/// <summary>
/// 启动步进电机（绝对移动）
/// 根据从零位置开始的步数将步进器移动到所需位置。位置指定为32位带符号的长整数。
/// </summary>
/// <param name="session"></param>
public static void StepperMoveTo(this ArduinoSession session, int deviceNumber, int stepsNum)
{
if (deviceNumber < 0 || deviceNumber > 9)
{
throw new ArgumentOutOfRangeException(nameof(deviceNumber), "Device number must be between 0 and 9.");
}
var bytes = stepsNum.encode32BitSignedInteger();
var command = new[]
{
Utility.SysExStart,
ACCELSTEPPER_DATA, //ACCELSTEPPER_DATA(0x62)
ACCELSTEPPER_TO, //to command(0x03) //ACCELSTEPPER_TO
(byte)deviceNumber, //device number(0-9) (Supports up to 10 motors)
bytes[0], //4 num steps, bits 0-6
bytes[1], //5 num steps, bits 7-13
bytes[2], //6 num steps, bits 14-20
bytes[3], //7 num steps, bits 21-27
bytes[4], //8 num steps, bits 28-32
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
public static void SerialRead(this ArduinoSession session, HW_SERIAL hw, bool continuously = true, int?maxBytesToRead = null)
{
var command = new byte[14];
command[0] = Utility.SysExStart;
command[1] = SERIAL_MESSAGE;
command[2] = (byte)(SERIAL_READ | (int)hw); //SERIAL_READ //OR with port (0x31 = SERIAL_READ | HW_SERIAL1)
command[3] = continuously ? (byte)0x00 : (byte)0x01; //SERIAL_READ_MODE 0x00 => read continuously, 0x01 => stop reading
if (maxBytesToRead.HasValue)
{
if (maxBytesToRead.Value >= 32767)
{
throw new ArgumentOutOfRangeException(nameof(maxBytesToRead), "不能大于32767");
}
var bytes = maxBytesToRead.Value.encode32BitSignedInteger();
command[4] = bytes[0];
command[5] = bytes[1];
command[6] = Utility.SysExEnd;
}
else
{
command[4] = Utility.SysExEnd;
}
session.Write(command, 0, maxBytesToRead.HasValue ? 6 : 4);
}
/// <summary>
/// 根据从其零位置开始的步数将组中的每个步进器设置到所需位置。位置被指定为32位带符号的长整数。
/// 步进运动将被协调，以便所有人都同时到达其所需位置。根据位置变化和步进器的最大速度，此移动的持续时间取决于哪个步进器将花费最长的时间。
/// </summary>
/// <param name="session"></param>
/// <param name="deviceNumber"></param>
/// <param name="stepsNum"></param>
public static void MultiStepperMoveTo(this ArduinoSession session, int groupNumber, int stepsNum)
{
if (groupNumber < 0 || groupNumber > 4)
{
throw new ArgumentOutOfRangeException(nameof(groupNumber), "Group number must be between 0 and 4.");
}
var bytes = stepsNum.encode32BitSignedInteger();
var command = new[]
{
Utility.SysExStart,
ACCELSTEPPER_DATA, //ACCELSTEPPER_DATA(0x62)
MULTISTEPPER_TO, //multi to command(0x21) //MULTISTEPPER_TO
(byte)groupNumber, //group number(0-4)
bytes[0], //4 num steps, bits 0-6
bytes[1], //5 num steps, bits 7-13
bytes[2], //6 num steps, bits 14-20
bytes[3], //7 num steps, bits 21-27
bytes[4], //8 num steps, bits 28-32
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
public static void Request_EEPROM_Get(this ArduinoSession session, int index, int length)
{
if (length <= 0)
{
throw new ArgumentOutOfRangeException(nameof(length), "length 必须大于0");
}
var indexBytes = index.encode32BitSignedInteger();
var lengthBytes = length.encode32BitSignedInteger();
var command = new[]
{
Utility.SysExStart,
EEPROM_DATA,
EEPROM_GET,
indexBytes[0], //4 num steps, bits 0-6
indexBytes[1], //5 num steps, bits 7-13
indexBytes[2], //6 num steps, bits 14-20
indexBytes[3], //7 num steps, bits 21-27
indexBytes[4], //8 num steps, bits 28-32
lengthBytes[0], //4 num steps, bits 0-6
lengthBytes[1], //5 num steps, bits 7-13
lengthBytes[2], //6 num steps, bits 14-20
lengthBytes[3], //7 num steps, bits 21-27
lengthBytes[4], //8 num steps, bits 28-32
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
public static void Request_EEPROM_Put(this ArduinoSession session, int index, byte[] bytes)
{
if (bytes == null || bytes.Length <= 0)
{
throw new ArgumentOutOfRangeException(nameof(bytes), "bytes 不能为空且长度必须大于0");
}
var indexBytes = index.encode32BitSignedInteger();
var encoder7Bytes = ByteArrayExtensions.Encoder7Bit(bytes);
var command = new List <byte>
