public void Init(int frequency = 60)
{
// SoftwareReset();
// Task.Delay(5).Wait();
//SetAllPwm(0, 0);
_device.WriteAddressByte(MODE2, OUTDRV);
_device.WriteAddressByte(MODE1, ALLCALL);
Task.Delay(5).Wait(); // wait for oscillator
var mode1 = _device.ReadAddressByte(MODE1);
mode1 = (byte)(mode1 & ~SLEEP); // wake up (reset sleep)
_device.WriteAddressByte(MODE1, mode1);
Task.Delay(5).Wait(); // wait for oscillator
SetPwmFreq(frequency);
for (int i = 0; i < 16; i++)
{
SetServoPosition(i, SERVO_MIN + ((SERVO_MAX - SERVO_MIN) / 2));
}
}
private bool IsCorrectModel() => _device.ReadAddressByte(MPU6050_REG_WHO_AM_I) == 0x68;
public bool GetIsActive()
{
return(_device.ReadAddressByte(STATUS_REGISTER) == 1);
}
