private void ORDER_moveIfChecked(e_rot rot)
{
if (GET_cbSendValuesToMotor(rot).IsChecked == true)
{
Ms[rot].ORDER_move();
}
}
//private void UPDATE_motorsFromSliders()
//{
// //foreach(e_rot
//}
private void UPDATE_motorFromSlider(e_rot rot) //nn
{
if (C_State.FURTHER(e_stateMotor.ready))
{
Ms[rot].angleWanted.Dec = GET_slAngle(rot).Value;
Ms[rot].speedWanted.Dec = GET_slSpeed(rot).Value;
}
}
public C_Packet(C_Motor _mot, byte _instructionByte, List <byte> _lsParameters = null)
{
byteId = _mot.id;
rotMotor = _mot.rotMotor;
returnStatusLevel = _mot.StatusReturnLevel;
byteInstructionOrError = _instructionByte;
Par = _lsParameters;
}
private void UPDATE_slidersFromMotor(e_rot rot) //nn
{
if (C_State.FURTHER(e_stateMotor.ready))
{
GET_slSpeed(rot).Value = Ms[rot].speedWanted.Dec;
GET_slAngle(rot).Value = Ms[rot].angleWanted.Dec;
//LOG_logger(string.Format("{0} = angle[{1}], speed[{2}]", rot, M(rot).angle.Dec, M(rot).speed.Dec));
}
}
private void SET_motStringsFromRegister(C_Motor mot)
{
e_rot rot = mot.rotMotor;
// show it as byte
SET_motStrings(rot,
string.Format("0x{0:X2}=\t{0}", //{0,4:###0}",
mot.Reg.GET(address, regByteType).Val
));
}
public float this[e_rot mot]
{
get
{
return(YawPitchRoll[(int)mot]);
}
set
{
YawPitchRoll[(int)mot] = value;
}
}
private void RAISE_PropertyChanged(e_rot rot)
{
switch (rot)
{
case (e_rot.yaw): onPropertyChanged(this, "yaw"); break;
case (e_rot.pitch): onPropertyChanged(this, "pitch"); break;
case (e_rot.roll): onPropertyChanged(this, "roll"); break;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion properties
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public C_MotorControl()
: base()
{
lock_yaw = new object();
lock_pitch = new object();
lock_roll = new object();
M = new List <C_Motor>();
INIT_individualMotors();
actMrot = e_rot.yaw;
}
public CheckBox GET_cbSendValuesToMotor(e_rot rot)
{
switch (rot)
{
case (e_rot.yaw):
return(cbSendValuesToMotorYaw);
case (e_rot.pitch):
return(cbSendValuesToMotorPitch);
case (e_rot.roll):
return(cbSendValuesToMotorRoll);
}
return(null);
}
public Slider GET_slAngle(e_rot rot)
{
switch (rot)
{
case (e_rot.yaw):
return(slAngleYaw);
case (e_rot.pitch):
return(slAnglePitch);
case (e_rot.roll):
return(slAngleRoll);
}
return(null);
}
public Slider GET_slSpeed(e_rot rot)
{
switch (rot)
{
case (e_rot.yaw):
return(slSpeedYaw);
case (e_rot.pitch):
return(slSpeedPitch);
case (e_rot.roll):
return(slSpeedRoll);
}
return(null);
}
private void slider_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
if (C_State.FURTHER(e_stateMotor.ready))
{
Slider sl = sender as Slider;
if (sl != null)
{
sl.Value = Math.Round(e.NewValue, 2);
e_rot rot = GET_rot(sl);
UPDATE_motorFromSlider(rot);
UPDATE_slidersFromMotor(rot);
ORDER_moveIfChecked(rot);
}
REFRESH_motorData();
}
}
public static bool GET_motorRotFromId(int id, out e_rot rot)
{
if (id == C_DynAdd.ID_BROADCAST)
{
rot = e_rot.yaw;
return(false);
}
else
{
foreach (C_Motor mot in M)
{
if (mot.id == id)
{
rot = mot.rotMotor;
return(true);
}
}
rot = e_rot.yaw;
return(false);
}
}
public C_Motor(e_rot _rot, byte _id, C_Value _angle, C_Value _speed)
{
id = _id;
reg = new C_ByteRegister();
angleWanted = _angle;
speedWanted = _speed;
C_Value.angleFull.DecDefault = angleWanted.DecDefault;
C_Value.angleFull.Dec = angleWanted.Dec;
angleSeen = new C_Value(C_Value.angleFull);
