Lets you send commands to and get position, speed, etc. for a specific channel of the Kangaroo.
Assembly: DimensionEngineering.Kangaroo (in DimensionEngineering.Kangaroo.dll) Version: 22.214.171.124 (126.96.36.199)
public class KangarooChannel
Public Class KangarooChannel
public ref class KangarooChannel
type KangarooChannel = class end
Thetype exposes the following members.
Constructs a KangarooChannel object.
Sets the baud rate. This affects all channels of the controller that receives the command.
Issues a 'get' request.
Gets the maximum position. This corresponds to DEScribe's Nominal Travel maximum.
Gets the minimum position. This corresponds to DEScribe's Nominal Travel minimum.
Gets the absolute position.
Gets the incremental position (relative to the position when the last command was issued).
Gets the absolute speed (positive or negative depending on direction).
Gets the incremental speed (relative to the speed when the last command was issued).
Homes the channel.
Moves to the specified absolute position. This command is most useful for absolutely-positioned systems.
Makes an incremental move. This command is useful any time you want to make a motion relative to where you are right now. Rovers are a case where this is almost always what you want.
Powers down the channel.
Powers down all channels of the controller that receives the command.
Moves at a particular speed.
Sets the serial timeout. This affects all channels of the controller that receives the command.
Moves at a particular speed, incremental from the current speed. This is useful for cruise control: a negative increment will slow down, a positive increment will speed up, and a zero increment will hold the current speed.
Starts the channel. Also, the Kangaroo LED will shine brightly for a third of a second.
Sends a system command. These are mostly for advanced use cases.
Sets custom units for the channel. This command may be called after you start the channel but before you home it. If you do not set custom units, the units you have set up in DEScribe will be used. If you haven't set any, machine units will be used.
Gets the Packet Serial address of the controller.
Gets or sets the command retry interval, in milliseconds.
Gets or sets the command timeout, in milliseconds.
Gets the channel name.
Enables or disables streaming. When streaming is disabled (the default), commands are delivered reliably: a request is sent to the Kangaroo after every command to make sure the command was received. When streaming is enabled, commands are delivered unreliably: no effort is made to verify that they are received. If you are constantly sending position or speed commands, you may not care if an intermediate one is lost. Enabling streaming can more than double your command rate, at the cost of reduced reliability. If you only have a transmit line and no way to receive data back from the Kangaroo, you should enable streaming. Wait(Int32) cannot be meaningfully called for a command that was streamed.