{
Utility.SysExStart,
EEPROM_DATA,
EEPROM_PUT,
indexBytes[0], //4 num steps, bits 0-6
indexBytes[1], //5 num steps, bits 7-13
indexBytes[2], //6 num steps, bits 14-20
indexBytes[3], //7 num steps, bits 21-27
indexBytes[4], //8 num steps, bits 28-32
//(byte)white,
//Utility.SysExEnd
};
command.AddRange(encoder7Bytes);
command.Add(Utility.SysExEnd);
session.Write(command.ToArray(), 0, command.Count);
}
private static void I2CRead(this ArduinoSession session, bool continuous, int slaveAddress, int slaveRegister = -1, int bytesToRead = 0)
{
if (slaveAddress < 0 || slaveAddress > 0x3FF)
{
throw new ArgumentOutOfRangeException(nameof(slaveAddress), Messages.ArgumentEx_I2cAddressRange);
}
if (bytesToRead < 0 || bytesToRead > 0x3FFF)
{
throw new ArgumentOutOfRangeException(nameof(bytesToRead), Messages.ArgumentEx_ValueRange0_16383);
}
byte[] command = new byte[(slaveRegister == -1 ? 7 : 9)];
command[0] = Utility.SysExStart;
command[1] = 0x76;
command[2] = (byte)(slaveAddress & 0x7F);
command[3] = (byte)(((slaveAddress >> 7) & 0x07) | (slaveAddress < 128 ? (continuous ? 0x10 : 0x08) : (continuous ? 0x30 : 0x28)));
if (slaveRegister != -1)
{
command[4] = (byte)(slaveRegister & 0x7F);
command[5] = (byte)(slaveRegister >> 7);
command[6] = (byte)(bytesToRead & 0x7F);
command[7] = (byte)(bytesToRead >> 7);
}
else
{
command[4] = (byte)(bytesToRead & 0x7F);
command[5] = (byte)(bytesToRead >> 7);
}
command[command.Length - 1] = Utility.SysExEnd;
session.Write(command, 0, command.Length);
}
/// <summary>
/// 可以将使用上述stepper configuration命令创建的Stepper实例添加到multiStepper组。可以通过单个命令向组发送设备/位置列表，并且将协调它们的移动以同时开始和结束。请注意，multiStepper不支持加速或减速。
/// </summary>
/// <param name="session"></param>
/// <param name="groupNumber"></param>
/// <param name="deviceNumbers"></param>
public static void MultiStepperConfiguration(this ArduinoSession session, int groupNumber, params int[] deviceNumbers)
{
if (groupNumber < 0 || groupNumber > 4)
{
throw new ArgumentOutOfRangeException(nameof(groupNumber), "Group number must be between 0 and 4.");
}
if (deviceNumbers == null)
{
throw new ArgumentNullException(nameof(deviceNumbers));
}
if (deviceNumbers.Length <= 2)
{
throw new ArgumentOutOfRangeException(nameof(deviceNumbers), "驱动器数量必须大于等于2位");
}
foreach (var deviceNumber in deviceNumbers)
{
if (deviceNumber < 0 || deviceNumber > 9)
{
throw new ArgumentOutOfRangeException(nameof(deviceNumber), "Device number must be between 0 and 9.");
}
}
var command = new List <byte>
{
Utility.SysExStart,
ACCELSTEPPER_DATA, //ACCELSTEPPER_DATA(0x62)
MULTISTEPPER_CONFIG, //config command(0x00 = config) //ACCELSTEPPER_CONFIG
(byte)groupNumber, //device number(0-9) (Supports up to 10 motors)
//Utility.SysExEnd
};
command.AddRange(deviceNumbers.Select(f => (byte)f));
command.Add(Utility.SysExEnd);
session.Write(command.ToArray(), 0, command.Count);
}
public const byte ENCODER_DATA = 0x61; // ENCODER_DATA（0x61）
public static void 附加编码器(this ArduinoSession session, int encoderNumber, int encoderPinA, int encoderPinB)
{
if (encoderNumber < 0 || encoderNumber > 5)
{
throw new ArgumentOutOfRangeException(nameof(encoderNumber), "Encoder number must be between 0 and 5.");
}
if (encoderPinA < 0 || encoderPinA > 127)
{
throw new ArgumentOutOfRangeException(nameof(encoderPinA), "Pin number must be between 0 and 127.");
}
if (encoderPinB < 0 || encoderPinB > 127)
{
throw new ArgumentOutOfRangeException(nameof(encoderPinB), "Pin number must be between 0 and 127.");
}
var command = new[]
{
Utility.SysExStart,
ENCODER_DATA, //ENCODER_DATA（0x61）
(byte)0x00, //ENCODER_ATTACH（0x00）
(byte)encoderNumber, //encoder # ([0 - MAX_ENCODERS-1])
(byte)encoderPinA, //4 pin A #(first pin)
(byte)encoderPinB, //5 pin B #(second pin)
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
/// <summary>
/// Sets a HI or LO value on a digital output pin.
