/// <summary>
/// Sets the state of the motor. This only works if you are in Serial/USB input mode.
/// </summary>
/// <param name="speed">
/// If direction is Forward or Reverse, speed is a number from 0 to 3200.
/// If direction is Brake, speed is a number from 0 to 32.
/// </param>
/// <param name="direction">
/// The direction to drive the motor in: Forward, Reverse, or Brake.
/// </param>
private void setSpeed(UInt16 speed, SmcDirection direction)
{
// NOTE: This should be the same as the logic in the firmware (cmdSetSpeed).
if (0 != (direction & SmcDirection.Brake))
{
if (speed > 32)
{
throw new ArgumentOutOfRangeException("speed", "When braking, speed parameter must be between 0 and 32.");
}
}
else
{
if (speed > 3200)
{
throw new ArgumentOutOfRangeException("speed", "Speed parameter must be between 0 and 3200.");
}
}
try
{
controlTransfer(0x40, (Byte)SmcRequest.SetSpeed, speed, (Byte)direction);
}
catch (Exception exception)
{
throw new Exception("There was an error setting the speed.", exception);
}
}
/// <summary>
/// Sets the state of the motor. This only works if you are in Serial/USB input mode.
/// </summary>
/// <param name="speed">
/// If direction is Forward or Reverse, speed is a number from 0 to 3200.
/// If direction is Brake, speed is a number from 0 to 32.
/// </param>
/// <param name="direction">
/// The direction to drive the motor in: Forward, Reverse, or Brake.
/// </param>
private void setSpeed(UInt16 speed, SmcDirection direction)
{
// NOTE: This should be the same as the logic in the firmware (cmdSetSpeed).
if (0 != (direction & SmcDirection.Brake))
{
if (speed > 32)
{
throw new ArgumentOutOfRangeException("speed", "When braking, speed parameter must be between 0 and 32.");
}
}
else
{
if (speed > 3200)
{
throw new ArgumentOutOfRangeException("speed", "Speed parameter must be between 0 and 3200.");
}
}
try
{
controlTransfer(0x40, (Byte)SmcRequest.SetSpeed, speed, (Byte)direction);
}
catch (Exception exception)
{
throw new Exception("There was an error setting the speed.", exception);
}
}
