/// <summary>
/// Determines what the specified channel is used for (e.g. limit switch or
/// controlling the motor speed).
/// </summary>
/// <param name="channel">Specifies the channel.</param>
/// <param name="inputMode">The input mode of the device (Serial/USB, Analog, RC).</param>
/// <param name="mixingMode">The mixing mode of the device (None, Left, Right).</param>
/// <param name="alternateUse">The alternate use setting for the channel.</param>
/// <returns>What the channel is used for.</returns>
public static SmcChannelUse use(this SmcChannel channel, SmcInputMode inputMode, SmcMixingMode mixingMode, SmcChannelAlternateUse alternateUse)
{
if (channel.controlsMotorSpeed(inputMode, mixingMode))
{
if (channel == SmcChannel.Analog2 || channel == SmcChannel.Rc2)
{
return(SmcChannelUse.Steering);
}
else
{
return(SmcChannelUse.Throttle);
}
}
else
{
switch (alternateUse)
{
default: return(SmcChannelUse.None);
case SmcChannelAlternateUse.KillSwitch: return(SmcChannelUse.KillSwitch);
case SmcChannelAlternateUse.LimitForward: return(SmcChannelUse.LimitForward);
case SmcChannelAlternateUse.LimitReverse: return(SmcChannelUse.LimitReverse);
}
}
}
private static void writeInputMode(StreamWriter sw, SmcInputMode mode)
{
string str = "";
switch (mode)
{
case SmcInputMode.SerialUsb: str = "serial"; break;
case SmcInputMode.RC: str = "rc"; break;
case SmcInputMode.Analog: str = "analog"; break;
}
sw.WriteLine("input_mode: " + str);
}
/// <summary>
/// Determines whether the specified channel is directly used to control the
/// motor speed (i.e. it is a Throttle or Steering input).
/// </summary>
/// <param name="channel">Specifies the channel.</param>
/// <param name="inputMode">The input mode of the device (Serial/USB, Analog, RC).</param>
/// <param name="mixingMode">The mixing mode of the device (None, Left, Right).</param>
/// <returns>True if and only if the channel controls the motor speed.</returns>
public static bool controlsMotorSpeed(this SmcChannel channel, SmcInputMode inputMode, SmcMixingMode mixingMode)
{
if (inputMode == SmcInputMode.Analog)
{
return(channel == SmcChannel.Analog1 || (mixingMode != SmcMixingMode.None && channel == SmcChannel.Analog2));
}
else if (inputMode == SmcInputMode.RC)
{
return(channel == SmcChannel.Rc1 || (mixingMode != SmcMixingMode.None && channel == SmcChannel.Rc2));
}
else
{
// inputMode should be serial/USB
return(false);
}
}
internal SmcSettings(UInt16 productId, SmcSettingsStruct s)
{
this.productId = productId;
// [Add-new-settings-here]
this.neverSleep = (s.b1 & SmcBoolSettings1.NeverSleep) != 0;
this.uartResponseDelay = (s.b1 & SmcBoolSettings1.UartResponseDelay) != 0;
this.useFixedBaudRate = (s.b1 & SmcBoolSettings1.UseFixedBaudRate) != 0;
this.disableSafeStart = (s.b1 & SmcBoolSettings1.DisableSafeStart) != 0;
this.enableI2C = (s.b1 & SmcBoolSettings1.EnableI2C) != 0;
this.ignoreErrLineHigh = (s.b1 & SmcBoolSettings1.IgnoreErrLineHigh) != 0;
this.tempLimitGradual = (s.b1 & SmcBoolSettings1.TempLimitGradual) != 0;
this.ignorePotDisconnect = (s.b1 & SmcBoolSettings1.IgnorePotDisconnect) != 0;
this.motorInvert = (s.b1 & SmcBoolSettings1.MotorInvert) != 0;
this.coastWhenOff = (s.b1 & SmcBoolSettings1.CoastWhenOff) != 0;
this.crcForCommands = (s.b1 & SmcBoolSettings1.CrcForCommands) != 0;
this.crcForResponses = (s.b1 & SmcBoolSettings1.CrcForResponses) != 0;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.overTempCompleteShutoffThreshold = s.overTempCompleteShutoffThreshold;
this.overTempNormalOperationThreshold = s.overTempNormalOperationThreshold;
this.inputMode = s.inputMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.consecGoodPulses = s.consecGoodPulses;
this.vinScaleCalibration = s.vinScaleCalibration;
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);
this.currentLimit = s.currentLimit;
this.currentOffsetCalibration = s.currentOffsetCalibration;
this.currentScaleCalibration = s.currentScaleCalibration;
}
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>
/// Determines what the specified channel is used for (e.g. limit switch or
/// controlling the motor speed).
/// </summary>
/// <param name="channel">Specifies the channel.</param>
/// <param name="inputMode">The input mode of the device (Serial/USB, Analog, RC).</param>
/// <param name="mixingMode">The mixing mode of the device (None, Left, Right).</param>
/// <param name="alternateUse">The alternate use setting for the channel.</param>
/// <returns>What the channel is used for.</returns>
public static SmcChannelUse use(this SmcChannel channel, SmcInputMode inputMode, SmcMixingMode mixingMode, SmcChannelAlternateUse alternateUse)
{
if (channel.controlsMotorSpeed(inputMode, mixingMode))
{
if (channel == SmcChannel.Analog2 || channel == SmcChannel.Rc2)
{
return SmcChannelUse.Steering;
}
else
{
return SmcChannelUse.Throttle;
}
}
else
{
switch (alternateUse)
{
default: return SmcChannelUse.None;
case SmcChannelAlternateUse.KillSwitch: return SmcChannelUse.KillSwitch;
case SmcChannelAlternateUse.LimitForward: return SmcChannelUse.LimitForward;
case SmcChannelAlternateUse.LimitReverse: return SmcChannelUse.LimitReverse;
}
}
}
/// <summary>
/// Determines whether the specified channel is directly used to control the
/// motor speed (i.e. it is a Throttle or Steering input).
/// </summary>
/// <param name="channel">Specifies the channel.</param>
/// <param name="inputMode">The input mode of the device (Serial/USB, Analog, RC).</param>
/// <param name="mixingMode">The mixing mode of the device (None, Left, Right).</param>
/// <returns>True if and only if the channel controls the motor speed.</returns>
public static bool controlsMotorSpeed(this SmcChannel channel, SmcInputMode inputMode, SmcMixingMode mixingMode)
{
if (inputMode == SmcInputMode.Analog)
{
return (channel == SmcChannel.Analog1 || (mixingMode != SmcMixingMode.None && channel == SmcChannel.Analog2));
}
else if (inputMode == SmcInputMode.RC)
{
return (channel == SmcChannel.Rc1 || (mixingMode != SmcMixingMode.None && channel == SmcChannel.Rc2));
}
else
{
// inputMode should be serial/USB
return false;
}
}
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);
}
