private static ActionOnDevice laterSetMotorLimit(SmcMotorLimit limit)
{
String previousArg = argEnumerator.Current;
UInt16 value = nextArgumentAsU16();
bool brakeDuration = (limit & (SmcMotorLimit)3) == SmcMotorLimit.BrakeDuration;
if (!brakeDuration && value > 3200)
{
throw new ArgumentOutOfRangeException("Maximum value allowed for " + previousArg + " is 3200.");
}
bool directionSpecified = (limit & (SmcMotorLimit.ForwardOnly | SmcMotorLimit.ReverseOnly)) != 0;
return(delegate(Smc device)
{
// This is the line that actually sets the motor limit.
SmcSetMotorLimitProblem problem = device.setMotorLimit(limit, value);
bool forwardConflict = 0 != (problem & SmcSetMotorLimitProblem.ForwardConflict);
bool reverseConflict = 0 != (problem & SmcSetMotorLimitProblem.ReverseConflict);
if (directionSpecified)
{
// The user specified a direction, so at most one of the tooDangerous booleans should be set.
if (forwardConflict || reverseConflict)
{
Console.Error.WriteLine("warning: specified value for " + previousArg + " conflicted with the hard limit, so the hard limit was used instead.");
}
}
else
{
// The user specified no direction, so any of the tooDangerous booleans could be set.
if (reverseConflict)
{
Console.Error.WriteLine("warning: specified value for " + previousArg + " conflicted with the hard limit for reverse, so the hard limit for reverse was used instead.");
}
if (forwardConflict)
{
Console.Error.WriteLine("warning: specified value for " + previousArg + " conflicted with the hard limit for forward, so the hard limit for forward was used instead.");
}
}
});
}
/// <summary>
/// Temporarily sets a motor limit. This change will last until the
/// next time the device resets, or until another setMotorLimit command
/// is issued which changes the limit. This function will not violate
/// the hard motor limits that are stored in flash (with setSmcSettings).
/// </summary>
public SmcSetMotorLimitProblem setMotorLimit(SmcMotorLimit limit, UInt16 value)
{
Byte[] buffer = new Byte[1] {
0
};
// This should be the same as the code in actionSetMotorLimit in SmcCmd.
if ((byte)limit >= 12)
{
throw new ArgumentException("Invalid limit ID.", "limit");
}
if ((limit & (SmcMotorLimit)3) == SmcMotorLimit.BrakeDuration)
{
// Divide by 4 because the user will specify it in ms but the device expects
// it in units of 4ms for this command. Round up to err on the side of making
// it safer (that's the +3).
value = (UInt16)((value + 3) / 4);
}
else if (value > 3200)
{
throw new ArgumentOutOfRangeException("value", "Maximum value allowed for MaxAcceleration, MaxDeceleration, or MaxSpeed is 3200.");
}
try
{
UInt32 lengthTransferred = controlTransfer(0xC0, (byte)SmcRequest.SetMotorLimit, value, (byte)limit, buffer);
if (lengthTransferred != 1)
{
throw new Exception("Expected to receive 1 byte but received " + lengthTransferred + " bytes.");
}
return((SmcSetMotorLimitProblem)buffer[0]);
}
catch (Exception exception)
{
throw new Exception("There was an error clearing the safe start violation.", exception);
}
}
private static ActionOnDevice laterSetMotorLimit(SmcMotorLimit limit)
{
String previousArg = argEnumerator.Current;
UInt16 value = nextArgumentAsU16();
bool brakeDuration = (limit & (SmcMotorLimit)3) == SmcMotorLimit.BrakeDuration;
if (!brakeDuration && value > 3200)
{
throw new ArgumentOutOfRangeException("Maximum value allowed for " + previousArg + " is 3200.");
}
bool directionSpecified = (limit & (SmcMotorLimit.ForwardOnly | SmcMotorLimit.ReverseOnly)) != 0;
return delegate(Smc device)
{
// This is the line that actually sets the motor limit.
SmcSetMotorLimitProblem problem = device.setMotorLimit(limit, value);
bool forwardConflict = 0 != (problem & SmcSetMotorLimitProblem.ForwardConflict);
bool reverseConflict = 0 != (problem & SmcSetMotorLimitProblem.ReverseConflict);
if (directionSpecified)
{
// The user specified a direction, so at most one of the tooDangerous booleans should be set.
if (forwardConflict || reverseConflict)
{
Console.Error.WriteLine("warning: specified value for " + previousArg + " conflicted with the hard limit, so the hard limit was used instead.");
}
}
else
{
// The user specified no direction, so any of the tooDangerous booleans could be set.
if (reverseConflict)
{
Console.Error.WriteLine("warning: specified value for " + previousArg + " conflicted with the hard limit for reverse, so the hard limit for reverse was used instead.");
}
if (forwardConflict)
{
Console.Error.WriteLine("warning: specified value for " + previousArg + " conflicted with the hard limit for forward, so the hard limit for forward was used instead.");
}
}
};
}
/// <summary>
/// Temporarily sets a motor limit. This change will last until the
/// next time the device resets, or until another setMotorLimit command
/// is issued which changes the limit. This function will not violate
/// the hard motor limits that are stored in flash (with setSmcSettings).
/// </summary>
public SmcSetMotorLimitProblem setMotorLimit(SmcMotorLimit limit, UInt16 value)
{
Byte[] buffer = new Byte[1]{ 0 };
// This should be the same as the code in actionSetMotorLimit in SmcCmd.
if ((byte)limit >= 12)
{
throw new ArgumentException("Invalid limit ID.", "limit");
}
if ((limit & (SmcMotorLimit)3) == SmcMotorLimit.BrakeDuration)
{
// Divide by 4 because the user will specify it in ms but the device expects
// it in units of 4ms for this command. Round up to err on the side of making
// it safer (that's the +3).
value = (UInt16)((value + 3) / 4);
}
else if (value > 3200)
{
throw new ArgumentOutOfRangeException("value", "Maximum value allowed for MaxAcceleration, MaxDeceleration, or MaxSpeed is 3200.");
}
try
{
UInt32 lengthTransferred = controlTransfer(0xC0, (byte)SmcRequest.SetMotorLimit, value, (byte)limit, buffer);
if (lengthTransferred != 1)
{
throw new Exception("Expected to receive 1 byte but received " + lengthTransferred + " bytes.");
}
return (SmcSetMotorLimitProblem)buffer[0];
}
catch (Exception exception)
{
throw new Exception("There was an error clearing the safe start violation.", exception);
}
}
