internal void EngageMotor(OutputPort port, byte bitmaskUp, byte bitmaskDown, MotorEngagement engagement)
{
lock (this)
{
byte maskoff = (byte)~(bitmaskUp | bitmaskDown);
byte newmask =
engagement == MotorEngagement.Down ? bitmaskDown :
engagement == MotorEngagement.Up ? bitmaskUp :
(byte)0;
byte newstate = (byte)((_latchState & maskoff) | newmask);
UpdateLatchState(newstate);
// Write non-0 value if motor should be engaged
port.Write(engagement != MotorEngagement.Off);
}
}
private void Engage(MotorEngagement engagement)
{
_shield.EngageMotor(_port, _bitmaskUp, _bitmaskDown, engagement);
}
