public int ServoGetAngle(ServoIndex axisIndex)
{
byte[] buff = new[]
{
(byte)ServoCommands.GetAngle,
}
.Concat(((byte)axisIndex).NumToArray());
byte[] answer = SendCommand(ControllerEnum.ServoController, buff, true);
return(answer.ArrayToNum());
}
//angle must be in [0, 180] range
public bool ServoSetAngle(ServoIndex axisIndex, int angle)
{
if (angle < MinServoAngle || angle > MaxServoAngle)
{
return(false);
}
byte[] buff = new []
{
(byte)ServoCommands.SetAngle,
}
.Concat(((byte)axisIndex).NumToArray())
.Concat(Delimiter)
.Concat(angle.NumToArray());
SendCommand(ControllerEnum.ServoController, buff);
return(true);
}
