private static void fixMotorLimits(SmcMotorLimits ml, string directionName, List <String> warnings)
{
if (ml.maxSpeed > 0 && ml.startingSpeed > ml.maxSpeed)
{
warnings.Add("The " + directionName + " max speed was non-zero and smaller than the " + directionName + " starting speed. " +
"The " + directionName + " max speed will be changed to 0 and the motor will not be " +
"able to drive in the " + directionName + " direction.");
ml.maxSpeed = 0;
}
if (ml.maxSpeed > 3200)
{
warnings.Add("The " + directionName + " max speed was greater than 3200 (100%) so it will be changed to 3200.");
ml.maxSpeed = 3200;
}
if (ml.maxAcceleration > 3200)
{
warnings.Add("The " + directionName + " max acceleration was greater than 3200 so it will be changed to 3200.");
ml.maxAcceleration = 3200;
}
if (ml.maxDeceleration > 3200)
{
warnings.Add("The " + directionName + " max deceleration was greater than 3200 so it will be changed to 3200.");
ml.maxDeceleration = 3200;
}
}
/// <summary>
/// Compares this object to another to see if they have the same values.
/// </summary>
public override bool Equals(object x)
{
SmcMotorLimits s = x as SmcMotorLimits;
if (s == null)
{
return(false);
}
return(this.convertToStruct().Equals(s.convertToStruct()));
}
private static void parseLimits(Tag tag, string name, SmcMotorLimits ml, List <string> warnings)
{
if (assertChild(tag, name, warnings))
{
Tag limitsTag = tag.children[name];
parseU16(limitsTag, "MaxSpeed", ref ml.maxSpeed, warnings);
parseU16(limitsTag, "MaxAcceleration", ref ml.maxAcceleration, warnings);
parseU16(limitsTag, "MaxDeceleration", ref ml.maxDeceleration, warnings);
parseU16(limitsTag, "BrakeDuration", ref ml.brakeDuration, warnings);
parseU16(limitsTag, "StartingSpeed", ref ml.startingSpeed, warnings);
}
}
/// <summary>
/// Constructs a new SmcSettings object that has the default settings for a particular product.
/// </summary>
/// <param name="productId">The product ID of the device. This determines the initial value of
/// some product-dependent parameters like highVinShutoffMv. Pass this argument as 0 if the
/// product ID is unknown at this time.
/// </param>
public SmcSettings(UInt16 productId)
{
rc1 = SmcChannelSettings.defaultRCSettings();
rc2 = SmcChannelSettings.defaultRCSettings();
analog1 = SmcChannelSettings.defaultAnalogSettings();
analog2 = SmcChannelSettings.defaultAnalogSettings();
forwardLimits = new SmcMotorLimits();
reverseLimits = new SmcMotorLimits();
if (productId == 0x99 || productId == 0x9D)
{
// For the versions with 40V MOSFETs:
this.highVinShutoffMv = 35000;
}
else
{
// For the versions with 30V MOSFETs:
this.highVinShutoffMv = 25000;
}
}
internal SmcSettings(SmcSettingsStruct s)
{
// [Add-new-settings-here]
this.neverSuspend = s.neverSuspend;
this.uartResponseDelay = s.uartResponseDelay;
this.useFixedBaudRate = s.useFixedBaudRate;
this.disableSafeStart = s.disableSafeStart;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.crcMode = s.crcMode;
this.overTempMin = s.overTempMin;
this.overTempMax = s.overTempMax;
this.inputMode = s.inputMode;
this.pwmMode = s.pwmMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.ignorePotDisconnect = s.ignorePotDisconnect;
this.tempLimitGradual = s.tempLimitGradual;
this.consecGoodPulses = s.consecGoodPulses;
this.motorInvert = s.motorInvert;
this.speedZeroBrakeAmount = s.speedZeroBrakeAmount;
this.ignoreErrLineHigh = s.ignoreErrLineHigh;
this.vinMultiplierOffset = s.vinMultiplierOffset;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
}
private static void WriteElementMotorLimits(this XmlWriter writer, String localName, SmcMotorLimits ml)
{
writer.WriteStartElement(localName);
writer.WriteElementU32("MaxSpeed", ml.maxSpeed);
writer.WriteElementU32("MaxAcceleration", ml.maxAcceleration);
writer.WriteElementU32("MaxDeceleration", ml.maxDeceleration);
