public Avionics(ushort[] registers, int yawAddr, int pitchAddr, int rollAddr, int depthAddr)
{
Yaw = new ROVInput(registers, yawAddr, -Math.PI, Math.PI);
Pitch = new ROVInput(registers, pitchAddr, -Math.PI, Math.PI);
Roll = new ROVInput(registers, rollAddr, -Math.PI, Math.PI);
Depth = new ROVInput(registers, depthAddr, 0, 25);
}
public ROV(string portName, int baudRate, int updateInterval)
{
//connect to ROV computer
try
{
serialPort = new SerialPort(portName, baudRate, Parity.None, 8, StopBits.One);
serialPort.Open();
modbus = ModbusSerialMaster.CreateRtu(serialPort);
isConnected = true;
} catch (Exception e)
{
throw new Exception("Failed to start communication: " + e.Message);
}
registers = new ushort[29];
for (int i = 0; i < 29; i++)
{
//set all to max value to indicate not operational
registers[i] = 0;
}
//set up thrusters, avionics, manipulator objects with
//specific indices in register array
Thrusters = new Thruster[6];
for (int i = 0; i < 6; i++)
{
Thrusters[i] = new Thruster(registers, i, 16 + i, 22 + i);
}
Avionics = new Avionics(registers, 6, 7, 8, 9);
Manipulators = new ROVOutput[4];
for (int i = 0; i < 4; i++)
{
Manipulators[i] = new ROVOutput(registers, 10 + i, -255, 255);
}
Relays = new ROVOutput(registers, 14, UInt16.MinValue, UInt16.MaxValue);
Voltmeter = new ROVInput(registers, 15, 0, 30);
//every x milliseconds send/receive data with ROV
timer = new Timer(updateInterval);
timer.AutoReset = true;
timer.Elapsed += CommunicationTimerElapsed;
timer.Start();
loopCounter = 0;
}
public Thruster(ushort[] registers, int speedAddr, int rpmAddr, int tempAddr)
{
Speed = new ROVOutput(registers, speedAddr, Int16.MinValue, Int16.MaxValue);
Tachometer = new ROVInput(registers, rpmAddr, UInt16.MinValue, UInt16.MaxValue);
Thermometer = new ROVInput(registers, tempAddr, 0, 100);
}