protected void OperateDoor(bool open)
{
// if we're already in process
// TODO: maybe we make this cancellable
if (_operatingDoor)
{
return;
}
_operatingDoor = true;
// spin up a new thread so we don't block anything.
// this is especially important with the end stops.
// without a new thread, we don't get those events. :D
Thread th = new Thread(() =>
{
Debug.Print("OperateDoor: " + (open ? "open" : "close"));
// open the door
if (open)
{
// rotate the winch servo until the end stop is triggered
while (!_openEndStopTriggered)
{
// rotate the winch servo in the open direction
_doorServo.Rotate(_openDirection, 1.0f);
}
// stop the winch
_doorServo.Stop();
Debug.Print("Open end stop hit.");
// update our door state
_doorState = DoorState.Open;
}
else
{ // close the door
// rotate the winch servo until the end stop is triggered
while (!_closeEndStopTriggered)
{
// close
_doorServo.Rotate(_closeDirection, 1.0f);
}
// stop the winch
_doorServo.Stop();
Debug.Print("Open end stop hit.");
// update our door state
_doorState = DoorState.Closed;
}
//
_operatingDoor = false;
});
th.Start();
}
static void ToggleServo()
{
if (!_running)
{
Thread th = new Thread(() => {
_running = true;
while (_running)
{
Debug.Print("Rotating clockwise at increasing speeds.");
for (float speed = 1; speed <= 10; speed++)
{
if (!_running)
{
break;
}
_servo.Rotate(RotationDirection.Clockwise, (speed / 10.0f));
Thread.Sleep(500);
}
if (!_running)
{
break;
}
Debug.Print("Stopping for half a sec.");
_servo.Stop();
Thread.Sleep(500);
Debug.Print("Rotating counter-clockwise at increasing speeds.");
for (float speed = 1; speed <= 10; speed++)
{
if (!_running)
{
break;
}
_servo.Rotate(RotationDirection.CounterClockwise, (speed / 10.0f));
Thread.Sleep(500);
}
}
});
th.Start();
}
else
{
Debug.Print("Stopping.");
_running = false;
Thread.Sleep(550); // wait for the loop to break
_servo.Stop();
}
}