/// <summary>
/// execute a command on the motor controller
/// </summary>
/// <param name="motorcode">the motor on which perform</param>
public void executeCommandMotorController(string motorcode, int duration, int speed, bool clockwise)
{
if (executecommand == null)
{
executecommand = new SmartToyExecuteStatus();
}
if (executecommand.motorControlCommands != null)
{
List <MotorControllerSetter> temp = executecommand.motorControlCommands.ToList();
MotorControllerSetter t = new MotorControllerSetter();
t.code = motorcode;
t.duration = duration;
t.speed = speed;
t.direction = clockwise ? "cw" : "ccw";
temp.Add(t);
executecommand.motorControlCommands = temp.ToArray();
}
else
{
MotorControllerSetter t = new MotorControllerSetter();
t.code = motorcode;
t.duration = duration;
t.speed = speed;
t.direction = clockwise ? "cw" : "ccw";
executecommand.motorControlCommands = new MotorControllerSetter[1];
executecommand.motorControlCommands[0] = t;
}
}
/// <summary>
/// execute a command on the motor controller
/// </summary>
/// <param name="motorcode">the motor on which perform</param>
/// <param name="value">the value of the motor: for vibrational and contunous motor represent the duration of the motion, for step motor the number of steps for servo the angle to reach</param>
public void executeCommandMotorController(string motorcode, float value)
{
if (executecommand == null)
{
executecommand = new SmartToyExecuteStatus();
}
if (executecommand.motorControlCommands != null)
{
List <MotorControllerSetter> temp = executecommand.motorControlCommands.ToList();
MotorControllerSetter t = new MotorControllerSetter();
t.code = motorcode;
t.destination = value;
temp.Add(t);
executecommand.motorControlCommands = temp.ToArray();
}
else
{
MotorControllerSetter t = new MotorControllerSetter();
t.code = motorcode;
t.destination = value;
executecommand.motorControlCommands = new MotorControllerSetter[1];
executecommand.motorControlCommands[0] = t;
}
}
