/// <summary>
/// Moves the specied motor the specifed way
/// </summary>
/// <param name="motor">The motor to move</param>
/// <param name="action">The way to move the motor</param>
/// <param name="speed_sp">The speed to move the motor</param>
/// <param name="stop_action">The way to stop the motor</param>
/// <param name="position_sp">The amount to move the motor</param>
public static void MoveMotor(TachoMotor motor, MotorMoveActions action, int speed_sp = 500, string stop_action = "coast", int position_sp = 360)
{
switch (action)
{
case MotorMoveActions.run_forever:
motor.run_forever(speed_sp);
break;
case MotorMoveActions.stop:
motor.stop(stop_action);
break;
default:
throw new NotSupportedException($"Unsupported Action: {action.ToString()}");
}
}
/// <summary>
/// Initializes the class by connecting to the device via sftp and populating MotorList
/// </summary>
/// <returns>True</returns>
public static bool Initialize()
{
Program.sftp = new SftpClient(Program.connection.ConnectionInfo);
Program.sftp.Connect();
List <SftpFile> motorDirs = (List <SftpFile>)Program.sftp.ListDirectory("/sys/class/tacho-motor");
motorDirs.RemoveRange(0, count: 2);
foreach (SftpFile motorDir in motorDirs)
{
TachoMotor motor = new TachoMotor(motorDir.FullName);
MotorList[motor.Address] = motor;
}
return(true);
}
/// <summary>
/// Moves the specied motor the specifed way
/// </summary>
/// <param name="address">The address of the motor to move</param>
/// <param name="action">The way to move the motor</param>
/// <param name="speed_sp">The speed to move the motor</param>
/// <param name="stop_action">The way to stop the motor</param>
/// <param name="position_sp">The amount to move the motor</param>
public static void MoveMotor(string address, string action, int speed_sp = 500, string stop_action = "coast", int position_sp = 360)
{
TachoMotor motor = MotorList[address];
switch (action)
{
case "run_forever":
motor.run_forever(speed_sp);
break;
case "stop":
motor.stop(stop_action);
break;
default:
throw new NotSupportedException($"Unsupported Action: {action}");
}
}
