Initial Commit

.gitignore

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+bin/
+obj/
+/packages/
+riderModule.iml
+/_ReSharper.Caches/

.idea/.idea.ln.motion/.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml
+# Rider ignored files
+/projectSettingsUpdater.xml
+/.idea.ln.motion.iml
+/contentModel.xml
+/modules.xml
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/

.idea/.idea.ln.motion/.idea/encodings.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Encoding" addBOMForNewFiles="with BOM under Windows, with no BOM otherwise" />
+</project>

.idea/.idea.ln.motion/.idea/indexLayout.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="UserContentModel">
+    <attachedFolders />
+    <explicitIncludes />
+    <explicitExcludes />
+  </component>
+</project>

.idea/.idea.ln.motion/.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

ln.motion.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ln.motion", "ln.motion\ln.motion.csproj", "{67ACC05F-C275-449D-B0C4-86097A496DF1}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{67ACC05F-C275-449D-B0C4-86097A496DF1}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{67ACC05F-C275-449D-B0C4-86097A496DF1}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{67ACC05F-C275-449D-B0C4-86097A496DF1}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{67ACC05F-C275-449D-B0C4-86097A496DF1}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+EndGlobal

ln.motion/Ax.cs

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+namespace ln.motion
+{
+    public abstract class Ax
+    {
+        public virtual float CurrentSpeed { get; }
+        public virtual float CurrentPosition { get; }
+        public virtual AxValues CurrentValues => new AxValues() {Speed = CurrentSpeed, Position = CurrentPosition};
+        
+        public virtual float TargetSpeed { get; set; }
+        public virtual float TargetPosition { get; set; }
+
+        public virtual AxValues TargetValues
+        {
+            get => new AxValues() {Speed = TargetSpeed, Position = TargetPosition};
+            set
+            {
+                TargetPosition = value.Position;
+                TargetSpeed = value.Speed;
+            }
+        }
+        
+        public virtual bool IsEnabled { get; }
+        public virtual bool IsFaulted { get; }
+    }
+}

ln.motion/AxValues.cs

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+namespace ln.motion
+{
+    public struct AxValues
+    {
+        public float Speed;
+        public float Position;
+    }
+}

ln.motion/DriveController.cs

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+namespace ln.motion
+{
+    public abstract class DriveController
+    {
+        public abstract void Initialize();
+        
+        public abstract bool IsOnline { get; }
+
+        public abstract bool GetAxCurrentValues(out AxValues[] axValuesArray);
+        public abstract bool GetAxTargetValues(out AxValues[] axValuesArray);
+        public abstract bool SetAxTargetValues(AxValues[] axValuesArray);
+
+        public virtual bool SetAxTargetValues(int ax, AxValues axValues)
+        {
+            if (GetAxTargetValues(out AxValues[] axValuesArray))
+            {
+                axValuesArray[ax] = axValues;
+                return SetAxTargetValues(axValuesArray);
+            }
+            return false;
+        }
+    }
+}

ln.motion/Kinematic.cs

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+using System.Numerics;
+
+namespace ln.motion
+{
+    public abstract class Kinematic
+    {
+        public Kinematic()
+        {
+        }
+
+        public abstract bool Direct(AxValues[] axValuesArray, out Matrix4x4 position);
+        public abstract bool Inverse(Matrix4x4 position, AxValues[] axValues);
+    }
+}

ln.motion/MotionController.cs

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+using System;
+
+namespace ln.motion
+{
+    public class MotionController
+    {
+        public Kinematic Kinematic { get; }
+
+        public MotionController(Kinematic kinematic)
+        {
+            Kinematic = kinematic;
+        }
+    }
+}

ln.motion/ln.motion.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <TargetFramework>net5.0</TargetFramework>
+    </PropertyGroup>
+
+</Project>