Пример #1
0
        /// <summary>
        /// Gets the current position of the encoder's shaft. For 12-bit devices, this ranges from
        /// 0 to 4095. For 14-bit devices, this ranges from 0 to 16383.
        /// </summary>
        /// <returns>The position of the shaft the encoder is coupled to.</returns>
        public int GetPosition()
        {
            // Read from the device and validate that it came back OK
            byte[] buffer = { 0x00, 0x00 };
            Spi.TransferData(buffer);
            try
            {
                ValidateChecksum(buffer);
            }
            catch (Exception ex)
            {
                Logger.Error(ex.Message);
                return(-1);
            }

            // Make a short from the data
            ushort data = 0;

            data |= (ushort)(buffer[0] << 8);
            data |= buffer[1];

            // Get rid of the 2 checksum bits at the top
            data &= 0x3FFF;

            return(data);
        }
Пример #2
0
        /// <summary>
        /// Gets the status of the device.
        /// </summary>
        /// <returns>The device status</returns>
        public L6470Status GetStatus()
        {
            // Send the GetStatus command
            byte command = 0b11010000;

            byte[] buffer = { command };
            Spi.TransferData(buffer);

            // Get the 2 status bytes
            ushort status = 0;

            buffer[0] = 0;
            Spi.TransferData(buffer);
            status |= (ushort)(buffer[0] << 8);

            buffer[0] = 0;
            Spi.TransferData(buffer);
            status |= buffer[0];

            return(new L6470Status(status));
        }