private void ServoCommand(double position)
{
if (ARM_MIN < position && position < ARM_MAX)
{
if (servo.Attached)
{
try
{
servo.Engaged = true;
AsyncCallback asyncCallBackDelegate = new AsyncCallback(AsyncCallBackForSetTargetPosition);
CallBackInfo callBackInfo = new CallBackInfo(servo, position);
TargetPosition = position;
IsAtSetpoint = false;
UpdateArmSetpointUI(TargetPosition);
servo.BeginSetTargetPosition(position, asyncCallBackDelegate, callBackInfo);
}
catch (Exception e)
{
Debug.WriteLine($"Phidget command failed with msg {e}");
}
}
else
{
Debug.WriteLine("Servo not connected");
}
}
else
{
Debug.WriteLine($"Postion {position} out of bounds {ARM_MIN}-{ARM_MAX}");
}
}
private void AsyncCallBackForSetTargetPosition(IAsyncResult result)
{
try
{
CallBackInfo callBackInfo = (CallBackInfo)result.AsyncState;
callBackInfo.Owner.EndSetTargetPosition(result);
}
catch (Exception exp)
{
Debug.WriteLine($"Servo command callback error {exp}");
}
}