public string SetOutputState(MotorPort motor, int speed, Mode mode, RegulationMode regMode, int turnRatio, RunState runState)
{
byte[] message = new byte[13]; // message to be sent
// Populate message
message[0] = 0x00; // Feedback required
message[1] = (byte)DirectCommand.SetOutputState;
message[2] = (byte)motor; // output port
message[3] = (byte)speed; // power set point
message[4] = (byte)mode; // mode byte
message[5] = (byte)regMode; // reg mode
message[6] = (byte)turnRatio; //turn ratio
message[7] = (byte)runState; //run state
//figure something out with this - make programmerable
message[8] = 0x00; //tacho limit
message[9] = 0x00;
message[10] = 0x00;
message[11] = 0x00;
message[12] = 0x00;
// Send message
serial_port.Send(message, ref reply);
returnMessage = CheckResponce(ref reply[2]);
return returnMessage;
}
/// <summary>
/// Set output state for a specfic port.
/// </summary>
public void SetOutputState(int port, int power_setpoint, OutputMode mode, RegulationMode regulation_mode, int turn_ratio, RunState run_state, int tacho_limit)
{
byte[] message = new byte[12];
if (!RequestResponse)
message[0] = 0x80;
message[1] = 0x04;
message[2] = (byte)port;
message[3] = (byte)Convert.ToSByte(power_setpoint);
message[4] = (byte)mode;
message[5] = (byte)regulation_mode;
message[6] = (byte)Convert.ToSByte(turn_ratio);
message[7] = (byte)run_state;
message[8] = (byte)tacho_limit;
message[9] = (byte)(tacho_limit >> 8);
message[10] = (byte)(tacho_limit >> 16);
message[11] = (byte)(tacho_limit >> 24);
robot.Send(message);
}
public string SetOutputState(int speed, Mode mode = Mode.MotorOn, RegulationMode regMode = RegulationMode.Motor_On, int turnRatio = 0, RunState runState = RunState.Running, int tachoLimit =0)
{
byte[] message = new byte[13]; // message to be sent
byte[] tacholimit = BitConverter.GetBytes(tachoLimit);
// Populate message
message[0] = 0x00; // Feedback required
message[1] = (byte)DirectCommand.SetOutputState;
message[2] = (byte)motor_port; // output port
message[3] = (byte)speed; // power set point
message[4] = (byte)mode; // mode byte
message[5] = (byte)regMode; // reg mode
message[6] = (byte)turnRatio; //turn ratio
message[7] = (byte)runState; //run state
//figure something out with this - make programmerable
tacholimit.CopyTo(message, 8);
// Send message
serial_port.Send(message, ref reply);
if(reply != null)
returnMessage = CheckResponce(ref reply[2]);
return returnMessage;
}
/// <summary>
/// Set output state for a specfic port.
/// </summary>
public void SetOutputState(int port, int power_setpoint, OutputMode mode, RegulationMode regulation_mode, int turn_ratio, RunState run_state, int tacho_limit)
{
byte[] message = new byte[12];
if (!RequestResponse)
{
message[0] = 0x80;
}
message[1] = 0x04;
message[2] = (byte)port;
message[3] = (byte)Convert.ToSByte(power_setpoint);
message[4] = (byte)mode;
message[5] = (byte)regulation_mode;
message[6] = (byte)Convert.ToSByte(turn_ratio);
message[7] = (byte)run_state;
message[8] = (byte)tacho_limit;
message[9] = (byte)(tacho_limit >> 8);
message[10] = (byte)(tacho_limit >> 16);
message[11] = (byte)(tacho_limit >> 24);
robot.Send(message);
}
