public bool getPosition(ref short panPosition, ref short tiltPosition)
{
usbCmd txBuffer = new usbCmd();
usbCmd rxBuffer = new usbCmd();
bool success;
txBuffer.cmd = (byte)usbCmd.cmds.GetPos;
txBuffer.payload0 = 0;
txBuffer.payload1 = 0;
txBuffer.payload2 = 0;
success = transmit(txBuffer);
if (success)
{
success = receive(ref rxBuffer);
if (rxBuffer.cmd == (byte)usbCmd.cmds.GetPosC)
{
panPosition = rxBuffer.payload0;
tiltPosition = rxBuffer.payload1;
return(true);
}
}
return(false);
}
public bool reCalibrate()
{
usbCmd txBuffer = new usbCmd();
txBuffer.cmd = (byte)usbCmd.cmds.ReCal;
txBuffer.payload0 = 0;
txBuffer.payload1 = 0;
txBuffer.payload2 = 0;
return(transmit(txBuffer));
}
public bool gotoPosition(short panPosition, short tiltPosition, ushort msecToComplete)
{
usbCmd txBuffer = new usbCmd();
txBuffer.cmd = (byte)usbCmd.cmds.SetPos;
txBuffer.payload0 = panPosition;
txBuffer.payload1 = tiltPosition;
txBuffer.payload2 = (short)msecToComplete;
return(transmit(txBuffer));
}
public bool goPreset(short presetNumber, ushort msecToComplete)
{
usbCmd txBuffer = new usbCmd();
txBuffer.cmd = (byte)usbCmd.cmds.GoPS;
txBuffer.payload0 = presetNumber;
txBuffer.payload1 = (short)msecToComplete;
txBuffer.payload2 = 0;
return(transmit(txBuffer));
}
public bool setPreset(short presetNumber)
{
usbCmd txBuffer = new usbCmd();
txBuffer.cmd = (byte)usbCmd.cmds.SetPS;
txBuffer.payload0 = presetNumber;
txBuffer.payload1 = 0;
txBuffer.payload2 = 0;
return(transmit(txBuffer));
}
public bool stop()
{
usbCmd txBuffer = new usbCmd();
txBuffer.cmd = (byte)usbCmd.cmds.Stop;
txBuffer.payload0 = 0;
txBuffer.payload1 = 0;
txBuffer.payload2 = 0;
return(transmit(txBuffer));
}
public bool step(short panDirection, short tiltDirection)
{
usbCmd txBuffer = new usbCmd();
txBuffer.cmd = (byte)usbCmd.cmds.Step;
txBuffer.payload0 = (short)((panDirection == 0) ? 0 : (panDirection > 0 ? +1 : -1));
txBuffer.payload1 = (short)((tiltDirection == 0) ? 0 : (tiltDirection > 0 ? +1 : -1));
txBuffer.payload2 = 0;
return(transmit(txBuffer));
}
public bool transmit(usbCmd txCommand)
{
if (isDeviceAttached)
{
// Perform the write command
bool success;
byte[] temp = txCommand.ToByteArray();
success = writeSingleReportToDevice(temp);
return(success);
}
return(false);
}
public bool run(short panSpeedDirection, short tiltSpeedDirection)
{
// Advance pan/tilt by a single step
usbCmd txBuffer = new usbCmd();
txBuffer.cmd = (byte)usbCmd.cmds.Run;
txBuffer.payload0 = panSpeedDirection;
txBuffer.payload1 = tiltSpeedDirection;
txBuffer.payload2 = 0;
return(transmit(txBuffer));
}
public bool receive(ref usbCmd rxCommand)
{
if (isDeviceAttached)
{
// Perform the read command
Byte[] inputReportBuffer = new Byte[8];
bool success;
success = readSingleReportFromDevice(ref inputReportBuffer);
rxCommand.FromByteArray(inputReportBuffer);
return(success);
}
return(false);
}
public string getName()
{
string deviceName = "";
StringBuilder dnStr = new StringBuilder();
bool success;
usbCmd txBuffer = new usbCmd();
usbCmd rxBuffer = new usbCmd();
int numChars;
int numPacks;
txBuffer.cmd = (byte)usbCmd.cmds.GetName;
txBuffer.payload0 = 0;
txBuffer.payload1 = 0;
txBuffer.payload2 = 0;
success = transmit(txBuffer);
if (success)
{
success = receive(ref rxBuffer);
if (rxBuffer.cmd == (byte)usbCmd.cmds.GetNameC)
{
numChars = rxBuffer.payload0;
if (numChars > 0)
{
numPacks = (int)Math.Ceiling((float)numChars / 3.0);
for (int ic = 0; ic < numPacks; ic++)
{
receive(ref rxBuffer);
if (ic * 3 < numChars)
{
dnStr.Append((char)rxBuffer.payload0);
}
if (ic * 3 + 1 < numChars)
{
dnStr.Append((char)rxBuffer.payload1);
}
if (ic * 3 + 2 < numChars)
{
dnStr.Append((char)rxBuffer.payload2);
}
}
}
}
}
deviceName = dnStr.ToString();
return(deviceName);
}
public bool setName(string deviceName)
{
bool success;
usbCmd txBuffer = new usbCmd();
usbCmd rxBuffer = new usbCmd();
int numChars;
int numPacks;
numChars = Math.Max(Math.Min(deviceName.Length, 30), 0);
numPacks = (int)Math.Ceiling((float)numChars / 3.0);
txBuffer.cmd = (byte)usbCmd.cmds.SetName;
txBuffer.payload0 = (short)numChars;
txBuffer.payload1 = (short)numPacks;
txBuffer.payload2 = 0;
success = transmit(txBuffer);
if (success)
{
success = receive(ref rxBuffer);
if (rxBuffer.cmd == (byte)usbCmd.cmds.SetNameC)
{
txBuffer.cmd = (byte)usbCmd.cmds.SetNameC;
for (int ic = 0; ic < numPacks; ic++)
{
if (ic * 3 < numChars)
{
txBuffer.payload0 = (byte)deviceName[ic * 3];
}
if (ic * 3 + 1 < numChars)
{
txBuffer.payload1 = (byte)deviceName[ic * 3 + 1];
}
if (ic * 3 + 2 < numChars)
{
txBuffer.payload2 = (byte)deviceName[ic * 3 + 2];
}
success = transmit(txBuffer);
}
}
}
return(true);
}
