/// <summary>
/// Actually writes to the motor.
/// Used when running and stopping the motor.
/// </summary>
public void UpdateMotor()
{
ushort ID = 8;
ushort StartAddress = 4;
byte unit = 0;
if (MBmaster == null)
{
Logger.LogError("Attempting to write to null motor. Write failed.");
return;
}
MBmaster.ReadWriteMultipleRegister(ID, unit, StartAddress, 12, StartAddress, ManualMotor.InputData.GetValues(), ref result);
ManualMotor.OutputData.SetValues(result);
}
// ------------------------------------------------------------------------
/// <summary>Sychnronous read register data.</summary>
/// <param name="module_nr">The position of the module.</param>
/// <param name="register">Configuration register to read.</param>
/// <returns>The method always returns 2 integer values with low and high word of the register.</returns>
public int[] ReadRegister(byte module_nr, int register)
{
byte[] values = { };
int[] swap = { 0, 0 };
int[] reg = { module_nr, register };
MBmaster.ReadWriteMultipleRegister(ID_register, 0, 0x1286, 2, 0x1284, WordArray2WordByte(reg), ref values);
if ((values == null) && (OnBCexception != null))
{
OnBCexception(excDataEmptyAnswer);
}
else if (values.Length == 4)
{
swap[0] = Byte2Word(values[2], values[3]);
swap[1] = Byte2Word(values[0], values[1]);
return(swap);
}
return(null);
}
