public void SetRangeHundredsDigitStatorSignalCoarseSetpointDeferred(StatorSignals statorSignal, byte coarseSetpoint)
{
switch (statorSignal)
{
case StatorSignals.X:
SendCommand(CommandSubaddress.RANGE_HUNDREDS_DIGIT_X_STATOR_COARSE_SETPOINT_DEFERRED, coarseSetpoint);
break;
case StatorSignals.Y:
SendCommand(CommandSubaddress.RANGE_HUNDREDS_DIGIT_Y_STATOR_COARSE_SETPOINT_DEFERRED, coarseSetpoint);
break;
default:
throw new ArgumentOutOfRangeException(nameof(statorSignal));
}
}
public void SetStatorSignalAmplitudeDeferred(StatorSignals statorSignal, byte amplitude)
{
switch (statorSignal)
{
case StatorSignals.S1:
SendCommand(CommandSubaddress.S1AMPL, amplitude);
break;
case StatorSignals.S2:
SendCommand(CommandSubaddress.S2AMPL, amplitude);
break;
case StatorSignals.S3:
SendCommand(CommandSubaddress.S3AMPL, amplitude);
break;
default:
throw new ArgumentOutOfRangeException(nameof(statorSignal));
}
}
public void SetHeadingStatorSignalCoarseSetpointDeferred(StatorSignals statorSignal, byte coarseSetpoint)
{
switch (statorSignal)
{
case StatorSignals.S1:
SendCommand(CommandSubaddress.HEADING_S1_COARSE_SETPOINT_DEFERRED, coarseSetpoint);
break;
case StatorSignals.S2:
SendCommand(CommandSubaddress.HEADING_S2_COARSE_SETPOINT_DEFERRED, coarseSetpoint);
break;
case StatorSignals.S3:
SendCommand(CommandSubaddress.HEADING_S3_COARSE_SETPOINT_DEFERRED, coarseSetpoint);
break;
default:
throw new ArgumentOutOfRangeException(nameof(statorSignal));
}
}
public void LoadHeadingOffsetStatorCoilMask(StatorSignals statorSignal)
{
byte val;
switch (statorSignal)
{
case StatorSignals.S1:
val = 0x01;
break;
case StatorSignals.S2:
val = 0x02;
break;
case StatorSignals.S3:
val = 0x04;
break;
default:
throw new ArgumentOutOfRangeException(nameof(statorSignal));
}
SendCommand(CommandSubaddress.LOAD_BEARING_OFFSET_STATOR_COIL_MASK, val);
}
public void SetStatorBaseAngle(StatorSignals statorSignal, short offset)
{
const ushort LSB_BITMASK = 0xFF; //bits 0-7
const ushort MSB_BITMASK = 0xF00; //bits 8-11
if (offset < 0 || offset > STATOR_ANGLE_MAX_OFFSET)
{
throw new ArgumentOutOfRangeException(nameof(offset), string.Format(CultureInfo.InvariantCulture, "Must be >=0 and <= {0}", STATOR_ANGLE_MAX_OFFSET));
}
var lsb = (byte)(offset & LSB_BITMASK);
var msb = (byte)((offset & MSB_BITMASK) >> 8);
switch (statorSignal)
{
case StatorSignals.S1:
SendCommand(CommandSubaddress.S1_BASE_ANGLE_LSB, lsb);
SendCommand(CommandSubaddress.S1_BASE_ANGLE_MSB, msb);
break;
case StatorSignals.S2:
SendCommand(CommandSubaddress.S2_BASE_ANGLE_LSB, lsb);
SendCommand(CommandSubaddress.S2_BASE_ANGLE_MSB, msb);
break;
case StatorSignals.S3:
SendCommand(CommandSubaddress.S3_BASE_ANGLE_LSB, lsb);
SendCommand(CommandSubaddress.S3_BASE_ANGLE_MSB, msb);
break;
case StatorSignals.Unknown:
break;
default:
throw new ArgumentOutOfRangeException(nameof(statorSignal));
}
}
