public async Task <bool> send_relative_move(int SpeedAZ, int SpeedEL, ushort ACCELERATION, int positionTranslationAZ, int positionTranslationEL)
{
bool Sucess = true;
await MCUModbusMaster.WriteMultipleRegistersAsync(1024, MESSAGE_CONTENTS_CLEAR_MOVE); //write a no-op to the mcu
if (!is_test)
{
Task task = Task.Delay(100); //wait to ensure it is porcessed
await task;
}
ushort[] data =
{
0x0002, 0x0003, (ushort)((positionTranslationAZ & 0xFFFF0000) >> 16), (ushort)(positionTranslationAZ & 0xFFFF), (ushort)((SpeedAZ & 0xFFFF0000) >> 16), (ushort)(SpeedAZ & 0xFFFF), ACCELERATION, ACCELERATION, 0, 0,
0x0002, 0x0003, (ushort)((positionTranslationEL & 0xFFFF0000) >> 16), (ushort)(positionTranslationEL & 0xFFFF), (ushort)((SpeedEL & 0xFFFF0000) >> 16), (ushort)(SpeedEL & 0xFFFF), ACCELERATION, ACCELERATION, 0, 0
};
await MCUModbusMaster.WriteMultipleRegistersAsync(1024, data);
return(Sucess);
}
public async Task <bool> WriteRegistersAsync(int address, ushort[] values)
{
if (this.CheckConnection())
{
try {
using TcpClient client = new TcpClient(this.IpAddress, this.Port);
ModbusIpMaster master = ModbusIpMaster.CreateIp(client);
if (this.SlaveAddress != 0)
{
await master.WriteMultipleRegistersAsync(this.SlaveAddress, (ushort)address, values);
}
else
{
await master.WriteMultipleRegistersAsync((ushort)address, values);
}
client.Close();
master.Dispose();
return(true);
} catch {
return(false);
}
}
return(false);
}