//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region constructor
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public C_Motor(byte _id) // because of search motor
{
id = 0;
motorLog = e_LogMsgSource.mot;
reg = new C_ByteRegister();
angleWanted = new C_Value();
//angleWanted.DecDefault = C_Value.angleFull.DecDefault;
speedWanted = new C_Value();
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);
}
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();
}
}