internal Motor(MotorController motorController, MotorState state, int address)
{
Controller = motorController;
State = state;
Mbus = Controller.modbus;
Address = address;
}
//not completely happy with this constructor
//public MotorController(Controller controller)
public MotorController()
{
//creation of communication protocals
modbus = new Modbus();
//UDPCom = new UDPCom();
//Controller = controller;
//Motor States
VerticleMotorState = new MotorState(5, 0.00001, 0.00001);
TransverseMotorState = new MotorState(15, 1, 0.1);
LateralMotorState = new MotorState(5, 1, 0.1);
SpindleMotorState = new MotorState(2000, 0, 10);
//creating the verticle motor, it communicates over USB RS424
verticalMotor = new VerticalMotor(this);
//creating the transverse motor, it communicatates over UDP or Modbus
transverseMotor = new TransverseMotor(this);
//creating the Lateral motor, it communicatates over UDP or Modbus
lateralMotor = new LateralMotor(this);
//creating the spindle motor, it communicatates over Modbus
spindleMotor = new SpindleMotor(this);
}
