private void btnAutoFixAngle_Click(object sender, RoutedEventArgs e)
{
if (activeServo > 0)
{
byte id = (byte)activeServo;
string sFixAngle = txtFixAngle.Text.Trim();
if (sFixAngle == "")
{
UpdateInfo("Please enter current angle", UTIL.InfoType.error);
return;
}
int iFixAngle;
if ((!int.TryParse(sFixAngle, out iFixAngle)) || (iFixAngle < 0) || (iFixAngle > 180))
{
UpdateInfo("Invalid angle, should be 0 ~ 180", UTIL.InfoType.error);
return;
}
// first get current adjustment
UInt16 adj = UBT.V2_GetAdjAngle(id);
if (adj == 0x7F7F)
{
return;
}
int adjValue = 0;
if ((adj >= 0x0000) && (adj <= 0x0130))
{
adjValue = adj;
}
else if ((adj >= 0xFED0) && (adj <= 0xFFFF))
{
adjValue = (adj - 65536);
}
else
{
UpdateInfo("Invalid adjustment", UTIL.InfoType.error);
return;
}
// get current angle
Byte currAngle = UBT.V2_GetAngle(id);
if (currAngle == 0xFF)
{
return;
}
int delta = cboDelta.SelectedIndex;
// adjValue = 3 * angle
int newAdjValue = (currAngle - iFixAngle) * 3 + adjValue;
if (newAdjValue < 0)
{
newAdjValue += 65536 + delta;
}
SetAdjAngle(newAdjValue);
txtAdjPreview.Text = sFixAngle;
SetServoAdjAngle();
}
}
private void ReadAdjAngle()
{
UpdateInfo();
UInt16 adj = UBT.V2_GetAdjAngle((byte)activeServo);
if (adj != 0x7F7F)
{
SetAdjAngle((int)adj);
}
}
public void ReadAdjAngle()
{
UpdateInfo();
if (activeServo <= 0)
{
return;
}
UInt16 adj = UBT.V2_GetAdjAngle((byte)activeServo);
if (adj != 0x7F7F)
{
SetAdjAngle((int)adj);
}
}