internal string MoveTransverse()
{
string returnMes = "";
if (IsTraCon)
{
//need to account for Protocal Scheme and Max Speeds
returnMes = returnMes + TransverseMotor.move(command);
}
else
{
returnMes = returnMes + "Lateral motor is not connected";
}
return(returnMes);
}
internal bool VerDir; // vertical motor direction
//not completely happy with this constructor
public MotorController(Controller controller)
{
//creation of communication protocals
modbus = new Modbus();
UDPCom = new UDPCom();
Controller = controller;
//creating the verticle motor, it communicates over USB RS424
verticalMotor = new VerticalMotor();
//creating the transverse motor, it communicatates over UDP or Modbus
transverseMotor = new TransverseMotor(this);
//creating the Lateral motor, it communicatates over UDP or Modbus
lateralMotor = new LateralMotor(this);
//creating the spindle motor, it communicatates over Modbus
spindleMotor = new SpindleMotor(this);
UpdateParameters();
}