Added FeedRatio / TorqueRatio to StupidSerialRemote
parent
6febe8ccd5
commit
809ed925b1
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@ -51,6 +51,9 @@ namespace ln.ethercat.controller.remote
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public double MainTarget { get; set; }
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public double MainTarget { get; set; }
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public double FeedTarget { get; set; }
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public double FeedTarget { get; set; }
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public double FeedRatio { get; set; } = 0.5;
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public double TorqueRatio { get; set; } = 1.0;
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public StupidSerialRemote(Controller controller)
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public StupidSerialRemote(Controller controller)
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:this(controller, SerialPort.GetPortNames()[0]){}
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:this(controller, SerialPort.GetPortNames()[0]){}
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public StupidSerialRemote(Controller controller, string serialDevice)
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public StupidSerialRemote(Controller controller, string serialDevice)
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@ -97,7 +100,7 @@ namespace ln.ethercat.controller.remote
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case FeederOperation.LEFT:
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case FeederOperation.LEFT:
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if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
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if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
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{
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{
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Controller.RemoteUpdateTarget(1, FeedTarget);
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Controller.RemoteUpdateTarget(1, FeedTarget * FeedRatio);
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} else {
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} else {
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Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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Controller.RemoteUpdateTarget(1, 0);
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Controller.RemoteUpdateTarget(1, 0);
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@ -106,7 +109,7 @@ namespace ln.ethercat.controller.remote
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case FeederOperation.RIGHT:
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case FeederOperation.RIGHT:
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if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
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if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.SPEED)
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{
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{
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Controller.RemoteUpdateTarget(1, -FeedTarget);
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Controller.RemoteUpdateTarget(1, -(FeedTarget * FeedRatio));
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} else {
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} else {
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Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.SPEED;
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Controller.RemoteUpdateTarget(1, 0);
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Controller.RemoteUpdateTarget(1, 0);
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@ -115,7 +118,7 @@ namespace ln.ethercat.controller.remote
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case FeederOperation.TORQUE:
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case FeederOperation.TORQUE:
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if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.TORQUE)
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if (Controller.ECMaster.DriveControllers[1].DriveMode == DriveMode.TORQUE)
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{
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{
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Controller.RemoteUpdateTarget(1, FeedTarget);
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Controller.RemoteUpdateTarget(1, FeedTarget * TorqueRatio);
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} else {
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} else {
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Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
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Controller.ECMaster.DriveControllers[1].DriveMode = DriveMode.TORQUE;
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Controller.RemoteUpdateTarget(1, 0);
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Controller.RemoteUpdateTarget(1, 0);
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