/// <summary>
/// Liest eine 16 Bit Zahl vom LM629 (Daten)
/// </summary>
/// <returns></returns>
private int ReadShort()
{
WaitReady();
int val = IOPortEx.Read(_ioAddress + 1);
val = (val << 8) | IOPortEx.Read(_ioAddress + 1);
return(val);
}
/// <summary>
/// Setzt den Motorencontroller zurück
/// </summary>
public override void Reset()
{
lock (syncObj)
{
Thread.Sleep(20);
IOPortEx.Write(_ioAddress, RESET);
Thread.Sleep(20);
IOPortEx.Write(_ioAddress, DEFINE_HOME); // Define Home
Thread.Sleep(50);
SetPID(100, 20, 1000, 1000, 1);
// SetPID(1500, 200, 8000, 1000, 1);
WriteCmd(DEFINE_HOME); // Reset Tick-Counter
}
}
/// <summary>
/// Sendet eine 16 Bit Zahl als Daten an den LM629
/// </summary>
/// <param name="val"></param>
private void WriteShort(int val)
{
WaitReady();
IOPortEx.Write(_ioAddress + 1, (val >> 8) & 0xFF);
IOPortEx.Write(_ioAddress + 1, val & 0xFF);
}
/// <summary>
/// Sendet einen Befehl an den LM629
/// </summary>
/// <param name="cmd"></param>
private void WriteCmd(byte cmd)
{
WaitReady();
IOPortEx.Write(_ioAddress, cmd);
}
