public TFStepperMotor(MOTOR id, TFBasicCom parent, byte modes_quantity = 1)
: base(parent)
{
fMotorID = id;
fModeQuantity = modes_quantity;
fModes = new TFStepperMode[modes_quantity];
for (byte i = 0; i < fModeQuantity; i++)
{
fModes[i] = new TFStepperMode(fParent);
}
}
private WheelCollider getCollider(MOTOR m)
{
return(motors[(int)m].GetComponent <WheelCollider>());
}
public void Release(MOTOR motor)
{
SendData((byte)MounterCmd.MOUNTER_SET_POWER, (byte)motor, (byte)0);
}
public void Stop(MOTOR motor)
{
SendData((byte)MounterCmd.MOUNTER_STOP, (byte)motor);
}
public void Roll(MOTOR motor, STEPDIR dir, short autostop = 0)
{
OnStopWaitEvent.Reset();
byte[] buf = { (byte)motor, (byte)dir, (byte)(autostop >> 8), (byte)(autostop & 255) };
SendData((byte)MounterCmd.MOUNTER_ROLL, buf, 4);
}
public void Step(MOTOR motor, STEPDIR dir)
{
byte[] buf = { (byte)motor, (byte)dir };
SendData((byte)MounterCmd.MOUNTER_STEP, buf, 2);
}
