/// <summary>
/// 対象モーターを止めずにppsを反映するコマンドを送信
/// </summary>
/// <param name="targetMotor"></param>
void SetSendCmd_OnlySetting(MotorSetting targetMotor)
{
string sendCmd = string.Empty;
switch (targetMotor.type)
{
case CMD_TYPE.MOTOR1:
sendCmd = cmd_B3;
break;
case CMD_TYPE.MOTOR2:
sendCmd = cmd_B4;
break;
case CMD_TYPE.MOTOR3:
sendCmd = cmd_B5;
break;
case CMD_TYPE.MOTOR4:
sendCmd = cmd_B6;
break;
}
sendCmd += targetMotor.pps.ToString("X4");
if (sendCmd.Length == CmdLength)
{
DataSend(sendCmd);
}
}
/// <summary>
/// PPS,方向を反映するコマンドを送信
/// </summary>
/// <param name="_ms"></param>
void SetSendCmd_Setting(MotorSetting targetMotor)
{
if (!GetisConnect())
{
return;
}
string sendCmd = cmd_B2;
switch (targetMotor.type)
{
case CMD_TYPE.MOTOR1:
sendCmd += subCmd_Motor1;
break;
case CMD_TYPE.MOTOR2:
sendCmd += subCmd_Motor2;
break;
case CMD_TYPE.MOTOR3:
sendCmd += subCmd_Motor3;
break;
case CMD_TYPE.MOTOR4:
sendCmd += subCmd_Motor4;
break;
}
if (sendCmd.Length == CmdLength)
{
DataSend(sendCmd);
}
}
/// <summary>
/// MotorSettingにセットした値をもとにコマンドを送信
/// </summary>
void SendCmd_MotorSetting(MotorSetting _ms)
{
//モーターを止めて反映するか、止めずに反映するかによってコマンドが異なる
switch (_ms._ptn)
{
case SEND_PTN.NONE:
break;
case SEND_PTN.START:
SetSendCmd_isStart(_ms);
break;
case SEND_PTN.STOP:
SetSendCmd_isStart(_ms);
break;
case SEND_PTN.ONLY_SETTING:
SetSendCmd_OnlySetting(_ms);
break;
}
//送信終わったら初期化する
_ms._ptn = SEND_PTN.NONE;
_ms.isReady = false;
}
//準備OK
public void ReadyOK(CMD_TYPE motor)
{
MotorSetting _ms = getMotorSetting(motor);
if (_ms == null)
{
return;
}
_ms.isReady = true;
}
//コマンド送信時の動作パターンをセット ※コマンドは送信していない
public void SetSendPattern(CMD_TYPE motor, SEND_PTN ptn)
{
MotorSetting _ms = getMotorSetting(motor);
if (_ms == null)
{
return;
}
_ms._ptn = ptn;
}
//方向をセット ※コマンドは送信していない
public void SetDir(CMD_TYPE motor, bool sw)
{
MotorSetting _ms = getMotorSetting(motor);
if (_ms == null)
{
return;
}
_ms.dir = sw;
}
//PPSをセット ※コマンドは送信していない
public void SetPPS(CMD_TYPE motor, int i)
{
MotorSetting _ms = getMotorSetting(motor);
if (_ms == null)
{
return;
}
_ms.pps = i;
}
MotorSetting getMotorSetting(CMD_TYPE motor)
{
MotorSetting rtn = null;
foreach (MotorSetting _ms in MotorInfo)
{
if (_ms.type == motor)
{
rtn = _ms;
}
}
return(rtn);
}
private void Start()
{
StartInit();
MotorInfo[0] = new MotorSetting {
isReady = false, _ptn = SEND_PTN.NONE, type = CMD_TYPE.MOTOR1, pps = 0, dir = true
};
MotorInfo[1] = new MotorSetting {
isReady = false, _ptn = SEND_PTN.NONE, type = CMD_TYPE.MOTOR2, pps = 0, dir = true
};
MotorInfo[2] = new MotorSetting {
isReady = false, _ptn = SEND_PTN.NONE, type = CMD_TYPE.MOTOR3, pps = 0, dir = true
};
MotorInfo[3] = new MotorSetting {
isReady = false, _ptn = SEND_PTN.NONE, type = CMD_TYPE.MOTOR4, pps = 0, dir = true
};
}
/// <summary>
/// 対象モーターの開始/停止コマンドを送信
/// </summary>
/// <param name="targetMotor"></param>
void SetSendCmd_isStart(MotorSetting targetMotor)
{
//ppsを送信
SetSendCmd_pps(targetMotor.pps);
//方向を送信
SetSendCmd_Dir(targetMotor.dir);
//値を反映
SetSendCmd_Setting(targetMotor);
string sendCmd = string.Empty;
if (targetMotor._ptn == SEND_PTN.START)
{
sendCmd = cmd_A0;
}
else
{
sendCmd = cmd_80;
}
switch (targetMotor.type)
{
case CMD_TYPE.MOTOR1:
sendCmd += subCmd_Motor1;
break;
case CMD_TYPE.MOTOR2:
sendCmd += subCmd_Motor2;
break;
case CMD_TYPE.MOTOR3:
sendCmd += subCmd_Motor3;
break;
case CMD_TYPE.MOTOR4:
sendCmd += subCmd_Motor4;
break;
}
if (sendCmd.Length == CmdLength)
{
DataSend(sendCmd);
}
}
