 + j] * (uint)Math.Pow(256, j);
}
return steps;
}
}
public MotorState[] GetMotorState(MotorSelection motors)
{
lock (this)
{
byte[] answer = SendCommand(new byte[] { (byte)RNCommands.GetMotorState });
MotorState[] states = new MotorState[answer.Length];
for (int i = 0; i < answer.Length; ++i)
states[i] = (MotorState)answer[i];
return states;
}
}
