/// <summary>
/// Calculates end point PWM duration for the specified servo orientation.
/// </summary>
/// <returns>
/// The end point PWM duration.
/// </returns>
/// <param name="orientation">
/// The servo orientation.
/// </param>
/// <exception cref="InvalidOperationException">
/// An unsupported orientation was specified.
/// </exception>
/// <exception cref="ArgumentOutOfRangeException">
/// The end point property value is not between
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.Servo.END_POINT_MIN"/>
/// and <see cref="CyrusBuilt.MonoPi.Components.Servos.Servo.END_POINT_MAX"/>.
/// </exception>
public float CalcEndPointPwmDuration(ServoOrientation orientation)
{
float result = 0f;
String propName = String.Empty;
switch (orientation)
{
case ServoOrientation.Left:
propName = PROP_END_POINT_LEFT;
break;
case ServoOrientation.Right:
propName = PROP_END_POINT_RIGHT;
break;
default:
throw new InvalidOperationException("Unsupported orientation: " + Enum.GetName(typeof(ServoOrientation), orientation));
}
float val = 0f;
float epValue = PROP_END_POINT_DEFAULT;
if (float.TryParse(base.PropertyCollection[propName], out val))
{
epValue = val;
this.ValidateEndPoint(epValue, propName);
}
float computedPwmDuration = 0f;
float p = ((PWM_MAX - PWM_NEUTRAL) / 150 * epValue);
float neutral = this.CalcNeutralPwmDuration();
if (orientation == ServoOrientation.Left)
{
computedPwmDuration = (neutral - p);
}
else
{
computedPwmDuration = (neutral + p);
}
if (computedPwmDuration < PWM_MIN)
{
result = PWM_MIN;
}
else if (computedPwmDuration > PWM_MAX)
{
result = PWM_MAX;
}
else
{
result = computedPwmDuration;
}
return(result);
}
/// <summary>
/// Calculates end point PWM duration for the specified servo orientation.
/// </summary>
/// <returns>
/// The end point PWM duration.
/// </returns>
/// <param name="orientation">
/// The servo orientation.
/// </param>
/// <exception cref="InvalidOperationException">
/// An unsupported orientation was specified.
/// </exception>
/// <exception cref="ArgumentOutOfRangeException">
/// The end point property value is not between
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.Servo.END_POINT_MIN"/>
/// and <see cref="CyrusBuilt.MonoPi.Components.Servos.Servo.END_POINT_MAX"/>.
/// </exception>
public float CalcEndPointPwmDuration(ServoOrientation orientation) {
float result = 0f;
String propName = String.Empty;
switch (orientation) {
case ServoOrientation.Left:
propName = PROP_END_POINT_LEFT;
break;
case ServoOrientation.Right:
propName = PROP_END_POINT_RIGHT;
break;
default:
throw new InvalidOperationException("Unsupported orientation: " + Enum.GetName(typeof(ServoOrientation), orientation));
}
float val = 0f;
float epValue = PROP_END_POINT_DEFAULT;
if (float.TryParse(base.PropertyCollection[propName], out val)) {
epValue = val;
this.ValidateEndPoint(epValue, propName);
}
float computedPwmDuration = 0f;
float p = ((PWM_MAX - PWM_NEUTRAL) / 150 * epValue);
float neutral = this.CalcNeutralPwmDuration();
if (orientation == ServoOrientation.Left) {
computedPwmDuration = (neutral - p);
}
else {
computedPwmDuration = (neutral + p);
}
if (computedPwmDuration < PWM_MIN) {
result = PWM_MIN;
}
else if (computedPwmDuration > PWM_MAX) {
result = PWM_MAX;
}
else {
result = computedPwmDuration;
}
return result;
}
