/// <summary>
/// Used to return state of solenoid.
/// </summary>
/// <remarks>Result based on set point.</remarks>
/// <param name="solenoid">Solenoid to query</param>
/// <returns>true if on, false if off</returns>
public bool GetSolenoidActive(Solenoids solenoid)
{
UInt16 mask = this.GetSolenoidMask(solenoid);
bool result = (0 != (this.robotSolenoidSetPoint & mask)) ? true : false;
return (result);
}
/// <summary>
/// Used to set one solenoid at a time.
/// </summary>
/// <remarks>
/// Configuring wheel solenoids to either both off or both on when action is move has the action set to off.
/// Configuring wheel solenoids to axial when movement mode is circumferential has the mode set to normal axial.
/// Configuring wheel solenoids to circumferential when movement mode is not circumferential has the mode set to circumfrential.
/// </remarks>
/// <param name="solenoid">solenoid to set</param>
/// <param name="activate">true to turn on, false to turn off</param>
public void SetSolenoid(Solenoids solenoid, bool activate)
{
UInt16 mask = this.GetSolenoidMask(solenoid);
UInt16 adjustedSolenoidStatus = this.robotSolenoidSetPoint;
if (false != activate)
{
adjustedSolenoidStatus |= mask;
}
else
{
adjustedSolenoidStatus &= (UInt16)~(mask);
}
this.UpdateSolenoidSetPoint(adjustedSolenoidStatus);
}
public bool GetSolenoidActive(Solenoids solenoid)
{
return (RobotCommBus.Instance.GetSolenoidActive(solenoid));
}
private UInt16 GetSolenoidMask(Solenoids solenoid)
{
UInt16 result = 0;
if (UlcRoboticsNicbotBody.Modes.repair == this.robotBody.Mode)
{
if (Solenoids.frontDrillCover == solenoid)
{
result = 0x0004;
}
else if (Solenoids.frontNozzleExtend == solenoid)
{
result = 0x4000;
}
else if (Solenoids.rearDrillCover == solenoid)
{
result = 0x0008;
}
else if (Solenoids.rearNozzleExtend == solenoid)
{
result = 0x8000;
}
else if (Solenoids.lowerArmRetract == solenoid)
{
result = 0x0002;
}
else if (Solenoids.lowerArmExtend == solenoid)
{
result = 0x0001;
}
else if (Solenoids.rearArmExtend == solenoid)
{
result = 0x0040;
}
else if (Solenoids.rearArmRetract == solenoid)
{
result = 0x0080;
}
else if (Solenoids.frontArmExtend == solenoid)
{
result = 0x2000;
}
else if (Solenoids.frontArmRetract == solenoid)
{
result = 0x1000;
}
}
else if (UlcRoboticsNicbotBody.Modes.inspect == this.robotBody.Mode)
{
if (Solenoids.sensorRetract == solenoid)
{
result = 0x0001;
}
else if (Solenoids.sensorExtend == solenoid)
{
result = 0x0002;
}
else if (Solenoids.sensorArmStow == solenoid)
{
result = 0x0004;
}
else if (Solenoids.sensorArmDeploy == solenoid)
{
result = 0x0008;
}
else if (Solenoids.lowerArmRetract == solenoid)
{
result = 0x0010;
}
else if (Solenoids.lowerArmExtend == solenoid)
{
result = 0x0020;
}
else if (Solenoids.rearArmExtend == solenoid)
{
result = 0x1000;
}
else if (Solenoids.rearArmRetract == solenoid)
{
result = 0x2000;
}
else if (Solenoids.frontArmExtend == solenoid)
{
result = 0x4000;
}
else if (Solenoids.frontArmRetract == solenoid)
{
result = 0x8000;
}
}
return (result);
}
public void SetSolenoid(Solenoids solenoid, bool activate)
{
RobotCommBus.Instance.SetSolenoid(solenoid, activate);
}
