public async Task <bool> IsTargetPositionReachedAsync(MotorBank motorOrBank = default)
{
var reply = await SendCommandAsync(
Command.GetAxisParameter,
0, (byte)CommandParam.AxisParameter.TargetPositionReached,
Address,
motorOrBank,
public virtual Task <Reply> SendCommandAsync(
Command command, int argument,
CommandParam param, MotorBank motorOrBank = default) =>
SendCommandAsync(
command,
argument,
param,
Address,
motorOrBank,
TimeOut);
public async Task <int> GetActualPositionAsync(MotorBank motorOrBank = default)
{
var reply = await SendCommandAsync(
Command.GetAxisParameter,
0,
CommandParam.AxisParameter.EncoderPosition,
motorOrBank);
if (reply.IsSuccess)
{
Logger?.LogInformation("{StepMotor}: Actual position = {ActualPosition}", Id, reply.ReturnValue);
return(reply.ReturnValue);
}
throw LogThenFail();
}
public override async Task <Reply> SendCommandAsync(
Command command, int argument, byte type,
Address address, MotorBank motorOrBank,
TimeSpan timeOut, CancellationToken token = default)
{
public Task <Reply> MoveToPosition(int position,
CommandParam.MoveType type = CommandParam.MoveType.Absolute,
MotorBank motorOrBank = default) =>
SendCommandAsync(Command.MoveToPosition, position, type, motorOrBank);
