private void SetMotor3(int value)
{
Motor1.Invoke(new EventHandler(delegate
{
Motor3.Value = value;
}));
}
public override void Initialize()
{
// RESET stanu silników
Interface.Write(new byte[] { DeviceId, 1, RESET });
// odczytanie konfiguracji
byte config = 0;
if (Motor1 != null)
{
if (Motor1.KeepTourque)
{
config |= 0x01;
}
if (Motor1.InvertZeroSensor)
{
config |= 0x04;
}
}
if (Motor2 != null)
{
if (Motor2.KeepTourque)
{
config |= 0x02;
}
if (Motor2.InvertZeroSensor)
{
config |= 0x08;
}
}
// CONFIG konfiguracja silników
Interface.Write(new byte[] { DeviceId, 2, CONFIG, config });
_pause = 1 | 2;
if (Motor1 != null)
{
Motor1.Device = this;
Motor1.Initialize();
}
if (Motor2 != null)
{
Motor2.Device = this;
Motor2.Initialize();
}
}
public override void Uninitialize()
{
if (Motor1 != null)
{
Motor1.Uninitialize();
}
if (Motor2 != null)
{
Motor2.Uninitialize();
}
// RESET
Interface.Write(new byte[] { DeviceId, 1, RESET });
// zapisanie stanu
if (NeedToSaveState)
{
XMLConfiguration.Load().Save();
}
}
public virtual void SaveToXml(XmlTextWriter xmlWriter)
{
xmlWriter.WriteStartElement("stepperDevice");
xmlWriter.WriteAttributeString("interface", Interface.Id);
xmlWriter.WriteAttributeString("id", Id);
xmlWriter.WriteAttributeString("description", Description);
xmlWriter.WriteAttributeString("device", DeviceId.ToString());
xmlWriter.WriteAttributeString("type", Type.ToString());
if (Motor1 != null)
{
xmlWriter.WriteStartElement("motor1");
Motor1.Save(xmlWriter);
xmlWriter.WriteEndElement();
}
if (Motor2 != null)
{
xmlWriter.WriteStartElement("motor2");
Motor2.Save(xmlWriter);
xmlWriter.WriteEndElement();
}
xmlWriter.WriteEndElement();
}
public void Dispose()
{
Motor1?.Dispose();
Motor2?.Dispose();
}
public void MoveForwardLeft()
{
Motor1.Stop();
Motor2.MoveForward();
}
public void MoveForward()
{
Motor1.MoveForward();
Motor2.MoveForward();
}
public void Stop()
{
Motor1.Stop();
Motor2.Stop();
}
public void RotateRight()
{
Motor1.MoveForward();
Motor2.MoveBackward();
}
public void MoveBackwardRight()
{
Motor2.Stop();
Motor1.MoveBackward();
}
public void MoveBackward()
{
Motor1.MoveBackward();
Motor2.MoveBackward();
}
