internal bool LatDir; //Current Direction of the Lateral Axis True - Out False - In
public Controller()
{
//Que for managing all messages;
messageQueue = new MessageQueue();
//controller for managing all of the motors.
MotorController = new MotorController(this);
//new controller for the control of the position
PositionController = new PositionController(this);
//new conroller for the flow of data
DataController = new DataController(this);
}
public SpindleMotor(MotorController motorController)
{
isSpiCon = false;
isSimulinkControl = false;
SpiRPM = 0;
SpiDir = true;
RPMmax = 2000;
RPMmin = 0;
controller = motorController;
}
public LateralMotor(MotorController motorController)
{
IsLatCon = false;
IsSimulinkControl = false;
LatIPM = 0;
LatDir = true;
LatMax = 5;
LatMin = 1;
epsilon = 0.1;
controller = motorController;
}
public TransverseMotor(MotorController motorController)
{
IsTraCon = false;
IsSimulinkControl = false;
TraIPM = 0;
TraDir = true;
TraMax = 15;
TraMin = 1;
epsilon = 0.1;
//inherats this from parent
controller = motorController;
}