private static void writeSerialMode(StreamWriter sw, SmcSerialMode mode)
{
string str = "";
switch (mode)
{
case SmcSerialMode.Binary: str = "binary"; break;
case SmcSerialMode.Ascii: str = "ascii"; break;
}
sw.WriteLine("serial_mode: " + str);
}
internal SmcSettings(UInt16 productId, SmcSettingsStruct s)
{
this.productId = productId;
// [Add-new-settings-here]
this.neverSleep = (s.b1 & SmcBoolSettings1.NeverSleep) != 0;
this.uartResponseDelay = (s.b1 & SmcBoolSettings1.UartResponseDelay) != 0;
this.useFixedBaudRate = (s.b1 & SmcBoolSettings1.UseFixedBaudRate) != 0;
this.disableSafeStart = (s.b1 & SmcBoolSettings1.DisableSafeStart) != 0;
this.enableI2C = (s.b1 & SmcBoolSettings1.EnableI2C) != 0;
this.ignoreErrLineHigh = (s.b1 & SmcBoolSettings1.IgnoreErrLineHigh) != 0;
this.tempLimitGradual = (s.b1 & SmcBoolSettings1.TempLimitGradual) != 0;
this.ignorePotDisconnect = (s.b1 & SmcBoolSettings1.IgnorePotDisconnect) != 0;
this.motorInvert = (s.b1 & SmcBoolSettings1.MotorInvert) != 0;
this.coastWhenOff = (s.b1 & SmcBoolSettings1.CoastWhenOff) != 0;
this.crcForCommands = (s.b1 & SmcBoolSettings1.CrcForCommands) != 0;
this.crcForResponses = (s.b1 & SmcBoolSettings1.CrcForResponses) != 0;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.overTempCompleteShutoffThreshold = s.overTempCompleteShutoffThreshold;
this.overTempNormalOperationThreshold = s.overTempNormalOperationThreshold;
this.inputMode = s.inputMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.consecGoodPulses = s.consecGoodPulses;
this.vinScaleCalibration = s.vinScaleCalibration;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
this.currentLimit = s.currentLimit;
this.currentOffsetCalibration = s.currentOffsetCalibration;
this.currentScaleCalibration = s.currentScaleCalibration;
}
internal SmcSettings(SmcSettingsStruct s)
{
// [Add-new-settings-here]
this.neverSuspend = s.neverSuspend;
this.uartResponseDelay = s.uartResponseDelay;
this.useFixedBaudRate = s.useFixedBaudRate;
this.disableSafeStart = s.disableSafeStart;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.crcMode = s.crcMode;
this.overTempMin = s.overTempMin;
this.overTempMax = s.overTempMax;
this.inputMode = s.inputMode;
this.pwmMode = s.pwmMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.ignorePotDisconnect = s.ignorePotDisconnect;
this.tempLimitGradual = s.tempLimitGradual;
this.consecGoodPulses = s.consecGoodPulses;
this.motorInvert = s.motorInvert;
this.speedZeroBrakeAmount = s.speedZeroBrakeAmount;
this.ignoreErrLineHigh = s.ignoreErrLineHigh;
this.vinMultiplierOffset = s.vinMultiplierOffset;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
}
internal SmcSettings(SmcSettingsStruct s)
{
// [Add-new-settings-here]
this.neverSuspend = s.neverSuspend;
this.uartResponseDelay = s.uartResponseDelay;
this.useFixedBaudRate = s.useFixedBaudRate;
this.disableSafeStart = s.disableSafeStart;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.crcMode = s.crcMode;
this.overTempMin = s.overTempMin;
this.overTempMax = s.overTempMax;
this.inputMode = s.inputMode;
this.pwmMode = s.pwmMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.ignorePotDisconnect = s.ignorePotDisconnect;
this.tempLimitGradual = s.tempLimitGradual;
this.consecGoodPulses = s.consecGoodPulses;
this.motorInvert = s.motorInvert;
this.speedZeroBrakeAmount = s.speedZeroBrakeAmount;
this.ignoreErrLineHigh = s.ignoreErrLineHigh;
this.vinMultiplierOffset = s.vinMultiplierOffset;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
}
