protected void Initialize()
{
try
{
_apiHandle = CanInterfaceDll.Init();
}
catch (DllNotFoundException)
{
_logger.LogError("Failed to initialize motors: NTCAN drivers not installed");
PeripheralState = PeripheralState.DriversNotInstalled;
return;
}
if (_apiHandle.Equals(IntPtr.Zero))
{
PeripheralState = PeripheralState.NotConnected;
_logger.LogInformation("No physical CAN interface found");
}
else
{
_logger.LogInformation("Starting motor calibration...");
PeripheralState = PeripheralState.Initializing;
CanInterfaceDll.StartCalibration(_apiHandle, _calibrationDone);
}
}
public void MoveBar(Bar bar, uint position, uint angle)
{
if (PeripheralState == PeripheralState.Ready)
{
CanInterfaceDll.MoveBar(_apiHandle, bar, (int)position, (int)(angle % 360));
}
}
public void RotateBar(Bar bar, uint angle)
{
CanInterfaceDll.MoveBar(_apiHandle, bar, -1, (int)angle);
}
public void ShiftBar(Bar bar, uint position)
{
CanInterfaceDll.MoveBar(_apiHandle, bar, (int)position, -1);
}