/// <summary>
/// Constructor of class DataStandardModbus : Initalizes values and connects
/// the eventhandler from Connection to the interal update method
/// </summary>
/// <param name="Connection">Target connection</param>
public ModbusDataLimitSwitch(INetConnection Connection)
{
_connection = Connection;
_connection.UpdateData += UpdateDataLimitSwitch;
LimitStatus1 = false;
LimitStatus2 = false;
LimitStatus3 = false;
LimitStatus4 = false;
_limitSwitch1Source = LimitSwitchSource.Gross;
_limitSwitch1Mode = LimitSwitchMode.AboveLevel;
_limitSwitch1LevelAndLowerBandValue = 0;
_limitSwitch1HysteresisAndBandHeight = 0;
_limitSwitch2Source = LimitSwitchSource.Gross;
_limitSwitch2Mode = LimitSwitchMode.AboveLevel;
_limitSwitch2LevelAndLowerBandValue = 0;
_limitSwitch2HysteresisAndBandHeight = 0;
_limitSwitch3Source = LimitSwitchSource.Gross;
_limitSwitch3Mode = LimitSwitchMode.AboveLevel;
_limitSwitch3LevelAndLowerBandValue = 0;
_limitSwitch3HysteresisAndBandHeight = 0;
_limitSwitch4Source = LimitSwitchSource.Gross;
_limitSwitch4Mode = LimitSwitchMode.AboveLevel;
_limitSwitch4LevelAndLowerBandValue = 0;
_limitSwitch4HysteresisAndBandHeight = 0;
}
/// <summary>
/// Updates and converts the values from buffer
/// </summary>
/// <param name="sender">Connection class</param>
/// <param name="e">EventArgs, Event argument</param>
public void UpdateDataLimitSwitch(object sender, EventArgs e)
{
try
{
LimitStatus1 = MeasurementUtils.StringToBool(_connection.ReadFromBuffer(ModbusCommands.LVSLimitValueStatus));
LimitStatus2 = MeasurementUtils.StringToBool(_connection.ReadFromBuffer(ModbusCommands.LVSLimitValueStatus));
LimitStatus3 = MeasurementUtils.StringToBool(_connection.ReadFromBuffer(ModbusCommands.LVSLimitValueStatus));
LimitStatus4 = MeasurementUtils.StringToBool(_connection.ReadFromBuffer(ModbusCommands.LVSLimitValueStatus));
ApplicationMode _applicationMode = (ApplicationMode)Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.IMDApplicationMode));
if (_applicationMode == ApplicationMode.Standard)
{
_limitSwitch1Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchMode));
_limitSwitch1Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchSource));
_limitSwitch1LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchLevel));
_limitSwitch1HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchHysteresis));
_limitSwitch2Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchMode));
_limitSwitch2Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchSource));
_limitSwitch2LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchLevel));
_limitSwitch2HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchHysteresis));
_limitSwitch3Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchMode));
_limitSwitch3Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchSource));
_limitSwitch3LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchLevel));
_limitSwitch3HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchHysteresis));
_limitSwitch4Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchMode));
_limitSwitch4Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchSource));
_limitSwitch4LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchLevel));
_limitSwitch4HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(ModbusCommands.LIV1LimitSwitchHysteresis));
}
}
catch (KeyNotFoundException)
{
Console.WriteLine("KeyNotFoundException in class DataStandardModbus, update method");
}
}
/// <summary>
/// Constructor of class DataStandardJet : Initalizes values and connects
/// the eventhandler from Connection to the interal update method
/// </summary>
public DataStandardJet(INetConnection Connection)
{
_connection = Connection;
_connection.UpdateData += UpdateStandardData;
WeightMemory = new WeightMemory();
Input1 = false;
Input2 = false;
Input3 = false;
Input4 = false;
_output1 = false;
_output2 = false;
_output3 = false;
_output4 = false;
LimitStatus1 = false;
LimitStatus2 = false;
LimitStatus3 = false;
LimitStatus4 = false;
_limitSwitch1Source = 0;
_limitSwitch1Mode = 0;
_limitSwitch1LevelAndLowerBandValue = 0;
_limitSwitch1HysteresisAndBandHeight = 0;
_limitSwitch2Source = 0;
_limitSwitch2Mode = 0;
_limitSwitch2LevelAndLowerBandValue = 0;
_limitSwitch2HysteresisAndBandHeight = 0;
_limitSwitch3Source = 0;
_limitSwitch3Mode = 0;
_limitSwitch3LevelAndLowerBandValue = 0;
_limitSwitch3HysteresisAndBandHeight = 0;
_limitSwitch4Source = 0;
_limitSwitch4Mode = 0;
_limitSwitch4LevelAndLowerBandValue = 0;
_limitSwitch4HysteresisAndBandHeight = 0;
}
/// <summary>
/// Convert limt switch source from string to enum
/// </summary>
/// <param name="mode">Limit switch source from wtx device</param>
/// <returns></returns>
private LimitSwitchSource StringToLimitSwitchSource(string mode)
{
LimitSwitchSource result = LimitSwitchSource.Gross;
switch (mode)
{
case "0": result = LimitSwitchSource.Gross; break;
case "1": result = LimitSwitchSource.Net; break;
}
return(result);
}
/// <summary>
/// Convert limt switch source from enum to int
/// </summary>
/// <param name="source">Limit switch source</param>
/// <returns></returns>
private int LimitSwitchSouceToInt(LimitSwitchSource source)
{
int result = 0;
