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62 lines
1.9 KiB
62 lines
1.9 KiB
4 weeks ago
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using System.Numerics;
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using EGFramework;
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using Tmds.Linux;
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public class ModelTrackControl : EGModule, IEGFramework
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{
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public int CurrentPosition { set; get; } = 0;
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private ushort LowSpeed { set; get; }
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private ushort Speed { set; get; }
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public int CurrentRotation { set; get; } = 0;
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public override void Init()
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{
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// List<string> portList = this.EGSerialPort().RefreshSerialPort();
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CurrentPosition = this.GetModule<ModelActionStatus>().Status.Position;
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CurrentRotation = this.GetModule<ModelActionStatus>().Status.Rotate;
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LowSpeed = (ushort)this.GetModule<ModelParamSetting>().Setting.MoveLowSpeed;
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Speed = (ushort)this.GetModule<ModelParamSetting>().Setting.MoveSpeed;
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ResetTarget();
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}
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public void StartTarget()
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{
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if (CurrentRotation != 90)
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{
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this.EGSendMessage(new RequestTargetControl(2000,500,false), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
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CurrentRotation = 90;
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this.GetModule<ModelActionStatus>().SetRotation(CurrentRotation);
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}
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}
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public void RevertTarget()
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{
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if (CurrentRotation != 0)
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{
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this.EGSendMessage(new RequestTargetControl(2000, 0, false), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
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CurrentRotation = 0;
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this.GetModule<ModelActionStatus>().SetRotation(CurrentRotation);
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}
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}
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public void ResetTarget()
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{
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if (CurrentRotation != 0)
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{
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this.EGSendMessage(new RequestTargetControl(2000, 500, true), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
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CurrentRotation = 0;
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this.GetModule<ModelActionStatus>().SetRotation(CurrentRotation);
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}
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}
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}
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public enum StatusTrack
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{
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Stop = 0x00,
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Start = 0x01,
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StartSlow = 0x02,
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Back = 0x03,
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BackSlow = 0x04,
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Reset = 0x05
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}
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