/// <summary>
/// Adds a servo to the controller
/// </summary>
/// <param name="ID">Servo ID</param>
/// <param name="mode">JOG mode</param>
public void AddServo(byte ID, HerkulexDescription.JOG_MODE mode, UInt16 initialPosition)
{
Servo servo = new Servo(ID, mode);
Servos.Add(ID, servo);
Servos[ID].SetAbsolutePosition(initialPosition);
//reply to all packets
RAM_WRITE(ID, HerkulexDescription.RAM_ADDR.ACK_Policy, 1, 0x02); //reply to I_JOG / S_JOG
RecoverErrors(servo);
}
/// <summary>
/// Adds a servo to the controller
/// </summary>
/// <param name="ID">Servo ID</param>
/// <param name="mode">JOG mode</param>
public void AddServo(ServoId ID, HerkulexDescription.JOG_MODE mode)
{
Servo servo = new Servo(ID, mode);
while (!Servos.TryAdd(ID, servo))
{
; //ON tente l'ajout tant qu'il n'est pas validé
}
//reply to all packets
RAM_WRITE(ID, HerkulexDescription.RAM_ADDR.ACK_Policy, 1, 0x02); //reply to I_JOG / S_JOG
RecoverErrors(ID);
}
public Servo(ServoId pID, HerkulexDescription.JOG_MODE mode)
{
ID = pID;
Mode = mode;
}