public static string TachoMotor_Args_To_String(TachoMotor_Args x)
{
switch (x)
{
case (TachoMotor_Args.duty_cycle_sp):
return("duty_cycle_sp");
case (TachoMotor_Args.position_sp):
return("position_sp");
case (TachoMotor_Args.ramp_down_sp):
return("ramp_down_sp");
case (TachoMotor_Args.ramp_up_sp):
return("ramp_up_sp");
case (TachoMotor_Args.speed_sp):
return("speed_sp");
case (TachoMotor_Args.time_sp):
return("time_sp");
default:
return("INVALID");
}
}
//hands on for more advanced users
public void ChangeArg(TachoMotor_Args x, string value)
{
if (TestArg(value, x))
{
WriteVar(TachoMotor_Args_To_String(x), value);
}
else
{
throw new ArgumentOutOfRangeException("invalid value for this arg");
}
}
private bool TestArg(int value, TachoMotor_Args forArg)
{
switch (forArg)
{
case (TachoMotor_Args.duty_cycle_sp):
if (value < -100)
{
return(false);
}
if (value > 100)
{
return(false);
}
return(true);
case (TachoMotor_Args.position_sp): //uses full int32 range
return(true);
case (TachoMotor_Args.ramp_down_sp):
case (TachoMotor_Args.ramp_up_sp):
if (value < 0)
{
return(false);
}
if (value > 10000)
{
return(false);
}
return(true);
case (TachoMotor_Args.speed_sp):
if (value < Max_Speed * -1)
{
return(false);
}
if (value > Max_Speed)
{
return(false);
}
return(true);
case (TachoMotor_Args.time_sp):
if (value < 0)
{
return(false);
}
return(true);
}
return(false);//should never happen
}
//safty functions
private bool TestArg(string value, TachoMotor_Args forArg)
{
return(TestArg(int.Parse(value), forArg));
}
