/// <summary>
/// Sets the software travel limit for the desired axis. Note: The negative limit cannot be greater than the right limit, and the
/// limits must contain the home position
/// </summary>
/// <param name="axisNum">the desired axis to target</param>
/// <param name="limit">the desired limit</param>
/// <param name="desiredDirection">an enum representing whether to act on the positive or the negative axis limit</param>
public void setTravelLimit(int axisNum, double limit, travelOption desiredDirection)
{
switch (desiredDirection)
{
case travelOption.positive:
writeSerialCommand(axisNum.ToString() + "SR" + limit.ToString());
break;
case travelOption.negative:
writeSerialCommand(axisNum.ToString() + "SL" + limit.ToString());
break;
default:
throw new Exception("Unnacounted for travel option");
}
}
/// <summary>
/// Move the desired axis indefinitely in the specified direction with the jerk, acceleration, and velocity that was defined earlier
/// </summary>
/// <param name="axisNum">the desired axis to target</param>
/// <param name="desiredDirection">an enum representing whether to move towards the positive or the negative axis</param>
public void moveIndefinitely(int axisNum, travelOption desiredDirection)
{
switch (desiredDirection)
{
case travelOption.positive:
writeSerialCommand(axisNum.ToString() + "MV+");
break;
case travelOption.negative:
writeSerialCommand(axisNum.ToString() + "MV-");
break;
default:
throw new Exception("Unnacounted for travel option");
}
}
