public async Task SendStepperStep(byte deviceNumber, byte direction, uint steps, short speed, short acceleration, StepperComplete completion, StepperProgress progress)
{
byte[] commandBuffer =
{
(byte)SysEx.Start,
(byte)SysEx.StepperCommand,
(byte)StepperCommand.Step,
deviceNumber,
direction,
(byte)(steps & 0x7F),
(byte)((steps >> 7) & 0x7F),
(byte)((steps >> 14) & 0x7F),
(byte)(speed & 0x7F),
(byte)((speed >> 7) & 0x7F),
(byte)(acceleration & 0x7F),
(byte)((acceleration >> 7) & 0x7F),
(byte)(acceleration & 0x7F), // For our purposes, acceleration and deceleration are equal.
(byte)((acceleration >> 7) & 0x7F),
(byte)SysEx.End
};
stepperComplete[deviceNumber] = completion;
stepperProgress[deviceNumber] = progress;
await WriteData(commandBuffer);
}
public async Task SendStepperStep(byte deviceNumber, byte direction, uint steps, short speed, short acceleration, StepperComplete completion, StepperProgress progress)
{
byte[] commandBuffer =
{
(byte)SysEx.Start,
(byte)SysEx.StepperCommand,
(byte)StepperCommand.Step,
deviceNumber,
direction,
(byte)(steps & 0x7F),
(byte)((steps >> 7) & 0x7F),
(byte)((steps >> 14) & 0x7F),
(byte)(speed & 0x7F),
(byte)((speed >> 7) & 0x7F),
(byte)(acceleration & 0x7F),
(byte)((acceleration >> 7) & 0x7F),
(byte)(acceleration & 0x7F), // For our purposes, acceleration and deceleration are equal.
(byte)((acceleration >> 7) & 0x7F),
(byte)SysEx.End
};
stepperComplete[deviceNumber] = completion;
stepperProgress[deviceNumber] = progress;
await WriteData(commandBuffer);
}