/// </summary>
/// <param name="pinNumber">The pin number</param>
/// <param name="value">The value (<c>false</c> = Low, <c>true</c> = High)</param>
public static void SetDigitalPin(this ArduinoSession session, int pinNumber, bool value)
{
if (pinNumber < 0 || pinNumber > 127)
{
throw new ArgumentOutOfRangeException(nameof(pinNumber), Messages.ArgumentEx_PinRange0_127);
}
session.Write(new[] { SetDigitalPinValue, (byte)pinNumber, (byte)(value ? 1 : 0) });
}
/// <summary>
/// Sets a pin's mode (digital input/digital output/analog/PWM/servo etc.).
/// </summary>
/// <param name="pinNumber">The number of the pin</param>
/// <param name="mode">The pin's mode</param>
public static void SetDigitalPinMode(this ArduinoSession session, int pinNumber, PinMode mode)
{
if (pinNumber < 0 || pinNumber > 127)
{
throw new ArgumentOutOfRangeException(nameof(pinNumber), Messages.ArgumentEx_PinRange0_127);
}
session.Write(new byte[] { SetPinModeIO, (byte)pinNumber, (byte)mode });
}
/// <summary>
/// Enables or disables digital input pin reporting for the given port.
/// </summary>
/// <param name="portNumber">The number of the port</param>
/// <param name="enable"><c>true</c> if enabled, otherwise <c>false</c></param>
/// <remarks>
/// When enabled, the party system is expected to return digital I/O messages (0x90)
/// for the given port.
/// <para>
/// Note: as for Firmata version 2.3 digital I/O messages are only returned when
/// at least one digital input pin's state has changed from high to low or vice versa.
/// </para>
/// </remarks>
public static void SetDigitalReportMode(this ArduinoSession session, int portNumber, bool enable)
{
if (portNumber < 0 || portNumber > 15)
{
throw new ArgumentOutOfRangeException(nameof(portNumber), Messages.ArgumentEx_PortRange0_15);
}
session.Write(new[] { (byte)(ReportDigitalPort | portNumber), (byte)(enable ? 1 : 0) }, 0, 2);
}
/// <summary>
/// Enables or disables analog sampling reporting.
/// </summary>
/// <param name="channel">The channel attached to the analog pin</param>
/// <param name="enable"><c>True</c> if enabled, otherwise <c>false</c></param>
/// <remarks>
/// When enabled, the party system is expected to return analog I/O messages (0xE0)
/// for the given channel. The frequency at which these messages are returned can
/// be controlled by method <see cref="SetSamplingInterval"/>.
/// </remarks>
public static void SetAnalogReportMode(this ArduinoSession session, int channel, bool enable)
{
if (channel < 0 || channel > 15)
{
throw new ArgumentOutOfRangeException(nameof(channel), Messages.ArgumentEx_ChannelRange0_15);
}
session.Write(new[] { (byte)(ReportAnalogPin | channel), (byte)(enable ? 1 : 0) }, 0, 2);
}
/// <summary>
/// Sets an analog value on a PWM or Servo enabled analog output pin.
