/// <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);
}
/// <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));
}