private void setParameter(jrkParameter parameterId, uint value)
{
Range range = parameterId.range();
requireArgumentRange(value, range.minimumValue, range.maximumValue, parameterId.ToString());
try
{
if (range.bytes == 1)
{
setRequestU8(jrkRequest.REQUEST_SET_PARAMETER, (Byte)parameterId, (Byte)value);
}
else if (range.bytes == 2)
{
setRequestU16(jrkRequest.REQUEST_SET_PARAMETER, (Byte)parameterId, (UInt16)value);
}
else
{
throw new NotImplementedException("Byte count " + range.bytes + " is not implemented yet.");
}
}
catch (Exception exception)
{
throw new Exception("There was an error setting " + parameterId.ToString() + ".", exception);
}
}
/// <summary>
/// sets the parameter on the device. The only parameter modified before setting is the
/// serial fixed baud rate, which is converted to the PIC's SPBRG setting.
/// </summary>
/// <param name="parameterId"></param>
/// <param name="value"></param>
public void setJrkParameter(jrkParameter parameterId, uint value)
{
if (parameterId == jrkParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE)
{
value = convertBpsToSpbrg(value);
}
setParameter(parameterId, value);
}
/// <summary>
/// Gets the jrk parameter. The only one that is modified by this function relative to
/// what is actually on the device is the serial baud rate.
/// </summary>
/// <param name="parameterId"></param>
/// <returns></returns>
public uint getJrkParameter(jrkParameter parameterId)
{
uint value = getParameter(parameterId);
if (parameterId == jrkParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE)
{
return(convertSpbrgToBps((ushort)value));
}
return(value);
}
private unsafe uint getParameter(jrkParameter parameterId)
{
Range range = parameterId.range();
try
{
return(getRequest(jrkRequest.REQUEST_GET_PARAMETER, (UInt16)parameterId, range.bytes));
}
catch (Exception exception)
{
throw new Exception("There was an error reading " + parameterId.ToString() + " from the device.", exception);
}
}
private void setParameter(jrkParameter parameterId, uint value)
{
Range range = parameterId.range();
requireArgumentRange(value, range.minimumValue, range.maximumValue, parameterId.ToString());
try
{
if (range.bytes == 1)
{
setRequestU8(jrkRequest.REQUEST_SET_PARAMETER, (Byte)parameterId, (Byte)value);
}
else if (range.bytes == 2)
{
setRequestU16(jrkRequest.REQUEST_SET_PARAMETER, (Byte)parameterId, (UInt16)value);
}
else
{
throw new NotImplementedException("Byte count " + range.bytes + " is not implemented yet.");
}
}
catch (Exception exception)
{
throw new Exception("There was an error setting " + parameterId.ToString() + ".", exception);
}
}
private unsafe uint getParameter(jrkParameter parameterId)
{
Range range = parameterId.range();
try
{
return getRequest(jrkRequest.REQUEST_GET_PARAMETER, (UInt16)parameterId, range.bytes);
}
catch (Exception exception)
{
throw new Exception("There was an error reading " + parameterId.ToString() + " from the device.", exception);
}
}
/// <summary>
/// sets the parameter on the device. The only parameter modified before setting is the
/// serial fixed baud rate, which is converted to the PIC's SPBRG setting.
/// </summary>
/// <param name="parameterId"></param>
/// <param name="value"></param>
public void setJrkParameter(jrkParameter parameterId, uint value)
{
if (parameterId == jrkParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE)
{
value = convertBpsToSpbrg(value);
}
setParameter(parameterId, value);
}
/// <summary>
/// Gets the jrk parameter. The only one that is modified by this function relative to
/// what is actually on the device is the serial baud rate.
