/// <summary>
/// Start the motors for Degrees and try to keep individual speeds using Speed(X) while using a maximum power of MaxPower. After Degrees is reached stop the outputs using the EndState.
///
/// TachoMotor.StartSpeedForDegreesAsync support moving the motor by degrees. It operates relative of its current position.
/// AbsoluteMotor.GotoAbsolutePositionAsync allows moving the motor to an absolute position. It operates relative to a changeable zero position.
/// The Position(Observable) (POS) is reflecting the position relative to a changeable zero position (firmware in-memory encoded)
/// The AbsolutePosition(Observable) (APOS) is reflecting the position relative to marked zero position (physically encoded).
/// </summary>
/// <param name="degrees">The degrees each motor should run. However, the combined degrees (2 * degrees) are split propertional among the speeds.</param>
/// <param name="speedOnMotor1"></param>
/// <param name="speedOnMotor2"></param>
/// <param name="maxPower">Maximum Power level used.</param>
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
/// <returns></returns>
public async Task <PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
{
AssertValidDegrees(degrees, nameof(degrees));
AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));
AssertValidSpeed(speedOnMotor2, nameof(speedOnMotor2));
AssertValidMaxPower(maxPower, nameof(maxPower));
AssertIsConnected();
AssertIsVirtualPort();
var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForDegrees2Message(
_portId,
PortOutputCommandStartupInformation.ExecuteImmediately, PortOutputCommandCompletionInformation.CommandFeedback,
degrees,
speedOnMotor1, speedOnMotor2,
maxPower,
endState,
profile)
{
HubId = _hubId,
});
return(response);
}
/// <summary>
/// Start the motors with individual speeds calculated from the common given Speed using a powerlevel limited to the MaxPower value. And the GOTO the Absolute positions: AbsPos1 and AbsPos2.
///
/// TachoMotor.StartSpeedForDegreesAsync support moving the motor by degrees. It operates relative of its current position.
/// AbsoluteMotor.GotoAbsolutePositionAsync allows moving the motor to an absolute position. It operates relative to a changeable zero position.
/// The Position(Observable) (POS) is reflecting the position relative to a changeable zero position (firmware in-memory encoded)
/// The AbsolutePosition(Observable) (APOS) is reflecting the position relative to marked zero position (physically encoded).
/// </summary>
/// <param name="absolutePosition1">Absolute Position of motor 1 (0 is the position at the start of the motor)</param>
/// <param name="absolutePosition2">Absolute Position of motor 2 (0 is the position at the start of the motor)</param>
/// <param name="speed">The speed used to move to the absolute position.</param>
/// <param name="maxPower">Maximum Power level used.</param>
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
/// <returns></returns>
public async Task <PortFeedback> GotoPositionAsync(int absolutePosition1, int absolutePosition2, sbyte speed, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
{
AssertValidSpeed(speed, nameof(speed));
AssertValidMaxPower(maxPower, nameof(maxPower));
AssertIsConnected();
AssertIsVirtualPort();
var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandGotoAbsolutePosition2Message()
{
HubId = _hubId,
PortId = _portId,
StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
AbsolutePosition1 = absolutePosition1,
AbsolutePosition2 = absolutePosition2,
Speed = speed,
MaxPower = maxPower,
EndState = endState,
Profile = profile,
});
return(response);
}
public void PortOutputCommandEncoder_Encode_PortOutputCommandStartSpeedForTime2Message(string expectedData, byte port, ushort time, sbyte speed1, sbyte speed2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
=> PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandStartSpeedForTime2Message()
{
PortId = port,
StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
Time = time,
Speed1 = speed1,
Speed2 = speed2,
MaxPower = maxPower,
EndState = endState,
Profile = profile,
});
/// <summary>
/// Start the motor(s) for Time ms. keeping a speed of Speed using a maximum power of MaxPower. After Time stopping the output using the EndState.
/// </summary>
/// <param name="timeInMs"></param>
/// <param name="speed">
/// - Speed Level in Percentage: 1 - 100 (CW), -1 - -100 (CCW)
/// - Stop Motor (hold position): 0 (use StartPower for floating and braking)
/// </param>
/// <param name="maxPower">Maximum Power level used.</param>
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
/// <returns></returns>
public async Task <PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speed, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
{
AssertValidSpeed(speed, nameof(speed));
AssertValidMaxPower(maxPower, nameof(maxPower));
AssertIsConnected();
var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForTimeMessage(
_portId,
PortOutputCommandStartupInformation.ExecuteImmediately, PortOutputCommandCompletionInformation.CommandFeedback,
timeInMs,
speed,
maxPower,
endState,
profile)
{
HubId = _hubId,
});
return(response);
}
public void PortOutputCommandEncoder_Encode_PortOutputCommandStartSpeedForDegreesMessage(string expectedData, byte port, uint degrees, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
=> PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandStartSpeedForDegreesMessage()
{
PortId = port,
StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
Degrees = degrees,
Speed = speed,
MaxPower = maxPower,
EndState = endState,
Profile = profile,
});
public void PortOutputCommandEncoder_Encode_PortOutputCommandGotoAbsolutePosition2Message(string expectedData, byte port, int absPos1, int absPos2, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
=> PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandGotoAbsolutePosition2Message()
{
PortId = port,
StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
AbsolutePosition1 = absPos1,
AbsolutePosition2 = absPos2,
Speed = speed,
MaxPower = maxPower,
EndState = endState,
Profile = profile,
});
/// <summary>
/// Start the motors for Degrees and try to keep individual speeds using Speed(X) while using a maximum power of MaxPower. After Degrees is reached stop the outputs using the EndState.
