/// <summary>
/// Stop the output
/// </summary>
/// <param name="brake">If set to <c>true</c> the motor will brake and not coast</param>
public void Stop(bool brake){
var command = new ByteArrayCreator();
command.Append(KernelByteCodes.OutputStop);
command.Append(BitField);
byte b = 0;
if(brake){
b = 1;
}
command.Append(b);
pwmDevice.Write(command.Data);
}
/// <summary>
/// Sets the speed.
/// </summary>
/// <param name="speed">Speed.</param>
public void SetSpeed (sbyte speed)
{
if (speed == 0) {
Stop(true);
} else {
var command = new ByteArrayCreator ();
command.Append (KernelByteCodes.OutputSpeed);
command.Append (BitField);
command.Append (speed);
pwmDevice.Write (command.Data);
}
}
/// <summary>
/// Reset the output
/// </summary>
public void Reset(){
var command = new ByteArrayCreator();
command.Append(KernelByteCodes.OutputReset);
command.Append(BitField);
pwmDevice.Write(command.Data);
}
/// <summary>
/// Time sync between two motors
/// </summary>
/// <param name="speed">Speed.</param>
/// <param name="turnRatio">Turn ratio between two syncronized motors</param>
/// <param name="timeInMs">Time in ms</param>
/// <param name="brake">If set to <c>true</c> brake.</param>
public void SetTimeSync(sbyte speed, Int32 turnRatio, UInt32 timeInMs, bool brake){
var command = new ByteArrayCreator();
command.Append(KernelByteCodes.OutputTimeSync);
command.Append(BitField);
command.Append(speed);
command.Append((byte)0x00);//Align
command.Append(turnRatio);
command.Append(timeInMs);
byte b = 0;//coast
if(brake)
b = 1;
command.Append(b);
pwmDevice.Write(command.Data);
}
private void WriteProfile (KernelByteCodes code, sbyte speedOrPower, UInt32 rampUp, UInt32 constant, UInt32 rampDown, bool brake)
{
var command = new ByteArrayCreator();
command.Append(code);
command.Append(BitField);
command.Append(speedOrPower);
command.Append((byte)0x00);//Align
command.Append(rampUp);
command.Append(constant);
command.Append(rampDown);
byte b = 0;//coast
if(brake)
b = 1;
command.Append(b);
pwmDevice.Write(command.Data);
}
/// <summary>
/// Sets the polarity.
/// </summary>
/// <param name="polarity">Polarity of the output</param>
public void SetPolarity(Polarity polarity){
var command = new ByteArrayCreator();
command.Append(KernelByteCodes.OutputPolarity);
command.Append(BitField);
command.Append((sbyte) polarity);
pwmDevice.Write(command.Data);
}
/// <summary>
/// Sets the absolute position from last reset
/// </summary>
/// <param name="position">Position to use</param>
public void SetPosition(Int32 position){
var command = new ByteArrayCreator();
command.Append(KernelByteCodes.OutputPosition);
command.Append(BitField);
command.Append(position);
pwmDevice.Write(command.Data);
}
/// <summary>
/// Sets the power.
/// </summary>
/// <param name="power">Power.</param>
public void SetPower(sbyte power){
var command = new ByteArrayCreator();
command.Append(KernelByteCodes.OutputPower);
command.Append(BitField);
command.Append(power);
pwmDevice.Write(command.Data);
}
/// <summary>
/// Write and read an array of bytes to the sensor
/// </summary>
/// <returns>The bytes that was read</returns>
/// <param name="register">Register to write to.</param>
/// <param name="data">Byte array to write</param>
/// <param name="rxLength">Length of the expected reply</param>
protected byte[] WriteAndRead(byte register, byte[] data, int rxLength)
{
if (rxLength > BufferSize)
throw new ArgumentOutOfRangeException("I2C Receive Buffer only holds " + BufferSize + " bytes");
if (data.Length > BufferSize) {
throw new ArgumentOutOfRangeException("I2C Write Buffer only holds " + BufferSize + " bytes");
}
bool dataReady = false;
int replyIndex = 0;
byte[] writeData = new byte[BufferSize];//30
Array.Copy (data, 0, writeData, 0, data.Length);
ByteArrayCreator command = new ByteArrayCreator ();
command.Append ((int)-1);
command.Append ((byte)this.port);
command.Append ((byte)1);//repeat
command.Append ((short)0);//time
command.Append ((byte)(data.Length + 2));//length of write data
command.Append ((byte)((byte)I2CAddress >> 1));
command.Append (register);
command.Append(writeData);
command.Append ((byte)-rxLength);
replyIndex = command.Data.Length;
command.Append (new byte[BufferSize]);//make room for reply
byte[] i2cData = command.Data;
while (!dataReady) {
unchecked {
I2CDevice.IoCtl ((Int32)I2CIOSetup, i2cData);
}
int status = BitConverter.ToInt32 (i2cData, 0);
if (status < 0) {
throw new Exception ("I2C I/O error");
}
if (status == 0) {
byte[] reply = new byte[rxLength];
if (rxLength > 0) {
Array.Copy(i2cData,replyIndex, reply,0, rxLength);
}
return reply;
}
}
throw new TimeoutException("I2C timeout");
}
/// <summary>
/// Gets the sensor info based on the mode
/// </summary>
/// <returns>Raw Sensor info data</returns>
protected byte[] GetSensorInfo()
{
ByteArrayCreator command = new ByteArrayCreator ();
command.Append (new Byte[SensorInfoLength]);
/*command.Append(new Byte());
command.Append(new Byte());
command.Append(new Byte());
command.Append(new Byte());
command.Append(new Byte());
command.Append(new Byte());
command.Append(new Byte());
command.Append(new Byte());
command.Append(new Single());
command.Append(new Single());
command.Append(new Single());
command.Append(new Single());
command.Append(new Single());
command.Append(new Single());
command.Append(new Int16());
command.Append(new Int16());
command.Append(new Byte());
command.Append (new Byte[5]);
command.Append(new Int16());*/
command.Append ((byte)this.port);
command.Append ((byte)this.uartMode);
byte[] uartData = command.Data;
unchecked {
UartDevice.IoCtl ((Int32)UartIOReadModeInfo, uartData);
}
return uartData;
}
