public MotionControlCommand(byte vehicleNumber, eMoveDirection moveDirection, eSpeed speed, eLogicalDirection logicalDirection = eLogicalDirection.LogicalGo, byte movementTime = 0x00) :
base(eAgvCommandWord.MotionControl, vehicleNumber)
{
DNHead = vehicleNumber;
MoveDirection = moveDirection;
Speed = speed;
LogicalDirection = logicalDirection;
MovementTime = movementTime;
Check = (byte)(CommandWord + MoveDirection + (byte)Speed + (byte)LogicalDirection + MovementTime + Data5 + Data6 + Data7 + Data8 + Data9 + Data10 + Data11 + Data12 + Data13 + Data14 + Data15 + Data16);
}
#pragma warning restore 1591
/// <summary>
/// Converts the Speed option into a string.
/// </summary>
/// <param name="speed">Speed option to convert</param>
/// <returns>Converted string</returns>
public static string SpeedToString(eSpeed speed) {
switch (speed) {
case eSpeed.None: return "";
case eSpeed.Slow: return "slow";
case eSpeed.Normal: return "normal";
case eSpeed.Fast: return "fast";
}
throw new ArgumentException(string.Format("Speed has an invalid value ({0}).", speed.ToString()));
}
