public void OnSaved(WpfConfiguration configurationControl)
{
var config = configurationControl as Phidget1066AdvServoConfig;
servoType = config.ServoType;
position = config.Position;
}
protected override void OnLoadDefaults()
{
position = 50;
index = 0;
// This is the one we have, so we are just defaulting to it
servoType = ServoServo.ServoType.HITEC_HS322HD;
}
public Phidget1066AdvServoConfig(int index, ServoServo.ServoType servoType, double position)
{
Index = index;
ServoType = servoType;
Position = position;
InitializeComponent();
}
internal void SetServoProperties(int servoNumber, ServoServo.ServoType type, double minPulse, double maxPulse, double maxVelocity, double travel)
{
if (_servoBoard != null && _servoBoard.Attached)
{
double degrees = (maxPulse - minPulse) / travel;
if (type == ServoServo.ServoType.USER_DEFINED)
{
_servoBoard.servos[servoNumber].setServoParameters(minPulse, maxPulse, degrees, degrees * maxVelocity);
}
else
{
_servoBoard.servos[servoNumber].Type = type;
}
_servos[servoNumber].Calibration.OutputLimitMax = travel > 0 ? travel : 0.001;
_servos[servoNumber].Calibration.OutputLimitMin = 0.0;
}
}
