private OwlCommandQueue CommandQueue()
{
if (_commandQueue == null)
{
if (_lockObj == null)
{
_lockObj = new object();
}
lock (_lockObj)
{
_commandQueue = OwlCommandQueue.Instance;
}
}
return(_commandQueue);
}
private void InitializeParts()
{
CommandQueue = new OwlCommandQueue();
PartsList = new List <OwlControllerBase>();
this.LastError = String.Empty;
//"Forward" is "righty-tighty" drive from the motor's perspective. Like a hand drill
//===================================================
//HEAD AND WINGS
try
{
//Forward = Head moves "right", so we have a forward sensor on it.
_head = new StepperControl.OwlStepperController("Head", 19, 26, 13, 6, 5, 21, null, 16, 5, false);
_head.IsControlEnabled = _enableHead;
_head.MinPosition = 0;
_head.MaxPosition = 100;
_head.HomePosition = 50;
_head.DeviceError += _component_DeviceError;
_head.MoveCompleted += _component_MoveCompleted;
//one of these is not used
_head.BackwardLimitSensorChanged += _head_BackwardLimitReached;
_head.ForwardLimitSensorChanged += _head_ForwardLimitReached;
CommandQueue.CommandAdded += CommandQueue_CommandAdded;
PartsList.Add(_head);
}
catch (Exception exHead)
{
this.Status = OwlDeviceStateBase.StatusTypes.InError;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
this.LastError += exHead.ToString();
}
try
{
//Forward = Wings up
//Screw drive travels 0.125 incehes per 100 steps.
//2.5 inches is 8 rotations,
//Each rotation 200 steps at 1.8 degress per step.
//2.5 inches is 1600 steps (8 rotations at 200 steps each)
//Converting to position factor: 1600 / 100 = 16 steps per position increment
int stepToPositionFactor = 16;
_wings = new StepperControl.OwlStepperController("Wings", 17, 18, 22, 23, 24, 25, 12, 4, stepToPositionFactor, true);
_wings.IsControlEnabled = _enableWings;
_wings.MinPosition = 0;
_wings.MaxPosition = 100;
_wings.HomePosition = 95;
_wings.DeviceError += _component_DeviceError;
_wings.MoveCompleted += _component_MoveCompleted;
_wings.ForwardLimitSensorChanged += _wings_ForwardLimitReached;
_wings.BackwardLimitSensorChanged += _wings_BackwardLimitReached;
PartsList.Add(_wings);
}
catch (Exception exWings)
{
this.Status = OwlDeviceStateBase.StatusTypes.InError;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
this.LastError += exWings.ToString();
}
//===================================================
try
{
//Uses the defaultI2C address
_pwmDriver = new ServoBoardDriver();
_pwmDriver.Initialize();
try
{
_leftEye = new ServoBoardDriver.ServoPort("Left Eye", 0, _pwmDriver._pca9685, false);
_leftEye.IsControlEnabled = _enableLeftEye;
_rightEye = new ServoBoardDriver.ServoPort("Right Eye", 1, _pwmDriver._pca9685, true);
_rightEye.IsControlEnabled = _enableRightEye;
_leftEye.Initialize();
PartsList.Add(_leftEye);
_rightEye.Initialize();
PartsList.Add(_rightEye);
}
catch (Exception exEyes)
{
this.Status = OwlDeviceStateBase.StatusTypes.InError;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
this.LastError += exEyes.ToString();
}
}
catch (Exception exPWM)
{
this.Status = OwlDeviceStateBase.StatusTypes.InError;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
this.LastError += exPWM.ToString();
}
}