///
/// TachoMotor.StartSpeedForDegreesAsync support moving the motor by degrees. It operates relative of its current position.
/// AbsoluteMotor.GotoAbsolutePositionAsync allows moving the motor to an absolute position. It operates relative to a changeable zero position.
/// The Position(Observable) (POS) is reflecting the position relative to a changeable zero position (firmware in-memory encoded)
/// The AbsolutePosition(Observable) (APOS) is reflecting the position relative to marked zero position (physically encoded).
/// </summary>
/// <param name="degrees"></param>
/// <param name="speed"></param>
/// <param name="maxPower">Maximum Power level used.</param>
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
/// <returns></returns>
public async Task <PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
{
AssertValidDegrees(degrees, nameof(degrees));
AssertValidSpeed(speed, nameof(speed));
AssertValidMaxPower(maxPower, nameof(maxPower));
AssertIsConnected();
var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForDegreesMessage()
{
HubId = _hubId,
PortId = _portId,
StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
Degrees = degrees,
Speed = speed,
MaxPower = maxPower,
EndState = endState,
Profile = profile,
});
return(response);
}
/// <summary>
/// Start the motors for Time ms. And try to keep individual speeds using Speed(X) while using a maximum power of MaxPower. After Time stopping the outputs using the EndState.
/// </summary>
/// <param name="timeInMs"></param>
/// <param name="speedOnMotor1">
/// - Speed Level in Percentage: 1 - 100 (CW), -1 - -100 (CCW)
/// - Stop Motor (hold position): 0 (use StartPower for floating and braking)
/// </param>
/// <param name="speedOnMotor2">
/// - Speed Level in Percentage: 1 - 100 (CW), -1 - -100 (CCW)
/// - Stop Motor (hold position): 0 (use StartPower for floating and braking)
/// </param>
/// <param name="maxPower">Maximum Power level used.</param>
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
/// <returns></returns>
public async Task <PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
{
AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));
AssertValidSpeed(speedOnMotor2, nameof(speedOnMotor2));
AssertValidMaxPower(maxPower, nameof(maxPower));
AssertIsConnected();
AssertIsVirtualPort();
var response = await _protocol.SendPortOutputCommandAsync(new PortOutputCommandStartSpeedForTime2Message()
{
HubId = _hubId,
PortId = _portId,
StartupInformation = PortOutputCommandStartupInformation.ExecuteImmediately,
CompletionInformation = PortOutputCommandCompletionInformation.CommandFeedback,
Time = timeInMs,
Speed1 = speedOnMotor1,
Speed2 = speedOnMotor2,
MaxPower = maxPower,
EndState = endState,
Profile = profile,
});
return(response);
}
public void PortOutputCommandEncoder_Encode_PortOutputCommandStartSpeedForDegrees2Message(string expectedData, byte port, uint degrees, sbyte speed1, sbyte speed2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
=> PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandStartSpeedForDegrees2Message(
port,
PortOutputCommandStartupInformation.ExecuteImmediately, PortOutputCommandCompletionInformation.CommandFeedback,
Degrees: degrees,
Speed1: speed1,
Speed2: speed2,
MaxPower: maxPower,
EndState: endState,
Profile: profile
));
public void PortOutputCommandEncoder_Encode_PortOutputCommandStartSpeedForTimeMessage(string expectedData, byte port, ushort time, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
=> PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandStartSpeedForTimeMessage(
port,
PortOutputCommandStartupInformation.ExecuteImmediately, PortOutputCommandCompletionInformation.CommandFeedback,
Time: time,
Speed: speed,
MaxPower: maxPower,
EndState: endState,
Profile: profile
));
public void PortOutputCommandEncoder_Encode_PortOutputCommandGotoAbsolutePosition2Message(string expectedData, byte port, int absPos1, int absPos2, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
=> PortOutputCommandEncoder_Encode(expectedData, new PortOutputCommandGotoAbsolutePosition2Message(
port,
PortOutputCommandStartupInformation.ExecuteImmediately, PortOutputCommandCompletionInformation.CommandFeedback,
AbsolutePosition1: absPos1,
AbsolutePosition2: absPos2,
Speed: speed,
MaxPower: maxPower,
EndState: endState,
Profile: profile
));