/// </summary>
/// <param name="pinNumber">The pin number.</param>
/// <param name="value">The value</param>
public static void SetDigitalPin(this ArduinoSession session, int pinNumber, long value)
{
if (pinNumber < 0 || pinNumber > 127)
{
throw new ArgumentOutOfRangeException(nameof(pinNumber), Messages.ArgumentEx_PinRange0_127);
}
if (value < 0)
{
throw new ArgumentOutOfRangeException(nameof(value), Messages.ArgumentEx_NoNegativeValue);
}
byte[] message;
if (pinNumber < 16 && value < 0x4000)
{
// Send value in a conventional Analog Message.
message = new[] {
(byte)(AnalogMessage | pinNumber),
(byte)(value & 0x7F),
(byte)((value >> 7) & 0x7F)
};
session.Write(message);
return;
}
// Send long value in an Extended Analog Message.
message = new byte[14];
message[0] = Utility.SysExStart;
message[1] = EXTENDED_ANALOG;
message[2] = (byte)pinNumber;
int index = 3;
do
{
message[index] = (byte)(value & 0x7F);
value >>= 7;
index++;
} while (value > 0 || index < 5);
message[index] = Utility.SysExEnd;
session.Write(message, 0, index + 1);
}
public static void SerialListen(this ArduinoSession session, SW_SERIAL sw)
{
var command = new[] {
Utility.SysExStart,
SERIAL_MESSAGE,
(byte)(SERIAL_LISTEN | (int)sw),//OR with port to switch to (0x79 = switch to SW_SERIAL1)
Utility.SysExEnd
};
session.Write(command);
}
public static void SerialClose(this ArduinoSession session, HW_SERIAL hw)
{
var command = new[] {
Utility.SysExStart,
SERIAL_MESSAGE,
(byte)(SERIAL_CLOSE | (int)hw),//SERIAL_CLOSE // OR with port (0x51 = SERIAL_CLOSE | HW_SERIAL1)
Utility.SysExEnd
};
session.Write(command);
}
/// <summary>
/// Commands the party system to stop sending I2C_REPLY messages.
/// </summary>
public static void StopI2CReading(this ArduinoSession session)
{
byte[] command = new byte[5];
command[0] = Utility.SysExStart;
command[1] = 0x76;
command[2] = 0x00;
command[3] = 0x18;
command[4] = Utility.SysExEnd;
session.Write(command, 0, command.Length);
}
public static void SendSysExCommand(this ArduinoSession session, byte command)
{
var message = new[]
{
Utility.SysExStart,
command,
Utility.SysExEnd
};
session.Write(message);
}
public static void SerialFlush(this ArduinoSession session, HW_SERIAL hw)
{
var command = new[] {
Utility.SysExStart,
SERIAL_MESSAGE,
(byte)(SERIAL_FLUSH | (int)hw),//SERIAL_FLUSH OR with port (0x61 = SERIAL_FLUSH | HW_SERIAL1)
Utility.SysExEnd
};
session.Write(command);
}
private static void Request_EEPROM_Length(this ArduinoSession session)
{
var command = new[]
{
Utility.SysExStart,
EEPROM_DATA,
EEPROM_LENGTH,
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
/// <summary>
/// Sets the digital output pins of a given port LOW or HIGH.
/// </summary>
/// <param name="portNumber">The 0-based port number</param>
/// <param name="pins">Binary value for the port's pins (0 to 7)</param>
/// <remarks>
/// A binary 1 sets the digital output pin HIGH (+5 or +3.3 volts).
/// A binary 0 sets the digital output pin LOW.
/// <para>
/// The Arduino operates with 8-bit ports, so only bits 0 to 7 of the pins parameter are mapped.
/// Higher bits are ignored.
/// </para>
/// <example>
/// For port 0 bit 2 maps to the Arduino Uno's pin 2.
/// For port 1 bit 2 maps to pin 10.
