public void ReadEncoderPosition()
{
Connection_Service.Send(Command_Processor.READ_MOTOR_ENCODER_COMMAND(_MotorId));
string recieved = Connection_Service.ReceiveMessage();
if (recieved.Contains(Command_Processor.MOTOR_POSITION_MESSAGE(_MotorId)))
{
string[] splitMsg = recieved.Split('=');
Position = Convert.ToDouble(splitMsg[1]);
}
}
public void CheckMotorStatus()
{
Connection_Service.Send(Command_Processor.CHECK_MOTOR_STATUS_COMMAND(_MotorId));
string received = Connection_Service.ReceiveMessage();
if (received.Contains(Command_Processor.MOTOR_ENABLED_MESSAGE(_MotorId)))
{
MotorStatus = "Enabled";
}
else if (received.Contains(Command_Processor.MOTOR_DISABLED_MESSAGE(_MotorId)))
{
MotorStatus = "Disabled";
}
}
public void HomeMotor()
{
Connection_Service.Send(Command_Processor.SEND_MOTOR_HOME_COMMAND(_MotorId));
}
public void DisableMotor()
{
Connection_Service.Send(Command_Processor.DISABLE_MOTOR_COMMAND(_MotorId));
CheckMotorStatus();
}
public void HomeMotor()
{
Connection_Service.Send(Command_Processor.SEND_POSITION_COMMAND(_MotorId, 0));
}
public void EnableMotor()
{
Connection_Service.Send(Command_Processor.ENABLE_MOTOR_COMMAND(_MotorId));
}