writer.WriteElementU32("BrakeDuration", ml.brakeDuration);
writer.WriteElementU32("StartingSpeed", ml.startingSpeed);
writer.WriteEndElement();
}
private static void WriteElementMotorLimits(this XmlWriter writer, String localName, SmcMotorLimits ml)
{
writer.WriteStartElement(localName);
writer.WriteElementU32("MaxSpeed", ml.maxSpeed);
writer.WriteElementU32("MaxAcceleration", ml.maxAcceleration);
writer.WriteElementU32("MaxDeceleration", ml.maxDeceleration);
writer.WriteElementU32("BrakeDuration", ml.brakeDuration);
writer.WriteElementU32("StartingSpeed", ml.startingSpeed);
writer.WriteEndElement();
}
private static void parseLimits(Tag tag, string name, SmcMotorLimits ml, List<string> warnings)
{
if (assertChild(tag, name, warnings))
{
Tag limitsTag = tag.children[name];
parseU16(limitsTag, "MaxSpeed", ref ml.maxSpeed, warnings);
parseU16(limitsTag, "MaxAcceleration", ref ml.maxAcceleration, warnings);
parseU16(limitsTag, "MaxDeceleration", ref ml.maxDeceleration, warnings);
parseU16(limitsTag, "BrakeDuration", ref ml.brakeDuration, warnings);
parseU16(limitsTag, "StartingSpeed", ref ml.startingSpeed, warnings);
}
}
internal SmcSettings(SmcSettingsStruct s)
{
// [Add-new-settings-here]
this.neverSuspend = s.neverSuspend;
this.uartResponseDelay = s.uartResponseDelay;
this.useFixedBaudRate = s.useFixedBaudRate;
this.disableSafeStart = s.disableSafeStart;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.crcMode = s.crcMode;
this.overTempMin = s.overTempMin;
this.overTempMax = s.overTempMax;
this.inputMode = s.inputMode;
this.pwmMode = s.pwmMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.ignorePotDisconnect = s.ignorePotDisconnect;
this.tempLimitGradual = s.tempLimitGradual;
this.consecGoodPulses = s.consecGoodPulses;
this.motorInvert = s.motorInvert;
this.speedZeroBrakeAmount = s.speedZeroBrakeAmount;
this.ignoreErrLineHigh = s.ignoreErrLineHigh;
this.vinMultiplierOffset = s.vinMultiplierOffset;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
}
/// <summary>
/// Constructs a new SmcSettings object that has the default settings for a particular product.
/// </summary>
/// <param name="productId">The product ID of the device. This determines the initial value of
/// some product-dependent parameters like highVinShutoffMv. Pass this argument as 0 if the
/// product ID is unknown at this time.
/// </param>
public SmcSettings(UInt16 productId)
{
rc1 = SmcChannelSettings.defaultRCSettings();
rc2 = SmcChannelSettings.defaultRCSettings();
analog1 = SmcChannelSettings.defaultAnalogSettings();
analog2 = SmcChannelSettings.defaultAnalogSettings();
forwardLimits = new SmcMotorLimits();
reverseLimits = new SmcMotorLimits();
if (productId == 0x99 || productId == 0x9D)
{
// For the versions with 40V MOSFETs:
this.highVinShutoffMv = 35000;
}
else
{
// For the versions with 30V MOSFETs:
this.highVinShutoffMv = 25000;
}
}
private static void fixMotorLimits(SmcMotorLimits ml, string directionName, List<String> warnings)
{
if (ml.maxSpeed > 0 && ml.startingSpeed > ml.maxSpeed)
{
warnings.Add("The " + directionName + " max speed was non-zero and smaller than the " + directionName + " starting speed. " +
"The " + directionName + " max speed will be changed to 0 and the motor will not be " +
"able to drive in the " + directionName + " direction.");
ml.maxSpeed = 0;
}
if (ml.maxSpeed > 3200)
{
warnings.Add("The " + directionName + " max speed was greater than 3200 (100%) so it will be changed to 3200.");
ml.maxSpeed = 3200;
}
if (ml.maxAcceleration > 3200)
{
warnings.Add("The " + directionName + " max acceleration was greater than 3200 so it will be changed to 3200.");
ml.maxAcceleration = 3200;
}
if (ml.maxDeceleration > 3200)
{
warnings.Add("The " + directionName + " max deceleration was greater than 3200 so it will be changed to 3200.");
ml.maxDeceleration = 3200;
}
}
