private void DispatchCommand(SRV1.MotorCommand command)
{
if (SrvDrivingCommand != null)
{
SrvDrivingCommand(this, command);
}
}
private void srvDriverControl_SrvDrivingCommand(object sender, SRV1.MotorCommand command)
{
if (srv.IsConnected)
{
try
{
if (!receivedFirstDrivingCommand)
{
// use one direct control command first
srv.StopMotors();
}
// send new command
srv.ControlMotors(command);
if (((command == SRV1.MotorCommand.DecreaseSpeed) ||
(command == SRV1.MotorCommand.IncreaseSpeed)) &&
(receivedFirstDrivingCommand) &&
(lastMotorCommand != SRV1.MotorCommand.Stop))
{
// resend last command to get effect of speed increase/decrease
srv.ControlMotors(lastMotorCommand);
}
else
{
receivedFirstDrivingCommand = true;
lastMotorCommand = command;
}
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine("## " + ex.Message);
}
}
}
private void srvDriverControl_SrvDrivingCommand( object sender, SRV1.MotorCommand command )
{
if ( svs.IsConnected )
{
try
{
if ( !receivedFirstDrivingCommand )
{
// use one direct control command first
svs.StopMotors( );
}
// send new command
svs.ControlMotors( command );
if ( ( ( command == SRV1.MotorCommand.DecreaseSpeed ) ||
( command == SRV1.MotorCommand.IncreaseSpeed ) ) &&
( receivedFirstDrivingCommand ) &&
( lastMotorCommand != SRV1.MotorCommand.Stop ) )
{
// resend last command to get effect of speed increase/decrease
svs.ControlMotors( lastMotorCommand );
}
else
{
receivedFirstDrivingCommand = true;
lastMotorCommand = command;
}
}
catch ( Exception ex )
{
System.Diagnostics.Debug.WriteLine( "## " + ex.Message );
}
}
}
/// <summary>
/// Control motors connected to SVS board using predefined commands.
/// </summary>
///
/// <param name="command">Motor command to send to the SVS board.</param>
///
/// <remarks><para><note>Controlling SVS motors with this method is only available
/// after at least one direct motor command is sent, which is done using <see cref="StopMotors"/> or
/// <see cref="RunMotors"/> methods.</note></para></remarks>
///
/// <exception cref="NotConnectedException">Not connected to SVS. Connect to SVS board before using
/// this method.</exception>
///
public void ControlMotors(SRV1.MotorCommand command)
{
SafeGetCommunicator1( ).ControlMotors(command);
}
