/**
* Gets all persistant settings.
*
* @param allConfigs Object with all of the persistant settings
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
*/
public void GetAllConfigs(out CANifierConfiguration allConfigs, int timeoutMs = 50)
{
allConfigs = new CANifierConfiguration();
allConfigs.velocityMeasurementPeriod = (CANifierVelocityMeasPeriod)ConfigGetParameter(ParamEnum.eSampleVelocityPeriod, 0, timeoutMs);
allConfigs.velocityMeasurementWindow = (int)ConfigGetParameter(ParamEnum.eSampleVelocityWindow, 0, timeoutMs);
allConfigs.clearPositionOnLimitF = ConfigGetParameter(ParamEnum.eClearPositionOnLimitF, 0, timeoutMs) != 0.0;
allConfigs.clearPositionOnLimitR = ConfigGetParameter(ParamEnum.eClearPositionOnLimitR, 0, timeoutMs) != 0.0;
allConfigs.clearPositionOnQuadIdx = ConfigGetParameter(ParamEnum.eClearPositionOnQuadIdx, 0, timeoutMs) != 0.0;
allConfigs.customParam_0 = (int)ConfigGetParameter(ParamEnum.eCustomParam, 0, timeoutMs);
allConfigs.customParam_1 = (int)ConfigGetParameter(ParamEnum.eCustomParam, 1, timeoutMs);
}
/**
* Configures all peristant settings.
*
* @param allConfigs Object with all of the persistant settings
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
*
* @return Error Code generated by function. 0 indicates no error.
*/
public ErrorCode ConfigAllSettings(CANifierConfiguration allConfigs, int timeoutMs = 50)
{
ErrorCollection errorCollection = new ErrorCollection();
errorCollection.NewError(ConfigVelocityMeasurementPeriod(allConfigs.velocityMeasurementPeriod, timeoutMs));
errorCollection.NewError(ConfigVelocityMeasurementWindow(allConfigs.velocityMeasurementWindow, timeoutMs));
errorCollection.NewError(ConfigClearPositionOnLimitF(allConfigs.clearPositionOnLimitF, timeoutMs));
errorCollection.NewError(ConfigClearPositionOnLimitR(allConfigs.clearPositionOnLimitR, timeoutMs));
errorCollection.NewError(ConfigClearPositionOnQuadIdx(allConfigs.clearPositionOnQuadIdx, timeoutMs));
errorCollection.NewError(ConfigSetCustomParam(allConfigs.customParam_0, 0, timeoutMs));
errorCollection.NewError(ConfigSetCustomParam(allConfigs.customParam_1, 1, timeoutMs));
return(errorCollection._worstError);
}
/**
* Configures all peristant settings to defaults.
*
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
*
* @return Error Code generated by function. 0 indicates no error.
*/
public ErrorCode ConfigFactoryDefault(int timeoutMs = 50)
{
CANifierConfiguration defaults = new CANifierConfiguration();
return(ConfigAllSettings(defaults, timeoutMs));
}