switch (source)
{
case LimitSwitchSource.Gross: result = 0; break;
case LimitSwitchSource.Net: result = 1; break;
}
return(result);
}
public TalonSRXConfiguration()
{
primaryPID = new TalonSRXPIDSetConfiguration();
auxilaryPID = new TalonSRXPIDSetConfiguration();
forwardLimitSwitchSource = LimitSwitchSource.FeedbackConnector;
reverseLimitSwitchSource = LimitSwitchSource.FeedbackConnector;
sum_0 = FeedbackDevice.QuadEncoder;
sum_1 = FeedbackDevice.QuadEncoder;
diff_0 = FeedbackDevice.QuadEncoder;
diff_1 = FeedbackDevice.QuadEncoder;
peakCurrentLimit = 1;
peakCurrentDuration = 1;
continuousCurrentLimit = 1;
}
public static string ToString(LimitSwitchSource value)
{
switch (value)
{
case LimitSwitchSource.FeedbackConnector: return("LimitSwitchSource.FeedbackConnector");
case LimitSwitchSource.RemoteTalonSRX: return("LimitSwitchSource.RemoteTalonSRX");
case LimitSwitchSource.RemoteCANifier: return("LimitSwitchSource.RemoteCANifier");
case LimitSwitchSource.Deactivated: return("LimitSwitchSource.Deactivated");
default: return("InvalidValue");
}
}
/// <summary>
/// Updates & converts the values from buffer (Dictionary<string,string>)
/// </summary>
/// <param name="sender">Connection class</param>
/// <param name="e">EventArgs, Event argument</param>
public void UpdateStandardData(object sender, EventArgs e)
{
try
{
Input1 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.IS1DigitalInput1));
Input2 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.IS2DigitalInput2));
Input3 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.IS3DigitalInput3));
Input4 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.IS4DigitalInput4));
_output1 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.OS1DigitalOutput1));
_output2 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.OS2DigitalOutput2));
_output3 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.OS3DigitalOutput3));
_output4 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.OS4DigitalOutput4));
LimitStatus1 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.LVSLimitValue1Status));
LimitStatus2 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.LVSLimitValue2Status));
LimitStatus3 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.LVSLimitValue3Status));
LimitStatus4 = StringToBool(_connection.ReadFromBuffer(JetBusCommands.LVSLimitValue4Status));
WeightMemory = ExtractWeightMemory();
ApplicationMode _applicationMode = (ApplicationMode)Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.IMDApplicationMode));
if (_applicationMode == ApplicationMode.Standard)
{
_limitSwitch1Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchMode));
_limitSwitch1Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchSource));
_limitSwitch1LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchLevel));
_limitSwitch1HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchHysteresis));
_limitSwitch2Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchMode));
_limitSwitch2Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchSource));
_limitSwitch2LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchLevel));
_limitSwitch2HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchHysteresis));
_limitSwitch3Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchMode));
_limitSwitch3Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchSource));
_limitSwitch3LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchLevel));
_limitSwitch3HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchHysteresis));
_limitSwitch4Mode = StringToLimitSwitchMode(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchMode));
_limitSwitch4Source = StringToLimitSwitchSource(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchSource));
_limitSwitch4LevelAndLowerBandValue = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchLevel));
_limitSwitch4HysteresisAndBandHeight = Convert.ToInt32(_connection.ReadFromBuffer(JetBusCommands.LIV1LimitSwitchHysteresis));
}
}
catch (KeyNotFoundException)
{
Console.WriteLine("KeyNotFoundException in class DataStandardJet, update method");
}
}
/**
* Configures a limit switch for a local/remote source.
*
* For example, a CAN motor controller may need to monitor the Limit-R pin
* of another Talon, CANifier, or local Gadgeteer feedback connector.
*
* If the sensor is remote, a device ID of zero is assumed. If that's not
* desired, use the four parameter version of this function.
*
* @param type
* Limit switch source. @see #LimitSwitchSource User can choose
* between the feedback connector, remote Talon SRX, CANifier, or
* deactivate the feature.
* @param normalOpenOrClose
* Setting for normally open, normally closed, or disabled. This
* setting matches the web-based configuration drop down.
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for config
* success and report an error if it times out. If zero, no
* blocking or checking is performed.
* @return Error Code generated by function. 0 indicates no error.
*/
public ErrorCode ConfigReverseLimitSwitchSource(LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose,
int timeoutMs = 0)
{
return(_ll.ConfigReverseLimitSwitchSource(type, normalOpenOrClose, 0x00000000, timeoutMs));
}
