Moved interfaces and abstracts to external package ln.motion.interfaces

ln.motion/Ax.cs

@@ -1,25 +0,0 @@
-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

@@ -1,8 +0,0 @@
-namespace ln.motion
-{
-    public struct AxValues
-    {
-        public float Speed;
-        public float Position;
-    }
-}

ln.motion/DriveController.cs

@@ -1,23 +0,0 @@
-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

@@ -1,14 +0,0 @@
-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

@@ -1,4 +1,5 @@
 using System;
+using ln.motion.interfaces;
 
 namespace ln.motion
 {

ln.motion/ln.motion.csproj

@@ -4,4 +4,8 @@
         <TargetFramework>net5.0</TargetFramework>
     </PropertyGroup>
 
+    <ItemGroup>
+      <PackageReference Include="ln.motion.interfaces" Version="0.1.0" />
+    </ItemGroup>
+
 </Project>