public void SetReelManualMode(bool enable)
{
if (false != enable)
{
this.reelNonManualModeSetPoint = this.reelModeSetPoint;
this.reelModeSetPoint = ReelModes.manual;
}
else
{
this.reelModeSetPoint = this.reelNonManualModeSetPoint;
}
}
private void InitializeValues()
{
this.busReady = false;
this.busStatus = null;
this.busReceiveQueue.Clear();
this.deviceResetQueue.Clear();
this.reelMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.ReelMotorBusId;
this.reelDigitalIo.NodeId = (byte)ParameterAccessor.Instance.TruckBus.ReelDigitalBusId;
this.reelAnalogIo.NodeId = (byte)ParameterAccessor.Instance.TruckBus.ReelAnalogBusId;
this.reelEncoder.NodeId = (byte)ParameterAccessor.Instance.TruckBus.ReelEncoderBusId;
this.feederTopFrontMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.FeederTopFrontMotorBusId;
this.feederTopRearMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.FeederTopRearMotorBusId;
this.feederBottomFrontMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.FeederBottomFrontMotorBusId;
this.feederBottomRearMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.FeederBottomRearMotorBusId;
this.feederEncoder.NodeId = (byte)ParameterAccessor.Instance.TruckBus.FeederEncoderBusId;
this.guideLeftMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.GuideLeftMotorBusId;
this.guideRightMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.GuideRightMotorBusId;
this.launchDigitalIo.NodeId = (byte)ParameterAccessor.Instance.TruckBus.LaunchDigitalIoBusId;
this.launchAnalogIo.NodeId = (byte)ParameterAccessor.Instance.TruckBus.LaunchAnalogIoBusId;
this.gps.NodeId = (byte)ParameterAccessor.Instance.TruckBus.GpsBusId;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
this.frontPumpMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.FrontPumpBusId;
this.frontScaleRs232.NodeId = (byte)ParameterAccessor.Instance.TruckBus.FrontScaleRs232BusId;
this.rearPumpMotor.NodeId = (byte)ParameterAccessor.Instance.TruckBus.RearPumpBusId;
this.rearScaleRs232.NodeId = (byte)ParameterAccessor.Instance.TruckBus.RearScaleRs232BusId;
}
this.TraceMask = ParameterAccessor.Instance.TruckBus.ControllerTraceMask;
this.reelMotor.TraceMask = ParameterAccessor.Instance.TruckBus.ReelMotorTraceMask;
this.reelDigitalIo.TraceMask = ParameterAccessor.Instance.TruckBus.ReelDigitalTraceMask;
this.reelAnalogIo.TraceMask = ParameterAccessor.Instance.TruckBus.ReelAnalogTraceMask;
this.reelEncoder.TraceMask = ParameterAccessor.Instance.TruckBus.ReelEncoderTraceMask;
this.feederTopFrontMotor.TraceMask = ParameterAccessor.Instance.TruckBus.FeederTopFrontMotorTraceMask;
this.feederTopRearMotor.TraceMask = ParameterAccessor.Instance.TruckBus.FeederTopRearMotorTraceMask;
this.feederBottomFrontMotor.TraceMask = ParameterAccessor.Instance.TruckBus.FeederBottomFrontMotorTraceMask;
this.feederBottomRearMotor.TraceMask = ParameterAccessor.Instance.TruckBus.FeederBottomRearMotorTraceMask;
this.feederEncoder.TraceMask = ParameterAccessor.Instance.TruckBus.FeederEncoderTraceMask;
this.guideLeftMotor.TraceMask = ParameterAccessor.Instance.TruckBus.GuideLeftMotorTraceMask;
this.guideRightMotor.TraceMask = ParameterAccessor.Instance.TruckBus.GuideRightMotorTraceMask;
this.launchDigitalIo.TraceMask = ParameterAccessor.Instance.TruckBus.LaunchDigitalIoTraceMask;
this.launchAnalogIo.TraceMask = ParameterAccessor.Instance.TruckBus.LaunchAnalogIoTraceMask;
this.gps.TraceMask = ParameterAccessor.Instance.TruckBus.GpsTraceMask;
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
this.frontPumpMotor.TraceMask = ParameterAccessor.Instance.TruckBus.FrontPumpTraceMask;
this.frontScaleRs232.TraceMask = ParameterAccessor.Instance.TruckBus.FrontScaleRs232TraceMask;
this.rearPumpMotor.TraceMask = ParameterAccessor.Instance.TruckBus.RearPumpTraceMask;
this.rearScaleRs232.TraceMask = ParameterAccessor.Instance.TruckBus.RearScaleRs232TraceMask;
}
this.InitializeReel();
this.reelModeSetPoint = ReelModes.off;
this.reelNonManualModeSetPoint = this.reelModeSetPoint;
this.reelManualCurrentSetPoint = 0;
this.reelTotalStart = 0;
this.reelTripStart = 0;
this.InitializeFeeder();
this.feederModeSetPoint = FeederModes.off;
this.feederVelocitySetPoint = 0;
this.InitializeGuide();
this.InitializeLaunchTube();
this.InitializeGps();
if (RobotApplications.repair == ParameterAccessor.Instance.RobotApplication)
{
this.InitializePumps();
this.InitializeRs232Scales();
}
}
public void SetReelMode(ReelModes mode)
{
if (ReelModes.manual != mode)
{
if (ReelModes.manual != this.reelModeSetPoint)
{
this.reelModeSetPoint = mode;
}
else
{
this.reelNonManualModeSetPoint = mode;
}
}
}
public void SetReelMode(ReelModes mode)
{
TruckCommBus.Instance.SetReelMode(mode);
}
