public void ACTUALIZE_valueAndLogIt(ref C_Value val, byte add_L, byte add_H, e_regByteType type)
{
val.Hex = GET_2bytesFromReg(add_L, add_H, type);
LOG_reg(string.Format(
"[{0}]-{1} actualized form motor! \t[{1}]", reg.GET_name(add_L), type, val.ToString()
));
}
public void LOG_SETUP_moveSpeed(byte INSTRUCTION_BYTE, C_Value _angle, C_Value _speed)
{
string prefix = "ODD_MOVE";
switch (INSTRUCTION_BYTE)
{
case (C_DynAdd.INS_WRITE): prefix = "ORDER_move"; break;
case (C_DynAdd.INS_REG_WRITE): prefix = "REGISTER_move"; break;
case (C_DynAdd.INS_READ): prefix = "READ_move"; break;
}
if (_speed.Dec != C_DynVal.SET_MOV_SPEED_NOCONTROL)
{
LOG(String.Format("{0}:[angle];[speed] =\t[{1}]; [{3}] =\t{2:0.00}°;\t{4:0.00}%, [angle-default]=\t{5:0.00}°",
prefix,
C_CONV.byteArray2strHex_space(_angle.Hex.Reverse().ToArray()), _angle.Dec,
C_CONV.byteArray2strHex_space(_speed.Hex.Reverse().ToArray()), _speed.Dec,
_angle.Dec_FromDefault
));
}
else
{
LOG(String.Format("{0}: [angle];[speed] = [{1}];[{3}] = {2}°; No speed control",
prefix,
C_CONV.byteArray2strHex_space(_angle.Hex.Reverse().ToArray()), _angle.Dec,
C_CONV.byteArray2strHex_space(_speed.Hex.Reverse().ToArray())
));
}
}
public C_Value(C_Value _val, double _decLimitMin, double _decLimitMax)
{
decLimitMin = _decLimitMin;
decLimitMax = _decLimitMax;
decMin = _val.decMin;
decMax = _val.decMax;
hexMin = _val.hexMin;
hexMax = _val.hexMax;
Dec = _val.Dec;
decDefault = Dec;
}
public C_Value(C_Value _val) // because of search motor
{
decDefault = _val.decDefault;
decLimitMin = _val.decLimitMin;
decLimitMax = _val.decLimitMax;
decMin = _val.decMin;
decMax = _val.decMax;
hexMin = _val.hexMin;
hexMax = _val.hexMax;
Dec = _val.Dec;
}
// move without speed control - does not change current speed in motor class instance
public void ORDER_moveBrisk()
{
C_Value lastSpeed = speedWanted;
speedWanted.Dec = C_DynVal.SET_MOV_SPEED_NOCONTROL;
ORDER_move();
speedWanted = lastSpeed;
//SEND_cmdInner(CREATE_cmdInner(new List<object> {
// C_DynAdd.INS_WRITE, C_DynAdd.GOAL_POS_L, angle.Hex, C_DynVal.SET_MOV_SPEED_NOCONTROL
//}));
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#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();
}
}
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion examples
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region Angle & Speed sliders
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public void SET_sliderLimits(Slider sl, C_Value val)
{
sl.Maximum = val.DecMax;
sl.Value = val.Dec;
sl.Minimum = val.DecMin;
}
