/// <summary>
/// Converts a <see cref="byte"/> array holding binary coded digits to a readable string.
/// </summary>
/// <param name="data">The binary coded digit bytes</param>
/// <param name="isLittleEndian">Value indicating if the first nibble contains the least significant part</param>
/// <returns>A string containing numeric data</returns>
/// <exception cref="ArgumentException">The array contains one or more non-BCD bytes.</exception>
public static void SetRAMPSBoard(this ArduinoSession session)
{
//Stepper
// X
session.StepperConfiguration(0, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 54,
DirectionOrPin2Number = 55,
EnablePinNumber = 38,
InvertEnablePinNumber = true
});
// Y
session.StepperConfiguration(1, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 60,
DirectionOrPin2Number = 61,
EnablePinNumber = 56,
InvertEnablePinNumber = true
});
// Z
session.StepperConfiguration(2, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 46,
DirectionOrPin2Number = 48,
EnablePinNumber = 62,
InvertEnablePinNumber = true
});
// E0
session.StepperConfiguration(3, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 26,
DirectionOrPin2Number = 28,
EnablePinNumber = 24,
InvertEnablePinNumber = true
});
// E1
session.StepperConfiguration(4, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 36,
DirectionOrPin2Number = 34,
EnablePinNumber = 30,
InvertEnablePinNumber = true
});
}
/// <summary>
/// Converts a <see cref="byte"/> array holding binary coded digits to a readable string.
/// </summary>
/// <param name="data">The binary coded digit bytes</param>
/// <param name="isLittleEndian">Value indicating if the first nibble contains the least significant part</param>
/// <returns>A string containing numeric data</returns>
/// <exception cref="ArgumentException">The array contains one or more non-BCD bytes.</exception>
public static void SetCNCShieldV3Board(this ArduinoSession session)
{
//Stepper
// X
session.StepperConfiguration(0, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 2,
DirectionOrPin2Number = 5,
EnablePinNumber = 8,
InvertEnablePinNumber = true
});
// Y
session.StepperConfiguration(1, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 3,
DirectionOrPin2Number = 6,
EnablePinNumber = 8,
InvertEnablePinNumber = true
});
// Z
session.StepperConfiguration(2, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 4,
DirectionOrPin2Number = 7,
EnablePinNumber = 8,
InvertEnablePinNumber = true
});
// A
session.StepperConfiguration(3, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 11,
DirectionOrPin2Number = 13,
EnablePinNumber = 8,
InvertEnablePinNumber = true
});
}
public ArduinoSession GetArduinoSession()
{
if (arduinoSession == null)
{
var connection = GetConnection();
var session = new ArduinoSession(connection);
var firmware = session.GetFirmware();
if (firmware.MajorVersion >= 2)
{
session.ResetBoard();
//步进电机
session.CreateStepperMoveCompleteMonitor().Monitor(f =>
{
GetStepperStep(f.DeviceNumber).Invoke(f.DeviceNumber);
});
session.CreateReceivedStringMonitor().Monitor(f =>
{
});
session.StepperConfiguration(0, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 26,
DirectionOrPin2Number = 28,
EnablePinNumber = 24,
InvertEnablePinNumber = true
});
session.StepperEnable(0, true);
session.StepperSetSpeed(0, 32767);
session.StepperSetScceleration(0, 5000);
arduinoSession = session;
}
else
{
session.Dispose();
throw new Exception("读取设备失败");
}
}
return(arduinoSession);
}
