public CylinderController(ConfigurationCylinder Config, IrixiEE0017 ControllerAttached) : base(Config)
{
this.Controller = ControllerAttached;
this.PedalInputPort = Config.PedalInput;
this.FiberClampOutputPort = Config.FiberClampOutput;
this.LensVacuumOutputPort = Config.LensVacuumOutput;
this.PLCVacuumOutputPort = Config.PLCVacuumOutput;
this.PODVacuumOutputPort = Config.PODVacuumOutput;
if (ControllerAttached != null)
{
// detect the input gpio of the pedal state
this.Controller.OnInputStateChanged += ((s, e) =>
{
if (e.Channel == this.PedalInputPort && e.State == InputState.Triggered)
{
DoPedalTriggerd();
}
});
// the hid report is received, flush the cylinders' state (Output)
this.Controller.OnHIDReportReceived += ((s, e) =>
{
this.FiberClampState = e.GetOutputState(this.FiberClampOutputPort);
this.LensVacuumState = e.GetOutputState(this.LensVacuumOutputPort);
this.PlcVacuumState = e.GetOutputState(this.PLCVacuumOutputPort);
this.PodVacuumState = e.GetOutputState(this.PODVacuumOutputPort);
});
}
}
public CylinderController(ConfigurationCylinder Config, IrixiM12 ControllerAttached) : base(Config)
{
this.Controller = ControllerAttached;
this.PedalInputPort = Config.PedalInput;
this.FiberClampOutputPort = Config.FiberClampOutput;
this.LensVacuumOutputPort = Config.LensVacuumOutput;
this.PLCVacuumOutputPort = Config.PLCVacuumOutput;
this.PODVacuumOutputPort = Config.PODVacuumOutput;
if (ControllerAttached != null)
{
ControllerAttached.OnDigitalInputUpdated += (s, e) =>
{
if (e.Status.Integrated[PedalInputPort] == DigitalIOStatus.ON)
{
DoPedalTriggerd();
}
};
}
}
