/**
* <summary>
* Enumerates all functions of type Servo available on the devices
* currently reachable by the library, and returns their unique hardware ID.
* <para>
* Each of these IDs can be provided as argument to the method
* <c>YServo.FindServo</c> to obtain an object that can control the
* corresponding device.
* </para>
* </summary>
* <returns>
* an array of strings, each string containing the unique hardwareId
* of a device function currently connected.
* </returns>
*/
public static new string[] GetSimilarFunctions()
{
List <string> res = new List <string>();
YServo it = YServo.FirstServo();
while (it != null)
{
res.Add(it.get_hardwareId());
it = it.nextServo();
}
return(res.ToArray());
}
public static YServoProxy FindServo(string name)
{
// cases to handle:
// name ="" no matching unknwn
// name ="" unknown exists
// name != "" no matching unknown
// name !="" unknown exists
YServo func = null;
YServoProxy res = (YServoProxy)YFunctionProxy.FindSimilarUnknownFunction("YServoProxy");
if (name == "")
{
if (res != null)
{
return(res);
}
res = (YServoProxy)YFunctionProxy.FindSimilarKnownFunction("YServoProxy");
if (res != null)
{
return(res);
}
func = YServo.FirstServo();
if (func != null)
{
name = func.get_hardwareId();
if (func.get_userData() != null)
{
return((YServoProxy)func.get_userData());
}
}
}
else
{
func = YServo.FindServo(name);
if (func.get_userData() != null)
{
return((YServoProxy)func.get_userData());
}
}
if (res == null)
{
res = new YServoProxy(func, name);
}
if (func != null)
{
res.linkToHardware(name);
if (func.isOnline())
{
res.arrival();
}
}
return(res);
}
static void Main(string[] args)
{
string errmsg = "";
string target;
YServo servo1;
YServo servo5;
int pos;
if (args.Length < 2)
{
usage();
}
target = args[0].ToUpper();
pos = Convert.ToInt32(args[1]);
if (YAPI.RegisterHub("usb", ref errmsg) != YAPI.SUCCESS)
{
Console.WriteLine("RegisterHub error: " + errmsg);
Environment.Exit(0);
}
if (target == "ANY")
{
servo1 = YServo.FirstServo();
if (servo1 == null)
{
Console.WriteLine("No module connected (check USB cable) ");
Environment.Exit(0);
}
target = servo1.get_module().get_serialNumber();
}
servo1 = YServo.FindServo(target + ".servo1");
servo5 = YServo.FindServo(target + ".servo5");
if (servo1.isOnline())
{
servo1.set_position(pos);
servo5.move(pos, 3000);
}
else
{
Console.WriteLine("Module not connected");
}
Console.WriteLine("check identification and USB cable");
}
public override async Task <int> Run()
{
try {
await YAPI.RegisterHub(HubURL);
YServo servo1;
YServo servo5;
if (Target.ToLower() == "any")
{
servo1 = YServo.FirstServo();
if (servo1 == null)
{
WriteLine("No module connected (check USB cable) ");
return(-1);
}
Target = await(await servo1.get_module()).get_serialNumber();
}
servo1 = YServo.FindServo(Target + ".servo1");
servo5 = YServo.FindServo(Target + ".servo5");
int pos = Convert.ToInt32(Position);
if (await servo1.isOnline())
{
await servo1.set_position(pos);
await servo5.move(pos, 3000);
}
else
{
WriteLine("Module not connected (check identification and USB cable)");
}
WriteLine("Done.");
} catch (YAPI_Exception ex) {
WriteLine("error: " + ex.Message);
}
YAPI.FreeAPI();
return(0);
}
