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/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
public class AtmostripeMotorController : SerialDevice, MotorController {
public uint8 min {
get { return 0; }
}
public uint8 max {
get { return 255; }
}
public void init(KeyFile cfg) throws Error {
var device = cfg.get_string("AtmostripeMotorController", "device");
setup(device, 9600, 8, 1);
nop();
nop();
nop();
enable();
}
~AtmostripeMotorController() {
disable();
}
public bool disable() {
uint8[4] buf = new uint8[4];
buf[0] = 0xDE;
buf[1] = 0xAD;
buf[2] = 0xBA;
buf[3] = 0xBE;
log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "disable");
write(buf, 4);
read(buf, 1);
if(buf[0] == '.')
return true;
else
return false;
}
public bool enable() {
uint8[4] buf = new uint8[4];
buf[0] = 0xCA;
buf[1] = 0xFE;
buf[2] = 0xBA;
buf[3] = 0xBE;
log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "enable");
write(buf, 4);
read(buf, 1);
if(buf[0] == '.')
return true;
else
return false;
}
public bool nop() {
uint8[1] buf = new uint8[1];
buf[0] = 0x00;
write(buf, 1);
read(buf, 1);
log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "nop");
if(buf[0] == '.')
return true;
else
return false;
}
public bool set_single(uint8 engine, uint8 speed) {
uint8[2] buf = new uint8[2];
buf[0] = engine+1;
buf[1] = speed;
if(engine > 5)
return false;
log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "set single");
write(buf, 2);
read(buf, 2);
if(buf[0] == '.')
return true;
else
return false;
}
public bool set_all(uint8 speed) {
uint8[2] buf = new uint8[2];
buf[0] = 0xff;
buf[1] = speed;
log("Atmostripe", LogLevelFlags.LEVEL_DEBUG, "set all");
write(buf, 2);
read(buf, 2);
if(buf[0] == '.')
return true;
else
return false;
}
}
public Type register_plugin(Module module) {
// types are registered automatically
return typeof(AtmostripeMotorController);
}
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