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IMotionDevice

Interface for motion control device drivers. Provides methods for controlling servo motors and actuators.

Namespace: DeviceBase

Inheritance​

This interface extends IDevice.

Methods​

Enable​

Enables or disables a motion channel.

void Enable(int channel, bool value);

Parameters:

  • channel — The channel number.
  • value — true to enable, false to disable.

IsEnabled​

Checks if a motion channel is enabled.

bool IsEnabled(int channel);

Parameters:

  • channel — The channel number.

Returns: true if enabled, false if disabled.

TrapezoidalMove​

Executes a trapezoidal motion profile move.

void TrapezoidalMove(
    int channel,
    int position,
    int velocity,
    int acceleration,
    int deceleration
);

Parameters:

  • channel — The channel number.
  • position — Target position in device units.
  • velocity — Maximum velocity in device units per second.
  • acceleration — Acceleration in device units per second squared.
  • deceleration — Deceleration in device units per second squared.

Wait (Overload 1)​

Waits for motion to complete on a channel (no timeout).

void Wait(int channel);

Parameters:

  • channel — The channel number.

Wait (Overload 2)​

Waits for motion to complete on a channel with a timeout.

void Wait(int channel, int timeout);

Parameters:

  • channel — The channel number.
  • timeout — Maximum wait time in milliseconds.

IsMoving​

Checks if a channel is currently moving.

bool IsMoving(int channel);

Parameters:

  • channel — The channel number.

Returns: true if the channel is moving, false if stopped.

SetCommandPosition​

Sets the command position for a channel.

void SetCommandPosition(double position);

Parameters:

  • position — The command position value.

SetActualPosition​

Sets the actual position for a channel (typically used for homing or calibration).

void SetActualPosition(double position);

Parameters:

  • position — The actual position value.

Usage Example​

IMotionDevice motionDevice = ...;

// Initialize device
motionDevice.Init(config);

// Enable the motor
motionDevice.Enable(0, true);

// Check if enabled
if (motionDevice.IsEnabled(0))
{
    // Execute a move with trapezoidal profile
    motionDevice.TrapezoidalMove(
        channel: 0,
        position: 10000,
        velocity: 5000,
        acceleration: 10000,
        deceleration: 10000
    );

    // Wait for motion to complete (with 5 second timeout)
    motionDevice.Wait(0, 5000);

    // Check if still moving
    bool moving = motionDevice.IsMoving(0);
}

// Disable when done
motionDevice.Enable(0, false);

// Dispose
motionDevice.Dispose();

Remarks​

  • Channels must be enabled before executing motion commands.
  • The trapezoidal motion profile provides smooth acceleration and deceleration.
  • Position, velocity, acceleration, and deceleration values are in device-specific units.
  • Use Wait with timeout to prevent indefinite blocking on motion errors.

See Also​