ln.ethercat/ln.ethercat/controller/drives/DriveController.cs

using System;
using ln.http.api;

namespace ln.ethercat.controller.drives
{
    public enum DriveStates {
        UNDEFINED,
        BOOT,
        INIT,
        READY,
        ERROR,
        POWERED,
        OPERATIONAL,
    }

    public enum DriveMode {
        UNDEFINED,
        TORQUE,
        SPEED,
        POSITION
    }

    public abstract class DriveController
    {
        protected ECMaster ECMaster { get; }

        [ESProperty]
        public UInt16 Slave { get; }

        [ESProperty]
        public bool IgnoredByController { get; set; }


        public DriveController(ECMaster ecMaster, UInt16 slave)
        {
            ECMaster = ecMaster;
            Slave = slave;
        }

        public abstract void Initialize();

        /* called by controller before control loops and logic */
        public abstract void UpdateStates();
        /* called by controller after user logic */
        public abstract void UpdateDrive();

        [ESProperty]
        public abstract DriveStates DriveState { get; }
        [ESProperty]
        public abstract string OEMDriveState { get; }
        [ESProperty]
        public abstract Int32 ErrorCode { get; }
        [ESProperty]
        public abstract string ErrorText { get; }

        [ESMethod]
        public abstract void ClearFault();

        [ESProperty]
        public abstract DriveMode DriveMode { get; set; }
        [ESProperty]
        public abstract string OEMDriveMode { get; }

        [ESMethod]
        public void PowerOn() => Power(true);
        [ESMethod]
        public void PowerOff() => Power(false);
        [ESMethod]
        public abstract void Power(bool poweron);

        [ESMethod]
        public void EnableDrive() => Enable(true);
        [ESMethod]
        public void DisableDrive() => Enable(false);
        [ESMethod]
        public abstract void Enable(bool enabled);

        [ESProperty]
        public abstract double ActualPosition { get; }
        [ESProperty]
        public abstract double ActualSpeed { get; }
        [ESProperty]
        public abstract double ActualTorque { get; }
        [ESProperty]
        public abstract double TargetPosition { get; set; }
        [ESProperty]
        public abstract double TargetSpeed { get; set; }
        [ESProperty]
        public abstract double TargetTorque { get; set; }
        [ESProperty]
        public abstract double ActualLoad { get; }
                
        [ESProperty]
        public virtual double TargetValue {
            get {
                switch (DriveMode)
                {
                    case DriveMode.POSITION:
                        return TargetPosition;
                    case DriveMode.SPEED:
                        return TargetSpeed;
                    case DriveMode.TORQUE:
                        return TargetTorque;
                    default:
                        return 0;
                }
            }
            set {
                switch (DriveMode)
                {
                    case DriveMode.POSITION:
                        TargetPosition = value;
                        break;
                    case DriveMode.SPEED:
                        TargetSpeed = value;
                        break;
                    case DriveMode.TORQUE:
                        TargetTorque = value;
                        break;
                    default:
                        break;
                }
            }
        }

    }

}