// private unsafe int getservostructsize()
//{
// return sizeof(ServoStatus);
//}
private async void drawMaestroControls()
{
// get the number of servos on the board
UInt16 count = maestroDevice.Maestro.ServoCount;
// get all the settings stored on the board
settings = await maestroDevice.Maestro.getUscSettings();
await maestroDevice.Maestro.updateMaestroVariables();
Task.WaitAll(); // wait until we have all the data
Connected = true;
tbDeviceName.Text = maestroDevice.Name + " Connected";
// Create an array of controls
maestroChannels = new MaestroControl[count];
for (UInt16 i = 0; i < count; i++)
{
// add a speed , acceleration and target controls to the app
maestroChannels[i] = new MaestroControl();
maestroChannels[i].ChannelNumber = i;
// update the controls to show current values from the board
maestroChannels[i].Acceleration = Convert.ToUInt16(settings.channelSettings[i].acceleration);
maestroChannels[i].Speed = Convert.ToUInt16(settings.channelSettings[i].speed);
// position / 4 as it returns it in 1/4 microseconds
maestroChannels[i].Position = Convert.ToUInt16(MaestroDevice.positionToMicroseconds(maestroDevice.Maestro.servoStatus[i].position));
maestroPanel.Children.Add(maestroChannels[i]);
// add the callbacks for changes
maestroChannels[i].positionChanged += MainPage_positionChanged;
maestroChannels[i].speedChanged += MainPage_speedChanged;
maestroChannels[i].accelerationChanged += MainPage_accelerationChanged;
}
}
private async void updateServoData(byte channel)
{
if (maestroDevice.Maestro.microMaestro)
{
await maestroDevice.Maestro.updateMaestroVariables();
maestroChannels[channel].Acceleration = Convert.ToUInt16(settings.channelSettings[channel].acceleration);
maestroChannels[channel].Speed = Convert.ToUInt16(settings.channelSettings[channel].speed);
// position / 4 as it returns it in 1/4 microseconds
maestroChannels[channel].Position = Convert.ToUInt16(MaestroDevice.positionToMicroseconds(maestroDevice.Maestro.servoStatus[channel].position));
}
else
{
servoStatus = await maestroDevice.Maestro.getServosMiniMaestro();
maestroChannels[channel].Position = Convert.ToUInt16(MaestroDevice.positionToMicroseconds(servoStatus[channel].position));
}
}
