internal MotorServiceImpl(MotorControllerPrx proxy)
{
this.proxy = proxy;
numMotors = 4; // todo: this should be retrieved from the qwerk
// create and initialize the all-on mask array
maskAllOn = new bool[numMotors];
for (int i = 0; i < maskAllOn.Length; i++)
{
maskAllOn[i] = true;
}
// create the array used for zero velocity/position and default acceleration
nullIntArray = new int[numMotors];
defaultAccelerationArray = new int[numMotors];
for (int i = 0; i < numMotors; i++)
{
defaultAccelerationArray[i] = DEFAULT_ACCELERATION;
}
// build the mask arrays for each motor and store them in a map indexed on motor id
motorIdToMaskArrayMap = new Dictionary<int, bool[]>(numMotors);
for (int i = 0; i < numMotors; i++)
{
bool[] mask = new bool[numMotors];
mask[i] = true;
motorIdToMaskArrayMap.Add(i, mask);
}
// build the motor mode arrays and store them in a map indexed on motor mode
motorModeToModeArrayMap = new Dictionary<MotorMode, MotorMode[]>(numMotors);
MotorMode[] motorModeOffArray = new MotorMode[numMotors];
MotorMode[] motorModePositionControlArray = new MotorMode[numMotors];
MotorMode[] motorModeSpeedControlArray = new MotorMode[numMotors];
for (int i = 0; i < numMotors; i++)
{
motorModeOffArray[i] = MotorMode.MotorOff;
motorModePositionControlArray[i] = MotorMode.MotorPositionControl;
motorModeSpeedControlArray[i] = MotorMode.MotorSpeedControl;
}
motorModeToModeArrayMap.Add(MotorMode.MotorOff, motorModeOffArray);
motorModeToModeArrayMap.Add(MotorMode.MotorPositionControl, motorModePositionControlArray);
motorModeToModeArrayMap.Add(MotorMode.MotorSpeedControl, motorModeSpeedControlArray);
}
internal MotorServiceImpl(MotorControllerPrx proxy)
{
this.proxy = proxy;
numMotors = 4; // todo: this should be retrieved from the qwerk
// create and initialize the all-on mask array
maskAllOn = new bool[numMotors];
for (int i = 0; i < maskAllOn.Length; i++)
{
maskAllOn[i] = true;
}
// create the array used for zero velocity/position and default acceleration
nullIntArray = new int[numMotors];
defaultAccelerationArray = new int[numMotors];
for (int i = 0; i < numMotors; i++)
{
defaultAccelerationArray[i] = DEFAULT_ACCELERATION;
}
// build the mask arrays for each motor and store them in a map indexed on motor id
motorIdToMaskArrayMap = new Dictionary <int, bool[]>(numMotors);
for (int i = 0; i < numMotors; i++)
{
bool[] mask = new bool[numMotors];
mask[i] = true;
motorIdToMaskArrayMap.Add(i, mask);
}
// build the motor mode arrays and store them in a map indexed on motor mode
motorModeToModeArrayMap = new Dictionary <MotorMode, MotorMode[]>(numMotors);
MotorMode[] motorModeOffArray = new MotorMode[numMotors];
MotorMode[] motorModePositionControlArray = new MotorMode[numMotors];
MotorMode[] motorModeSpeedControlArray = new MotorMode[numMotors];
for (int i = 0; i < numMotors; i++)
{
motorModeOffArray[i] = MotorMode.MotorOff;
motorModePositionControlArray[i] = MotorMode.MotorPositionControl;
motorModeSpeedControlArray[i] = MotorMode.MotorSpeedControl;
}
motorModeToModeArrayMap.Add(MotorMode.MotorOff, motorModeOffArray);
motorModeToModeArrayMap.Add(MotorMode.MotorPositionControl, motorModePositionControlArray);
motorModeToModeArrayMap.Add(MotorMode.MotorSpeedControl, motorModeSpeedControlArray);
}