/// </summary>
/// <param name="parameterId"></param>
/// <returns></returns>
public uint getJrkParameter(jrkParameter parameterId)
{
uint value = getParameter(parameterId);
if (parameterId == jrkParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE)
{
return convertSpbrgToBps((ushort)value);
}
return value;
}
public static Range range(this jrkParameter parameterId)
{
switch (parameterId)
{
default:
throw new ArgumentException("Invalid parameterId " + parameterId.ToString() + ", can not determine the range of this parameter.");
case jrkParameter.PARAMETER_INITIALIZED: return(new Range(1, 0, 255));
case jrkParameter.PARAMETER_INPUT_MODE: return(new Range(1, 0, 2)); // enum
case jrkParameter.PARAMETER_INPUT_MINIMUM: return(Range.u12);
case jrkParameter.PARAMETER_INPUT_MAXIMUM: return(Range.u12);
case jrkParameter.PARAMETER_OUTPUT_MINIMUM: return(Range.u12);
case jrkParameter.PARAMETER_OUTPUT_NEUTRAL: return(Range.u12);
case jrkParameter.PARAMETER_OUTPUT_MAXIMUM: return(Range.u12);
case jrkParameter.PARAMETER_INPUT_INVERT: return(Range.boolean);
case jrkParameter.PARAMETER_INPUT_SCALING_DEGREE: return(Range.u8); // But anything over 4 is crazy
case jrkParameter.PARAMETER_INPUT_POWER_WITH_AUX: return(Range.boolean);
case jrkParameter.PARAMETER_FEEDBACK_DEAD_ZONE: return(Range.u8);
case jrkParameter.PARAMETER_INPUT_ANALOG_SAMPLES_EXPONENT: return(new Range(1, 0, 8));
case jrkParameter.PARAMETER_INPUT_DISCONNECT_MAXIMUM: return(Range.u12);
case jrkParameter.PARAMETER_INPUT_DISCONNECT_MINIMUM: return(Range.u12);
case jrkParameter.PARAMETER_INPUT_NEUTRAL_MAXIMUM: return(Range.u12);
case jrkParameter.PARAMETER_INPUT_NEUTRAL_MINIMUM: return(Range.u12);
case jrkParameter.PARAMETER_SERIAL_MODE: return(new Range(1, 0, 3));
case jrkParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE: return(Range.u16);
case jrkParameter.PARAMETER_SERIAL_TIMEOUT: return(Range.u16);
case jrkParameter.PARAMETER_SERIAL_ENABLE_CRC: return(Range.boolean);
case jrkParameter.PARAMETER_SERIAL_NEVER_SUSPEND: return(Range.boolean);
case jrkParameter.PARAMETER_SERIAL_DEVICE_NUMBER: return(new Range(1, 0, 127));
case jrkParameter.PARAMETER_FEEDBACK_MODE: return(new Range(1, 0, 5)); // enum
case jrkParameter.PARAMETER_FEEDBACK_MINIMUM: return(Range.u12);
case jrkParameter.PARAMETER_FEEDBACK_MAXIMUM: return(Range.u12);
case jrkParameter.PARAMETER_FEEDBACK_INVERT: return(Range.boolean);
case jrkParameter.PARAMETER_FEEDBACK_POWER_WITH_AUX: return(Range.boolean);
case jrkParameter.PARAMETER_FEEDBACK_DISCONNECT_MAXIMUM: return(Range.u12);
case jrkParameter.PARAMETER_FEEDBACK_DISCONNECT_MINIMUM: return(Range.u12);
case jrkParameter.PARAMETER_FEEDBACK_ANALOG_SAMPLES_EXPONENT: return(new Range(1, 0, 8));
case jrkParameter.PARAMETER_PROPORTIONAL_MULTIPLIER: return(Range.u10);
case jrkParameter.PARAMETER_PROPORTIONAL_EXPONENT: return(new Range(1, 0, 15));
case jrkParameter.PARAMETER_INTEGRAL_MULTIPLIER: return(Range.u10);
case jrkParameter.PARAMETER_INTEGRAL_EXPONENT: return(new Range(1, 0, 15));
case jrkParameter.PARAMETER_DERIVATIVE_MULTIPLIER: return(Range.u10);
case jrkParameter.PARAMETER_DERIVATIVE_EXPONENT: return(new Range(1, 0, 15));
case jrkParameter.PARAMETER_PID_PERIOD: return(new Range(2, 1, 8191));
case jrkParameter.PARAMETER_PID_INTEGRAL_LIMIT: return(new Range(2, 0, 32767));
case jrkParameter.PARAMETER_PID_RESET_INTEGRAL: return(Range.boolean);
case jrkParameter.PARAMETER_MOTOR_PWM_FREQUENCY: return(new Range(1, 0, 2)); // enum
case jrkParameter.PARAMETER_MOTOR_INVERT: return(Range.boolean);
case jrkParameter.PARAMETER_MOTOR_MAX_ACCELERATION_FORWARD: return(new Range(2, 1, 600));
case jrkParameter.PARAMETER_MOTOR_MAX_ACCELERATION_REVERSE: return(new Range(2, 1, 600));
case jrkParameter.PARAMETER_MOTOR_MAX_DUTY_CYCLE_FORWARD: return(new Range(2, 0, 600));
case jrkParameter.PARAMETER_MOTOR_MAX_DUTY_CYCLE_REVERSE: return(new Range(2, 0, 600));
case jrkParameter.PARAMETER_MOTOR_MAX_CURRENT_FORWARD: return(new Range(1, 0, 255));
case jrkParameter.PARAMETER_MOTOR_MAX_CURRENT_REVERSE: return(new Range(1, 0, 255));
case jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_FORWARD: return(new Range(1, 0, 255));
case jrkParameter.PARAMETER_MOTOR_CURRENT_CALIBRATION_REVERSE: return(new Range(1, 0, 255));
case jrkParameter.PARAMETER_MOTOR_BRAKE_DURATION_FORWARD: return(new Range(1, 0, 255));
case jrkParameter.PARAMETER_MOTOR_BRAKE_DURATION_REVERSE: return(new Range(1, 0, 255));
case jrkParameter.PARAMETER_MOTOR_COAST_WHEN_OFF: return(Range.boolean);
case jrkParameter.PARAMETER_MOTOR_MAX_DUTY_CYCLE_WHILE_FEEDBACK_OUT_OF_RANGE: return(new Range(2, 1, 600));
case jrkParameter.PARAMETER_ERROR_ENABLE: return(Range.u16);
case jrkParameter.PARAMETER_ERROR_LATCH: return(Range.u16);
}
}