///
/// The complete mapping of port 1 of the Arduino Uno looks like this:
/// <list type="">
/// <item>bit 0: pin 8</item>
/// <item>bit 1: pin 9</item>
/// <item>bit 2: pin 10</item>
/// <item>bit 3: pin 11</item>
/// <item>bit 4: pin 12</item>
/// <item>bit 5: pin 13</item>
/// <item>bit 6: not mapped</item>
/// <item>bit 7: not mapped</item>
/// </list>
/// </example>
/// </remarks>
public static void SetDigitalPort(this ArduinoSession session, int portNumber, int pins)
{
if (portNumber < 0 || portNumber > 15)
{
throw new ArgumentOutOfRangeException(nameof(portNumber), Messages.ArgumentEx_PortRange0_15);
}
if (pins < 0 || pins > 0xFF)
{
throw new ArgumentOutOfRangeException(nameof(pins), Messages.ArgumentEx_ValueRange0_255);
}
session.Write(new[] { (byte)(DigitalMessage | portNumber), (byte)(pins & 0x7F), (byte)((pins >> 7) & 0x03) }, 0, 3);
}
public static void SerialWrite(this ArduinoSession session, HW_SERIAL hw, byte[] value)
{
var b = value.To14BitIso();
var command = new byte[b.Length + 4];
command[0] = Utility.SysExStart;
command[1] = SERIAL_MESSAGE;
command[2] = (byte)(SERIAL_WRITE | (int)hw);//SERIAL_WRITE //OR with port (0x21 = SERIAL_WRITE | HW_SERIAL1)
b.CopyTo(command, 3);
command[command.Length - 1] = Utility.SysExEnd;
session.Write(command);
}
/// <summary>
/// Requests the party system to send the state of a given pin.
/// </summary>
/// <param name="pinNumber">The pin number</param>
/// <remarks>
/// The party system is expected to return a single SYSEX PINSTATE_RESPONSE message.
/// This message triggers the <see cref="MessageReceived"/> event. The pin state
/// is passed in the <see cref="FirmataMessageEventArgs"/> in a <see cref="PinState"/> object.
/// </remarks>
internal static void RequestPinState(this ArduinoSession session, int pinNumber)
{
if (pinNumber < 0 || pinNumber > 127)
{
throw new ArgumentOutOfRangeException(nameof(pinNumber), Messages.ArgumentEx_PinRange0_127);
}
var command = new[]
{
Utility.SysExStart,
PIN_STATE_QUERY,
(byte)pinNumber,
Utility.SysExEnd
};
session.Write(command);
}
/// <summary>
/// Sends a SysEx message.
/// </summary>
/// <param name="message"></param>
public static void SendSysEx(this ArduinoSession session, byte command, byte[] payload)
{
if (payload == null || payload.Length == 0)
{
session.SendSysExCommand(command);
return;
}
var message = new byte[3 + payload.Length];
message[0] = Utility.SysExStart;
message[1] = command;
Array.Copy(payload, 0, message, 2, payload.Length);
message[message.Length - 1] = Utility.SysExEnd;
session.Write(message);
}
/// <summary>
/// 立即停止组中的所有步进器。
/// </summary>
/// <param name="session"></param>
/// <param name="groupNumber"></param>
/// <param name="stepsNum"></param>
public static void MultiStepperStop(this ArduinoSession session, int groupNumber)
{
if (groupNumber < 0 || groupNumber > 4)
{
throw new ArgumentOutOfRangeException(nameof(groupNumber), "Group number must be between 0 and 4.");
}
var command = new[]
{
Utility.SysExStart,
ACCELSTEPPER_DATA, //ACCELSTEPPER_DATA(0x62)
MULTISTEPPER_STOP, //multi stop command(0x23) //MULTISTEPPER_STOP
(byte)groupNumber, //group number(0-4)
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
/// <summary>
/// Sets the frequency at which analog samples must be reported.
