internal SmcChannelSettings(SmcChannelSettingsStruct s)
{
this.invert = s.invert;
this.scalingDegree = s.scalingDegree;
this.alternateUse = s.alternateUse;
this.pinMode = s.pinMode;
this.errorMin = s.errorMin;
this.errorMax = s.errorMax;
this.inputMin = s.inputMin;
this.inputMax = s.inputMax;
this.inputNeutralMin = s.inputNeutralMin;
this.inputNeutralMax = s.inputNeutralMax;
}
internal SmcChannelSettings(SmcChannelSettingsStruct s)
{
this.invert = s.invert;
this.scalingDegree = s.scalingDegree;
this.alternateUse = s.alternateUse;
this.pinMode = s.pinMode;
this.errorMin = s.errorMin;
this.errorMax = s.errorMax;
this.inputMin = s.inputMin;
this.inputMax = s.inputMax;
this.inputNeutralMin = s.inputNeutralMin;
this.inputNeutralMax = s.inputNeutralMax;
}
private static void writeAlternateUse(StreamWriter sw, string name, SmcChannelAlternateUse use)
{
string str = "";
switch (use)
{
case SmcChannelAlternateUse.None: str = "none"; break;
case SmcChannelAlternateUse.LimitForward: str = "limit_forward"; break;
case SmcChannelAlternateUse.LimitReverse: str = "limit_reverse"; break;
case SmcChannelAlternateUse.KillSwitch: str = "kill_switch"; break;
}
sw.WriteLine(name + ": " + str);
}
/// <summary>
/// Determines what the specified channel is used for (e.g. limit switch or
/// controlling the motor speed).
/// </summary>
/// <param name="channel">Specifies the channel.</param>
/// <param name="inputMode">The input mode of the device (Serial/USB, Analog, RC).</param>
/// <param name="mixingMode">The mixing mode of the device (None, Left, Right).</param>
/// <param name="alternateUse">The alternate use setting for the channel.</param>
/// <returns>What the channel is used for.</returns>
public static SmcChannelUse use(this SmcChannel channel, SmcInputMode inputMode, SmcMixingMode mixingMode, SmcChannelAlternateUse alternateUse)
{
if (channel.controlsMotorSpeed(inputMode, mixingMode))
{
if (channel == SmcChannel.Analog2 || channel == SmcChannel.Rc2)
{
return(SmcChannelUse.Steering);
}
else
{
return(SmcChannelUse.Throttle);
}
}
else
{
switch (alternateUse)
{
default: return(SmcChannelUse.None);
case SmcChannelAlternateUse.KillSwitch: return(SmcChannelUse.KillSwitch);
case SmcChannelAlternateUse.LimitForward: return(SmcChannelUse.LimitForward);
case SmcChannelAlternateUse.LimitReverse: return(SmcChannelUse.LimitReverse);
}
}
}
/// <summary>
/// Determines what the specified channel is used for (e.g. limit switch or
/// controlling the motor speed).
/// </summary>
/// <param name="channel">Specifies the channel.</param>
/// <param name="inputMode">The input mode of the device (Serial/USB, Analog, RC).</param>
/// <param name="mixingMode">The mixing mode of the device (None, Left, Right).</param>
/// <param name="alternateUse">The alternate use setting for the channel.</param>
/// <returns>What the channel is used for.</returns>
public static SmcChannelUse use(this SmcChannel channel, SmcInputMode inputMode, SmcMixingMode mixingMode, SmcChannelAlternateUse alternateUse)
{
if (channel.controlsMotorSpeed(inputMode, mixingMode))
{
if (channel == SmcChannel.Analog2 || channel == SmcChannel.Rc2)
{
return SmcChannelUse.Steering;
}
else
{
return SmcChannelUse.Throttle;
}
}
else
{
switch (alternateUse)
{
default: return SmcChannelUse.None;
case SmcChannelAlternateUse.KillSwitch: return SmcChannelUse.KillSwitch;
case SmcChannelAlternateUse.LimitForward: return SmcChannelUse.LimitForward;
case SmcChannelAlternateUse.LimitReverse: return SmcChannelUse.LimitReverse;
}
}
}
