public Controller()
{
comPort = "COM1";
axis = new double[NumValues];
PushButtonState = new bool[NumPushButtons];
PrevPushButtonState = new bool[NumPushButtons];
SyncButtonState = new bool[NumSyncButtons];
encval = 0;
com = new SerialClient();
}
public int[] sw; //< switch {0, 1}
public SensorBoard()
{
comPort = "COM5";
com = new SerialClient();
potMax = 1024;
pot = new int[4] {
0, 0, 0, 0
};
potLower = new int[4] {
0, 0, 0, 0
};
potUpper = new int[4] {
1024, 1024, 1024, 1024
};
sw = new int[4] {
0, 0, 0, 0
};
}
public MotorDriver()
{
comPort = "COM5";
com = new SerialClient();
velMax = 50.0;
pwmMax = 255;
mode = new int[3] {
1, 1, 1
};
vel_ref = new double[3] {
0.0, 0.0, 0.0
};
pwm_ref = new int[3] {
0, 0, 0
};
pos_ref = new double[3] {
0.0, 0.0, 0.0
};
pos = new int[3] {
0, 0, 0
};
pwm = new int[3] {
0, 0, 0
};
dir = new int[3] {
0, 0, 0
};
mot_pol = new int[3] {
0, 0, 0
};
enc_pol = new int[3] {
0, 0, 0
};
}