speedSeen = new C_Value(C_Value.speedFull);
angleSent = new C_Value(C_Value.angleFull);
speedSent = new C_Value(C_Value.speedFull);
rotMotor = _rot;
switch (rotMotor)
{
case (e_rot.yaw):
motorLog = e_LogMsgSource.mot_yaw;
break;
case (e_rot.pitch):
motorLog = e_LogMsgSource.mot_pitch;
break;
case (e_rot.roll):
motorLog = e_LogMsgSource.mot_roll;
break;
}
//angleHex = new byte[2] { 0, 0 };
if (cmdinEx_initialized == false)
{
INIT_cmdinEx();
}
}
public static void ACTUALIZE_motorRegister(e_rot rot, e_regByteType type, List <byte> pars)
{
if (pars.Count > 0)
{
byte addressByte = pars[0];
byte[] parValues = pars.Skip(1).ToArray();
C_Packet.LOG_statusPacket(string.Format(
"Status OK - actualizing mot[{0}] register type[{1}]: From address[{2}]=[{3}], these values[{4}]",
rot, type, addressByte, MainWindow.Ms[rot].Reg.GET_name(addressByte),
C_CONV.byteArray2strHex_space(parValues)));
foreach (byte byteValue in parValues)
{
C_SPI.LOG_unimportant(string.Format(
"going to acualize mot[{0}] register on address [{1}]",
rot, addressByte
));
MainWindow.Ms[rot].ACTUALIZE_register(addressByte, byteValue, type);
addressByte++;
}
}
}
public void GET_dataStringsForMotors(e_motorDataType _dataType)
{
//SystMessageBox.Show(str.ToString());
foreach (C_Motor mot in MainWindow.Ms)
{
e_rot rot = mot.rotMotor;
switch (_dataType)
{
case (e_motorDataType.angleWanted):
SET_motStrings(rot, string.Format(form_2dec + "°", mot.angleWanted.Dec));
break;
case (e_motorDataType.angleSent):
SET_motStrings(rot, string.Format(form_2dec + "°", mot.angleSent.Dec));
break;
case (e_motorDataType.angleSeen):
SET_motStrings(rot, string.Format(form_2dec + "°", mot.angleSeen.Dec));
break;
case (e_motorDataType.speedWanted):
SET_motStrings(rot, string.Format(form_2dec + "RPM", mot.speedWanted.Dec_inRPM));
break;
case (e_motorDataType.speedSent):
SET_motStrings(rot, string.Format(form_2dec + "RPM", mot.speedSent.Dec));
break;
case (e_motorDataType.speedSeen):
SET_motStrings(rot, string.Format(form_2dec + "RPM", mot.speedSeen.Dec_inRPM));
break;
case (e_motorDataType.packetsDiedOfOldAge):
SET_motStrings(rot, mot.packetsDiedOfOldAge.ToString());
break;
case (e_motorDataType.packetsInLastSent):
SET_motStrings(rot, mot.packetsDiedOfOldAge.ToString());
break;
case (e_motorDataType.LED):
SET_motStrings(rot, mot.LedValue.ToString());
break;
case (e_motorDataType.LED_seen):
SET_motStrings(rot, mot.LedValueSeen.ToString());
break;
case (e_motorDataType.statusReturnLevel):
SET_motStrings(rot, mot.StatusReturnLevel.ToString());
break;
case (e_motorDataType.torqueEnable):
SET_motStrings(rot, mot.torqueEnable.ToString());
break;
case (e_motorDataType.isMoving):
SET_motStrings(rot, mot.isMoving.ToString());
break;
case (e_motorDataType.returnDelayTime):
SET_motStrings(rot, string.Format(form_2dec + "us", mot.returnDelayTime * 2));
break;
case (e_motorDataType.regByteValue):
SET_motStringsFromRegister(mot);
break;
}
}
}
public C_Motor this[e_rot rot]
{
get { return(M[(int)rot]); }
set { M[(int)rot] = value; }
}
public string this[e_rot rot]
{
get { return(GET_motStrings(rot)); }
set { SET_motStrings(rot, value); }
}
private string GET_motStrings(e_rot rot)
{
return(motStrings[(int)rot]);
}
public static C_Motor GET_M(e_rot rot)
{
return(M[(int)rot]);
}
private void SET_motStrings(e_rot rot, string value)
{
RAISE_PropertyChanged(rot);
motStrings[(int)rot] = value;
}
