32 lines
1.2 KiB
C#
32 lines
1.2 KiB
C#
namespace RobotNet10.CANOpen.CiA402.Models;
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public readonly struct Controlword
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{
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public ushort Value { get; init; }
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public Controlword(ushort value)
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{
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Value = value;
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}
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public bool SwitchOn => (Value & 0x0001) != 0;
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public bool EnableVoltage => (Value & 0x0002) != 0;
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public bool QuickStop => (Value & 0x0004) != 0;
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public bool EnableOperation => (Value & 0x0008) != 0;
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public bool FaultReset => (Value & 0x0080) != 0;
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public bool Halt => (Value & 0x0100) != 0;
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public static Controlword Shutdown => new(0x0006);
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public static Controlword SwitchOnCmd => new(0x0007);
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public static Controlword DisableVoltage => new(0x0000);
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public static Controlword QuickStopCmd => new(0x0002);
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public static Controlword DisableOperation => new(0x0007);
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public static Controlword EnableOperationCmd => new(0x000F);
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public static Controlword FaultResetCmd => new(0x0080);
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public override string ToString() => $"0x{Value:X4}";
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public static implicit operator ushort(Controlword cw) => cw.Value;
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public static implicit operator Controlword(ushort value) => new(value);
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}
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