public MotorWithFeedback(string name)
{
this.name = name;
Executor.Current.Register(this);
this.vector = new MotorVector(0, 0, TimeSpan.FromMilliseconds(0));
this.movementDone = new ManualResetEvent(true);
}
public MotorWithFeedback(string name)
{
this.log = Log.Logger;
this.name = name;
Executor.Current.Register(this);
this.vector = new MotorVector(0, 0, TimeSpan.FromMilliseconds(0));
this.movementDone = new ManualResetEvent(true);
}
public virtual MotorWithFeedback SetVector(double speed, int target, TimeSpan timeout)
{
if (!speed.WithinLimits(0, 1))
throw new ArgumentOutOfRangeException("Speed");
if (failed)
throw new InvalidOperationException("Motor failed");
if (!movementDone.WaitOne(0))
throw new InvalidOperationException("Already moving");
movementDone.Reset();
lastCommandSent = DateTime.Now;
this.Vector = new MotorVector(speed, target, timeout);
return this;
}
public virtual MotorWithFeedback SetVector(double speed, int target, TimeSpan timeout)
{
if (!speed.WithinLimits(0, 1))
{
throw new ArgumentOutOfRangeException("Speed");
}
if (failed)
{
throw new InvalidOperationException("Motor failed");
}
if (!movementDone.WaitOne(0))
{
throw new InvalidOperationException("Already moving");
}
movementDone.Reset();
lastCommandSent = DateTime.Now;
this.Vector = new MotorVector(speed, target, timeout);
return(this);
}
