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 void SYNC_WRITE_defaultMoveSpeed()
{
// write speed and goal position to 3 motors synchronously at once
C_Motor.SEND_packetToAll(C_DynAdd.INS_SYNC_WRITE, new List <object> {
C_DynAdd.GOAL_POS_L, 4,
Yaw.id, Yaw.angleWanted.HexDefault, Yaw.speedWanted.HexDefault,
Pitch.id, Pitch.angleWanted.HexDefault, Pitch.speedWanted.HexDefault,
Roll.id, Roll.angleWanted.HexDefault, Roll.speedWanted.HexDefault
});
}
private void SET_motStringsFromRegister(C_Motor mot)
{
e_rot rot = mot.rotMotor;
// show it as byte
SET_motStrings(rot,
string.Format("0x{0:X2}=\t{0}", //{0,4:###0}",
mot.Reg.GET(address, regByteType).Val
));
}
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion INIT
// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
private void btnStartMotors_Click(object sender, RoutedEventArgs e)
{
foreach (C_Motor m in Ms)
{
UPDATE_motorFromSlider(m.rotMotor);
//m.angle.Dec = 160;
m.REGISTER_move();
}
C_Motor.ORDER_ActionToAll();
}
public void INIT_individualMotors()
{
INIT_listElementsOfAllMotors();
// Motor Yaw
Yaw = new C_Motor(e_rot.yaw, 1, // id
new C_Value(C_Value.angleFull, 0, 360, 180), // angle
new C_Value(C_Value.speedFull, 0, 101, 20) // speed
);
// Motor Pitch
Pitch = new C_Motor(e_rot.pitch, 2, // id
new C_Value(C_Value.angleFull, 111, 292, 200), // angle
new C_Value(C_Value.speedFull, 0, 101, 20) // speed
);
// Motor Roll
Roll = new C_Motor(e_rot.roll, 3, // id
new C_Value(C_Value.angleFull, 156, 248, 205), // angle
new C_Value(C_Value.speedFull, 0, 101, 20) // speed
);
//Yaw.SEND_example(0);
//Pitch.SEND_example(0);
//Roll.SEND_example(0);
}
public void SEARCH_motors()
{
// not functional yet
// should be in C_Motor
// should use background worker
// send pings and get responses - add items to [Ms] motor list
// - use local Search motor for pinging and changing of id..
byte id = C_DynAdd.ID_MIN;
C_Motor srchM = new C_Motor(id);
C_Packet querryPacket;
for (id = C_DynAdd.ID_MIN; id < C_DynAdd.ID_MAX; id++)
{
srchM.id = id;
C_SPI.spi.DiscardInBuffer();
srchM.ORDER_ping();
querryPacket = new C_Packet(srchM, C_DynAdd.INS_PING);
C_Packet.SEND_packet(querryPacket);
}
}
