public MotorViewModel(IMotorModel motorModel)
{
this.motorModel = motorModel;
//// initial values
StepSizes = MotorDefaults.StepSizes;
SelectedStepSize = StepSizes[0];
Directions = MotorDefaults.Directions;
SelectedDirection = Directions[0];
RegisterAddresses = MotorDefaults.RegisterAddresses;
SelectedRegisterAddress = RegisterAddresses[0];
registerWriteValue = "00000000";
AbsoluteMoveValue = 0;
RelativeMoveValue = 0;
//// Initial Update
InitialUpdate();
//SetConfigurationCommand = new RelayCommand(param => SetConfiguration());
HomeCommand = new RelayCommand(param => Home());
ResetCommand = new RelayCommand(param => Reset());
LimpCommand = new RelayCommand(param => Limp());
MoveAbsoluteCommand = new RelayCommand(param => MoveToAbsolutePosition());
MoveRelativeCommand = new RelayCommand(param => MoveToRelativePosition());
InitializeCommand = new RelayCommand(param => Initialize());
CycleRelativeCommand = new RelayCommand(param => Cycle());
StopCommand = new RelayCommand(param => Stop());
SetRegisterValueCommand = new RelayCommand(param => SetRegister());
ReadRegisterValueCommand = new RelayCommand(param => ReadRegister());
RefreshCommand = new RelayCommand(param => RefreshMotorStatus());
RefreshPositionCommand = new RelayCommand(param => RefreshPosition());
StartUpdateTask();
}
public EV3Module()
{
Get ["/ev3"] = parameter =>
{
EV3.Update();
return(Response.AsJson(EV3, HttpStatusCode.OK));
};
Get ["ev3/sensor"] = parameter =>
{
EV3.Sensors.Update();
return(Response.AsJson(EV3.Sensors, HttpStatusCode.OK));
};
Get ["ev3/sensor/{index}"] = parameter =>
{
ISensorModel s = EV3.Sensors[(string)parameter.index];
s.Update();
return(Response.AsJson(s, HttpStatusCode.OK));
};
Get ["ev3/sensor/{index}/nextmode"] = parameter =>
{
ISensorModel s = EV3.Sensors[(string)parameter.index];
s.NextMode();
return("Selected next mode on sensor " + s.Port);
};
Get ["ev3/sensor/{index}/previousmode"] = parameter =>
{
ISensorModel s = EV3.Sensors[(string)parameter.index];
s.PreviousMode();
return("Previous next mode on sensor " + s.Port);
};
Get ["ev3/motor"] = parameter =>
{
EV3.Motors.Update();
return(Response.AsJson(EV3.Motors, HttpStatusCode.OK));
};
Get ["ev3/motor/{index}"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
m.Update();
return(Response.AsJson(m, HttpStatusCode.OK));
};
Get ["ev3/motor/{index}/setpower/{power}"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
m.SetPower((sbyte)parameter.power);
return("Motor " + m.Port + " power set to " + (string)parameter.power);
};
Get ["ev3/motor/{index}/powerprofile/power={power}&rampup={rampup}&constant={constant}&rampdown={rampdown}&brake={brake}"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
bool brake = ((string)parameter.brake).ToBoolean();
m.SpeedProfile((sbyte)parameter.power, (uint)parameter.rampup, (uint)parameter.constant, (uint)parameter.rampdown, brake);
return("Motor " + m.Port + " power profile with power " + (string)parameter.power + " and " + ((uint)parameter.rampup + (uint)parameter.constant + (uint)parameter.rampdown) + " steps. Brake set to " + brake);
};
Get["ev3/motor/{index}/setspeed/{speed}"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
m.SetSpeed((sbyte)parameter.speed);
return("Motor " + m.Port + " speed set to " + (string)parameter.speed);
};
Get ["ev3/motor/{index}/speedprofile/speed={speed}&rampup={rampup}&constant={constant}&rampdown={rampdown}&brake={brake}"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
bool brake = ((string)parameter.brake).ToBoolean();
m.SpeedProfile((sbyte)parameter.speed, (uint)parameter.rampup, (uint)parameter.constant, (uint)parameter.rampdown, brake);
return("Motor " + m.Port + " power profile with speed " + (string)parameter.speed + " and " + ((uint)parameter.rampup + (uint)parameter.constant + (uint)parameter.rampdown) + " steps. Brake set to " + brake);
};
Get ["ev3/motor/{index}/break/"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
m.Break();
return("Motor " + m.Port + " was set to break");
};
Get ["ev3/motor/{index}/off/"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
m.Off();
return("Motor " + m.Port + " was set to off ");
};
Get ["ev3/motor/{index}/resettacho"] = parameter =>
{
IMotorModel m = EV3.Motors[(string)parameter.index];
m.ResetTacho();
return("Motor " + m.Port + " reset it's tachometer");
};
}
