// Reads from the arduino at a specified rate
public void Communicate()
{
while (true)
{
if (SerialComPort.IsOpen)
{
// If the data mode is DECODER, read the decoder value.
if (currentDataMode == ControlEnums.DATAMODE.DECODER)
{
decoderValue = Communications.ReadDecoder();
}
if (currentDataMode != ControlEnums.DATAMODE.DECODER)
{
decoderValue = new KeyValuePair <int, short>(0, currentPos);
}
// Send the reset command if position is not between -20000 and +20000
if (currentPos >= decoderResetMax)
{
Communications.SendResetCommand();
lastPos = 0;
decoderValue = new KeyValuePair <int, short>(0, 0);
}
else if (currentPos <= decoderResetMin)
{
Communications.SendResetCommand();
lastPos = 0;
decoderValue = new KeyValuePair <int, short>(0, 0);
}
Communications.ReadDAC();
}
// Run communication thread at 100Hz independent of the main interface
Thread.Sleep(10);
}
}
