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Added FeedRatio / TorqueRatio to StupidSerialRemote

master
Harald Wolff-Thobaben 2021-04-14 10:09:03 +02:00
parent 6febe8ccd5
commit 809ed925b1
1 changed files with 6 additions and 3 deletions
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9
ln.ethercat/controller/remote/StupidSerialRemote.cs
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@ -51,6 +51,9 @@ namespace ln.ethercat.controller.remote
public double MainTarget { get; set; }
public double FeedTarget { get; set; }
public double FeedRatio { get; set; } = 0.5;
public double TorqueRatio { get; set; } = 1.0;
public StupidSerialRemote(Controller controller)
:this(controller, SerialPort.GetPortNames()[0]){}
public StupidSerialRemote(Controller controller, string serialDevice)
@ -97,7 +100,7 @@ namespace ln.ethercat.controller.remote
case FeederOperation.LEFT:
if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
{
Controller.RemoteUpdateTarget(1, FeedTarget);
Controller.RemoteUpdateTarget(1, FeedTarget * FeedRatio);
} else {
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
Controller.RemoteUpdateTarget(1, 0);
@ -106,7 +109,7 @@ namespace ln.ethercat.controller.remote
case FeederOperation.RIGHT:
if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
{
Controller.RemoteUpdateTarget(1, -FeedTarget);
Controller.RemoteUpdateTarget(1, -(FeedTarget * FeedRatio));
} else {
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
Controller.RemoteUpdateTarget(1, 0);
@ -115,7 +118,7 @@ namespace ln.ethercat.controller.remote
case FeederOperation.TORQUE:
if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.TORQUE)
{
Controller.RemoteUpdateTarget(1, FeedTarget);
Controller.RemoteUpdateTarget(1, FeedTarget * TorqueRatio);
} else {
Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
Controller.RemoteUpdateTarget(1, 0);