internal ServoServiceImpl(ServoControllerPrx proxy)
{
this.proxy = proxy;
numServos = 16; // todo: this should be retrieved from the qwerk
// create and initialize the all-on mask array
maskAllOn = new bool[numServos];
for (int i = 0; i < maskAllOn.Length; i++)
{
maskAllOn[i] = true;
}
// create the array used for zero velocity or acceleration
allZeros = new int[numServos];
allDefaultPosition = new int[numServos];
defaultVelocities = new int[numServos];
for (int i = 0; i < numServos; i++)
{
allDefaultPosition[i] = SERVO_DEFAULT_POSITION;
defaultVelocities[i] = SERVO_DEFAULT_VELOCITY;
}
// build the mask arrays for each servo and store them in a map indexed on servo id
servoIdToMaskArrayMap = new Dictionary <int, bool[]>(numServos);
for (int i = 0; i < numServos; i++)
{
bool[] mask = new bool[numServos];
mask[i] = true;
servoIdToMaskArrayMap.Add(i, mask);
}
// build the servo mode arrays and store them in a map indexed on servo mode
servoModeToModeArrayMap = new Dictionary <ServoMode, ServoMode[]>(numServos);
ServoMode[] servoModeOffArray = new ServoMode[numServos];
ServoMode[] servoModePositionControlArray = new ServoMode[numServos];
ServoMode[] servoModeSpeedControlArray = new ServoMode[numServos];
for (int i = 0; i < numServos; i++)
{
servoModeOffArray[i] = ServoMode.ServoOff;
servoModePositionControlArray[i] = ServoMode.ServoMotorPositionControl;
servoModeSpeedControlArray[i] = ServoMode.ServoMotorSpeedControl;
}
servoModeToModeArrayMap.Add(ServoMode.ServoOff, servoModeOffArray);
servoModeToModeArrayMap.Add(ServoMode.ServoMotorPositionControl, servoModePositionControlArray);
servoModeToModeArrayMap.Add(ServoMode.ServoMotorSpeedControl, servoModeSpeedControlArray);
}
internal ServoServiceImpl(ServoControllerPrx proxy)
{
this.proxy = proxy;
numServos = 16; // todo: this should be retrieved from the qwerk
// create and initialize the all-on mask array
maskAllOn = new bool[numServos];
for (int i = 0; i < maskAllOn.Length; i++)
{
maskAllOn[i] = true;
}
// create the array used for zero velocity or acceleration
allZeros = new int[numServos];
allDefaultPosition = new int[numServos];
defaultVelocities = new int[numServos];
for (int i = 0; i < numServos; i++)
{
allDefaultPosition[i] = SERVO_DEFAULT_POSITION;
defaultVelocities[i] = SERVO_DEFAULT_VELOCITY;
}
// build the mask arrays for each servo and store them in a map indexed on servo id
servoIdToMaskArrayMap = new Dictionary<int, bool[]>(numServos);
for (int i = 0; i < numServos; i++)
{
bool[] mask = new bool[numServos];
mask[i] = true;
servoIdToMaskArrayMap.Add(i, mask);
}
// build the servo mode arrays and store them in a map indexed on servo mode
servoModeToModeArrayMap = new Dictionary<ServoMode, ServoMode[]>(numServos);
ServoMode[] servoModeOffArray = new ServoMode[numServos];
ServoMode[] servoModePositionControlArray = new ServoMode[numServos];
ServoMode[] servoModeSpeedControlArray = new ServoMode[numServos];
for (int i = 0; i < numServos; i++)
{
servoModeOffArray[i] = ServoMode.ServoOff;
servoModePositionControlArray[i] = ServoMode.ServoMotorPositionControl;
servoModeSpeedControlArray[i] = ServoMode.ServoMotorSpeedControl;
}
servoModeToModeArrayMap.Add(ServoMode.ServoOff, servoModeOffArray);
servoModeToModeArrayMap.Add(ServoMode.ServoMotorPositionControl, servoModePositionControlArray);
servoModeToModeArrayMap.Add(ServoMode.ServoMotorSpeedControl, servoModeSpeedControlArray);
}
