using EGFramework;

public class RequestTargetControl : ModbusRTU_WriteMultiHoldingRegister, IEGFramework
{
    public bool IsBack { set; get; } = false;
    public ushort Speed { set; get; } = 2000;
    public ushort Position { set; get; } = 0;

    public RequestTargetControl(ushort speed,ushort position,bool isBack)
    {
        this.DeviceAddress = 0x01;
        this.RegisterStartAddress = 68;
        this.Speed = speed;
        this.Position = position;
        this.IsBack = isBack;
        this.Values = GetValues();
        EG.Print("[TargetSend]" + this.ToProtocolByteData().ToStringByHex());
    }
    public ushort[] GetValues()
    {
        ushort[] resultValues = { Speed,0x00,0x00,Position};
        if (IsBack)
        {
            ushort max = 65535;
            resultValues[2] = max;
            resultValues[3] = (ushort)(max - Position);
        }
        
        return resultValues;
    }
}


public class RequestTargetResetPosition : ModbusRTU_WriteSingleHoldingRegister, IEGFramework
{
    public RequestTargetResetPosition()
    {
        this.DeviceAddress = 0x01;
        this.RegisterAddress = 0x700A;
        this.Value = 0x01;
        EG.Print("[TargetSend]" + this.ToProtocolByteData().ToStringByHex());
    }
}