/// <summary>
/// Connects to a Maestro using native USB and returns the Usc object
/// representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that
/// other processes or functions can connect to the device later. The
/// "using" statement can do this automatically for you.
/// </summary>
void connectToDevice()
{
try{
// Get a list of all connected devices of this type.
if (usbdevice == null)
{
List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
if ((device == null))//|| (this.device == dli.serialNumber)
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
Usc uscdevice = new Usc(dli); // Connect to the device.
usbdevice = uscdevice;
// Return the device.
}
}
}
if (usbdevice != null)
{
usbdevice.clearErrors();
var settings = usbdevice.getUscSettings();
settings.channelSettings[channel].mode = ChannelMode.Servo;
Console.WriteLine("Set Startup Position Servo " + channel + " to " + settings.channelSettings[channel].home);
settings.servoPeriod = 20;
usbdevice.setUscSettings(settings, false);
// usbdevice.setAcceleration(channel, 0);
usbdevice.setSpeed(channel, 0);
}
else
{
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}
}catch (Exception ex) {
Console.WriteLine("Fehler beim Verbinden mit dem Servo " + ex.Message + ex.StackTrace.ToString());
}
}
static void configure(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(file);
List<String> warnings = new List<string>();
UscSettings settings = ConfigurationFile.load(sr, warnings);
usc.fixSettings(settings, warnings);
usc.setUscSettings(settings, true);
sr.Close();
file.Close();
usc.reinitialize();
}
static void configure(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(file);
List <String> warnings = new List <string>();
UscSettings settings = ConfigurationFile.load(sr, warnings);
usc.fixSettings(settings, warnings);
usc.setUscSettings(settings, true);
sr.Close();
file.Close();
usc.reinitialize();
}
