public void Initialize()
{
this.requestedControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
this.requestedMode = ElmoWhistleMotor.Modes.undefined;
this.requestedVelocity = 0;
this.requestedCurrent = 0;
}
private void InitializeReelMotor()
{
this.reelMotor.Initialize();
this.reelRequestedControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
this.reelRequestedMode = ElmoWhistleMotor.Modes.undefined;
this.reelRequestedCurrent = 0;
this.reelRequestedSpeed = 0;
}
private void UpdateReelMotor()
{
if (null == this.reelMotor.FaultReason)
{
ElmoWhistleMotor.ControlModes neededControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
ElmoWhistleMotor.Modes neededMode = ElmoWhistleMotor.Modes.current;
double neededValue = 0;
bool modeChange = false;
if (ReelModes.off == this.reelModeSetPoint)
{
neededControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
neededMode = ElmoWhistleMotor.Modes.off;
neededValue = 0;
}
else if (ReelModes.reverse == this.reelModeSetPoint)
{
if (MovementForwardControls.current == ParameterAccessor.Instance.ReelMotionMode)
{
neededControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
neededMode = ElmoWhistleMotor.Modes.current;
neededValue = ParameterAccessor.Instance.ReelReverseCurrent.OperationalValue;
}
else
{
neededControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
neededMode = ElmoWhistleMotor.Modes.velocity;
neededValue = ParameterAccessor.Instance.ReelReverseSpeed.OperationalValue * ParameterAccessor.Instance.ReelVelocityToRpm;
}
}
else if (ReelModes.locked == this.reelModeSetPoint)
{
neededControlMode = ElmoWhistleMotor.ControlModes.microStepper;
neededValue = ParameterAccessor.Instance.ReelLockCurrent.OperationalValue;
}
else if (ReelModes.manual == this.reelModeSetPoint)
{
if (MovementForwardControls.current == ParameterAccessor.Instance.ReelMotionMode)
{
neededControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
neededMode = ElmoWhistleMotor.Modes.current;
neededValue = this.reelManualCurrentSetPoint * -1;
}
else
{
neededControlMode = ElmoWhistleMotor.ControlModes.singleLoopPosition;
neededMode = ElmoWhistleMotor.Modes.velocity;
neededValue = this.reelManualSpeedSetPoint * -1 * ParameterAccessor.Instance.ReelVelocityToRpm;
}
}
if ((neededControlMode != this.reelRequestedControlMode) ||
(neededMode != this.reelRequestedMode))
{
bool requestedZero = false;
bool atZero = false;
if (((ElmoWhistleMotor.ControlModes.microStepper == this.reelRequestedControlMode) && (0 == this.reelRequestedCurrent)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.undefined == this.reelRequestedMode)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.off == this.reelRequestedMode)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.current == this.reelRequestedMode) && (0 == this.reelRequestedCurrent)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.velocity == this.reelRequestedMode) && (0 == this.reelRequestedSpeed)))
{
requestedZero = true;
}
if (((ElmoWhistleMotor.ControlModes.microStepper == this.reelRequestedControlMode) && (0 == this.reelMotor.Torque)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.undefined == this.reelRequestedMode)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.off == this.reelRequestedMode)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.current == this.reelRequestedMode) && (0 == this.reelMotor.Torque)) ||
((ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode) && (ElmoWhistleMotor.Modes.velocity == this.reelRequestedMode) && (0 == this.reelMotor.RPM)))
{
atZero = true;
}
if ((false == requestedZero) || (false == atZero))
{
neededValue = 0;
}
else
{
this.reelMotor.SetControlMode(neededControlMode);
this.reelRequestedControlMode = neededControlMode;
if (ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode)
{
this.reelMotor.SetMode(neededMode);
this.reelRequestedMode = neededMode;
}
else
{
// mode assignment not needed for Micro Stepper mode
this.reelRequestedMode = neededMode;
}
Tracer.WriteMedium(TraceGroup.TBUS, null, "{0} control={1} mode={2}", this.reelMotor.Name, this.reelRequestedControlMode, this.reelRequestedMode);
modeChange = true;
}
}
if (((neededControlMode == this.reelRequestedControlMode) && (neededMode == this.reelRequestedMode)) ||
(0 == neededValue))
{
if (ElmoWhistleMotor.ControlModes.singleLoopPosition == this.reelRequestedControlMode)
{
if (ElmoWhistleMotor.Modes.current == this.reelRequestedMode)
{
if ((neededValue != this.reelRequestedCurrent) || (false != modeChange))
{
float torqueCurrent = (float)neededValue;
this.reelMotor.SetTorque(torqueCurrent);
this.reelRequestedCurrent = neededValue;
Tracer.WriteMedium(TraceGroup.TBUS, null, "{0} current {1}", this.reelMotor.Name, neededValue);
}
}
else if (ElmoWhistleMotor.Modes.velocity == this.reelRequestedMode)
{
if ((neededValue != this.reelRequestedSpeed) || (false != modeChange))
{
int velocity = (int)((neededValue > 0) ? (neededValue + 0.55) : (neededValue - 0.55));
this.reelMotor.SetVelocity(velocity);
this.reelRequestedSpeed = neededValue;
Tracer.WriteMedium(TraceGroup.TBUS, null, "{0} speed {1:0.000} {2}", this.reelMotor.Name, neededValue, velocity);
}
}
}
else if (ElmoWhistleMotor.ControlModes.microStepper == this.reelRequestedControlMode)
{
if ((neededValue != this.reelRequestedCurrent) || (false != modeChange))
{
float torqueCurrent = (float)neededValue;
this.reelMotor.SetStepperCurrent(torqueCurrent);
this.reelRequestedCurrent = neededValue;
Tracer.WriteMedium(TraceGroup.TBUS, null, "{0} lock current {1}", this.reelMotor.Name, neededValue);
}
}
}
}
}
private void InitializeRearPump()
{
this.rearPumpSpeedReading = 0;
PumpControl.Rear.Initialize();
this.rearPumpRequestedMode = ElmoWhistleMotor.Modes.off;
this.rearPumpRequestedSpeed = 0;
}
