public C_Packet(C_Motor _mot, byte _instructionByte, List <byte> _lsParameters = null)
{
byteId = _mot.id;
rotMotor = _mot.rotMotor;
returnStatusLevel = _mot.StatusReturnLevel;
byteInstructionOrError = _instructionByte;
Par = _lsParameters;
}
public C_Packet(C_Packet packet)
{
byteId = packet.byteId;
byteInstructionOrError = packet.ByteInstructionOrError;
byteLength = packet.byteLength;
byteCheckSum = packet.byteCheckSum;
Par = packet.Par;
returnStatusLevel = packet.returnStatusLevel;
motorDataType = packet.motorDataType;
}
public void ACTUALIZE_registerBinding(byte addressByte)
{
// after change in register this is called
// react only on high bytes
// -> as I always send command to actualize both L and H
// -> I only need to react on the second one written to register (H)
switch (addressByte)
{
case (C_DynAdd.PRESENT_POS_H):
ACTUALIZE_valueAndLogIt(ref angleSeen, C_DynAdd.PRESENT_POS_L, C_DynAdd.PRESENT_POS_H, e_regByteType.seenValue);
break;
case (C_DynAdd.GOAL_POS_H):
ACTUALIZE_valueAndLogIt(ref angleSent, C_DynAdd.GOAL_POS_L, C_DynAdd.GOAL_POS_H, e_regByteType.sentValue);
break;
case (C_DynAdd.PRESENT_SPEED_H):
ACTUALIZE_valueAndLogIt(ref speedSeen, C_DynAdd.PRESENT_SPEED_L, C_DynAdd.PRESENT_SPEED_H, e_regByteType.seenValue);
break;
case (C_DynAdd.MOV_SPEED_H):
ACTUALIZE_valueAndLogIt(ref speedSent, C_DynAdd.MOV_SPEED_L, C_DynAdd.MOV_SPEED_H, e_regByteType.sentValue);
break;
case (C_DynAdd.LED_ENABLE):
LedValue = (e_ledValue)(reg.GET(C_DynAdd.LED_ENABLE, e_regByteType.sentValue).Val);
LOG_reg("[LED sent] actualized form motor!");
LedValueSeen = (e_ledValue)(reg.GET(C_DynAdd.LED_ENABLE, e_regByteType.seenValue).Val);
LOG_reg("[LED seen] actualized form motor!");
break;
case (C_DynAdd.STATUS_RETURN_LEVEL):
statusReturnLevel = (e_statusReturnLevel)(ACTUALIZE_byteAndLogIt(C_DynAdd.STATUS_RETURN_LEVEL, e_regByteType.sentValue));
break;
case (C_DynAdd.TORQUE_ENABLE):
torqueEnable = (e_enabled)(ACTUALIZE_byteAndLogIt(C_DynAdd.TORQUE_ENABLE, e_regByteType.sentValue));
break;
case (C_DynAdd.IS_MOVING):
isMoving = (e_bool)(ACTUALIZE_byteAndLogIt(C_DynAdd.TORQUE_ENABLE, e_regByteType.sentValue));
break;
case (C_DynAdd.RETURN_DELAY_TIME):
returnDelayTime = ACTUALIZE_byteAndLogIt(C_DynAdd.RETURN_DELAY_TIME, e_regByteType.sentValue);
break;
}
}
