public bool MoveRelative(PaddlePosition displacement)
{
try
{
short pulses = (short)(UnitToPulse(displacement.Position, -0x3FF, 0x3FF));
UpdateOutput(string.Format("Move paddle {0} by {1}...", (char)displacement.PaddleId, displacement.PaddleId));
ELLDevicePort.SendStringI16(Address, $"r{(char)displacement.PaddleId}", pulses);
return(WaitForPosition(displacement.PaddleId));
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0}...", displacement.Position));
}
return(false);
}
public bool MoveAbsolute(PaddlePosition position)
{
try
{
short pulses = (short)(UnitToPulse(position.Position, 0, 0x3FF));
UpdateOutput(string.Format("Move paddle {0} to {1}...", (char)position.PaddleId, position.PaddleId));
ELLDevicePort.SendStringI16(Address, $"a{(char)position.PaddleId}", pulses);
return(WaitForPosition(position.PaddleId));
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0}...", position.Position));
}
return(false);
}
/// <summary> Move microsecond steps. </summary>
/// <param name="paddleID"> Identifier for the paddle. </param>
/// <param name="timeMS"> The time in milliseconds. </param>
/// <param name="backward"> True to backward. </param>
/// <returns> True if it succeeds, false if it fails. </returns>
public bool MoveMicrosecondSteps(PaddleIDs paddleID, short timeMS, bool backward)
{
try
{
if (timeMS < 0 || timeMS > 8000)
{
throw new ArgumentOutOfRangeException($"Range 0 to 8000");
}
if (backward)
{
timeMS = (short)((timeMS & 0x1FFF) | 0x8000);
}
UpdateOutput(string.Format("Move paddle {0} for {1} ms...", (char)paddleID, timeMS));
ELLDevicePort.SendStringI16(Address, $"t{(char)paddleID}", timeMS);
return(WaitForPosition(paddleID));
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0}...", timeMS));
}
return(false);
}
public bool ResetPeriod()
{
List <char> _motors = _motorInfo.Where(kvp => (kvp.Value != null) && (kvp.Value.IsValid)).Select(kvp => kvp.Key).ToList();
foreach (char motorID in _motors)
{
UpdateOutput(string.Format("Motor{0} - Reset default period ...", motorID));
UInt16 period = (Int16)(14740 / 100) | 0x8000;
ELLDevicePort.SendStringI16(Address, "f" + motorID, period);
if (!WaitForStatus(SearchTimeout))
{
return(false);
}
ELLDevicePort.SendStringI16(Address, "b" + motorID, period);
if (!WaitForStatus(SearchTimeout))
{
return(false);
}
GetMotorInfo(motorID);
}
SaveUserData();
return(true);
}
/// <summary> Sets the device period. </summary>
/// <param name="motorID"> Identifier for the motor. </param>
/// <param name="fwd"> The direction the period is applied to, true for forward, false for reverse. </param>
/// <param name="frequency"> The device frequency. </param>
/// <param name="permanent"> True to change the period permanently. </param>
/// <param name="hardSaveFrequencey"> True to hard save frequencey. </param>
/// <returns> True if the period is set. </returns>
public bool SetPeriod(char motorID, bool fwd, decimal frequency, bool permanent, bool hardSaveFrequencey)
{
if (!IsMotorIdValid(motorID))
{
return(false);
}
UInt16 period = (UInt16)(14740 / frequency);
UpdateOutput(string.Format("Motor{0} - Setting {1} period to {2:X}({3}kHz) ...", motorID, fwd ? "Fwd" : "Bwd", period, frequency));
if (hardSaveFrequencey)
{
period |= 0x8000;
}
ELLDevicePort.SendStringI16(Address, (fwd ? "f" : "b") + motorID, period);
if (!WaitForStatus())
{
return(false);
}
if (permanent)
{
SaveUserData();
}
return(true);
}