/// </summary>
/// <param name="milliseconds">The sampling interval in milliseconds</param>
public static void SetSamplingInterval(this ArduinoSession session, int milliseconds)
{
if (milliseconds < 0 || milliseconds > 0x3FFF)
{
throw new ArgumentOutOfRangeException(nameof(milliseconds), Messages.ArgumentEx_SamplingInterval);
}
var command = new[]
{
Utility.SysExStart,
SAMPLING_INTERVAL,
(byte)(milliseconds & 0x7F),
(byte)((milliseconds >> 7) & 0x7F),
Utility.SysExEnd
};
session.Write(command, 0, 5);
}
/// <summary>
/// 步进停止
/// 停止步进电机。在结果STEPPER_MOVE_COMPLETE被发送到客户端与电机的位置时停止完成注：如果加速设置，停止将不会立竿见影。
/// </summary>
/// <param name="session"></param>
/// <param name="deviceNumber"></param>
public static void StepperStop(this ArduinoSession session, int deviceNumber)
{
if (deviceNumber < 0 || deviceNumber > 9)
{
throw new ArgumentOutOfRangeException(nameof(deviceNumber), "Device number must be between 0 and 9.");
}
var command = new[]
{
Utility.SysExStart,
ACCELSTEPPER_DATA, //ACCELSTEPPER_DATA(0x62)
ACCELSTEPPER_STOP, //stop command(0x05) //ACCELSTEPPER_STOP
(byte)deviceNumber, //device number(0-9) (Supports up to 10 motors)
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
///// <summary>
///// 当限制销（数字）设置为限制状态时，将无法沿该方向移动
///// </summary>
///// <param name="session"></param>
///// <param name="deviceNumber"></param>
///// <param name="speed"></param>
//public static void 步进极限_尚未实现(this ArduinoSession session, int deviceNumber, float speed)
//{
// throw new NotSupportedException();
// // if (deviceNumber < 0 || deviceNumber > 9)
// // throw new ArgumentOutOfRangeException(nameof(deviceNumber), "Device number must be between 0 and 9.");
// // var bytes = encodeCustomFloat(speed);
// // var command = new[]
// // {
// // Utility.SysExStart,
// // ACCELSTEPPER_DATA,//ACCELSTEPPER_DATA(0x62)
// // ACCELSTEPPER_LIMIT,//stop limit command(0x07)
// // (byte)deviceNumber,//device number(0-9) (Supports up to 10 motors)
// //// 4 lower limit pin number (0-127)
// //// 5 lower limit state (0x00 | 0x01)
// //// 6 upper limit pin number (0-127)
// //// 7 upper limit state (0x00 | 0x01)
// // Utility.SysExEnd
// // };
// // session.Write(command, 0, command.Length);
//}
public static void RequestReportPosition(this ArduinoSession session, int deviceNumber)
{
if (deviceNumber < 0 || deviceNumber > 9)
{
throw new ArgumentOutOfRangeException(nameof(deviceNumber), "Device number must be between 0 and 9.");
}
var command = new[]
{
Utility.SysExStart,
ACCELSTEPPER_DATA, //ACCELSTEPPER_DATA(0x62)
ACCELSTEPPER_REPORT_POSITION, //report position command(0x06) //ACCELSTEPPER_REPORT_POSITION
(byte)deviceNumber, //device number(0-9) (Supports up to 10 motors)
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
/// <summary>
/// Sets the frequency at which data is read in the continuous mode.
/// </summary>
/// <param name="microseconds">The interval, expressed in microseconds</param>
public static void SetI2CReadInterval(this ArduinoSession session, int microseconds)
{
if (microseconds < 0 || microseconds > 0x3FFF)
{
throw new ArgumentOutOfRangeException(nameof(microseconds), Messages.ArgumentEx_I2cInterval);
}
var command = new[]
{
Utility.SysExStart,
(byte)0x78,
(byte)(microseconds & 0x7F),
(byte)((microseconds >> 7) & 0x7F),
Utility.SysExEnd
};
session.Write(command, 0, 5);
}
/// <summary>
/// 步进使能
/// 对于配置了使能引脚的步进电机控制器，使能命令管理控制器是否将电压传递给电机。步进电机闲置时，仍会消耗电压，因此，如果步进电机不需要保持其位置，请启用以节省功率。
/// </summary>
/// <param name="session"></param>
/// <param name="deviceNumber"></param>
public static void StepperEnable(this ArduinoSession session, int deviceNumber, bool enable)
{
if (deviceNumber < 0 || deviceNumber > 9)
{
throw new ArgumentOutOfRangeException(nameof(deviceNumber), "Device number must be between 0 and 9.");
}
var command = new[]
{
Utility.SysExStart,
ACCELSTEPPER_DATA, //ACCELSTEPPER_DATA(0x62)
ACCELSTEPPER_ENABLE, //enable command(0x04) //ACCELSTEPPER_ENABLE
(byte)deviceNumber, //device number(0-9) (Supports up to 10 motors)
(byte)(enable ? 1 : 0), //device state(HIGH : enabled | LOW : disabled)
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
private static void Request_EEPROM_Read(this ArduinoSession session, int index)
{
var bytes = index.encode32BitSignedInteger();
var command = new[]
{
Utility.SysExStart,
EEPROM_DATA,
EEPROM_READ,
bytes[0], //4 num steps, bits 0-6
bytes[1], //5 num steps, bits 7-13
bytes[2], //6 num steps, bits 14-20
bytes[3], //7 num steps, bits 21-27
bytes[4], //8 num steps, bits 28-32
Utility.SysExEnd
};
session.Write(command, 0, command.Length);
}
