/// <summary>
/// Writes to a rotational motor using it Velocity, Acceleration, Deceleration, Degrees per Count, and Degrees
/// Motor will spin the entered degree amount and stop.
/// Tries to accounts for the distance traveled when slowing down.
/// May need more precision for stopping.
/// </summary>
public void WriteMotor(int Velocity, int Acceleration, int Deceleration, double Counts, double Degrees)
{
this.Degrees = Degrees;
ManualMotor.InputData.SetpointVelocity.Set(Velocity);
ManualMotor.InputData.Acceleration.Set(Acceleration);
ManualMotor.InputData.Deceleration.Set(Deceleration);
if (Degrees < 0) //Counterclockwise Spin
{
ManualMotor.InputData.Control_I3.Negative = false;
ManualMotor.InputData.Control_I3.Positive = true;
}
else //Clockwise Spin
{
ManualMotor.InputData.Control_I3.Negative = true;
ManualMotor.InputData.Control_I3.Positive = false;
}
UpdateMotor();
RotationalScaler Scaler = new RotationalScaler(Counts, ManualMotor.OutputData.Position.Get());
ManualMotor.AddScaler(Scaler);
running = true;
timer.Interval = 100; //Timer uses ms
timer.Tick += new EventHandler(TimerTick);
timer.Start();
}