/// <summary>
/// Gets a driver for the requested pin.
/// </summary>
/// <param name="servoPin">
/// The pin the driver is needed for.
/// </param>
/// <returns>
/// The servo driver assigned to the pin. May be null if no driver is
/// assigned or if the pin is unknown.
/// </returns>
/// <exception cref="ArgumentException">
/// The specified pin cannot be driven by any available servo driver
/// because it is not a defined servo pin.
/// </exception>
/// <exception cref="System.IO.IOException">
/// No driver is assigned to the specified pin - or - Cannot drive servo
/// from specified pin - or - another initialization error occurred.
/// </exception>
public IServoDriver GetServoDriver(IPin servoPin)
{
List <IPin> servoPins = this.DefinedServoPins;
Int32 index = servoPins.IndexOf(servoPin);
if (index < 0)
{
throw new ArgumentException("Servo driver cannot drive pin " + servoPin.ToString());
}
PCA9685GpioServoDriver driver = null;
lock (_lock) {
if (this._allocatedDrivers.ContainsKey((PCA9685Pin)servoPin))
{
driver = this._allocatedDrivers.Values.ElementAt(index);
}
else
{
driver = new PCA9685GpioServoDriver(this._provider, (PCA9685Pin)servoPin);
this._allocatedDrivers.Add((PCA9685Pin)servoPin, driver);
}
}
return(driver);
}
/// <summary>
/// Gets a driver for the requested pin.
/// </summary>
/// <param name="servoPin">
/// The pin the driver is needed for.
/// </param>
/// <returns>
/// The servo driver assigned to the pin. May be null if no driver is
/// assigned or if the pin is unknown.
/// </returns>
/// <exception cref="ArgumentException">
/// The specified pin cannot be driven by any available servo driver
/// because it is not a defined servo pin.
/// </exception>
/// <exception cref="System.IO.IOException">
/// No driver is assigned to the specified pin - or - Cannot drive servo
/// from specified pin - or - another initialization error occurred.
/// </exception>
public IServoDriver GetServoDriver(IPin servoPin) {
List<IPin> servoPins = this.DefinedServoPins;
Int32 index = servoPins.IndexOf(servoPin);
if (index < 0) {
throw new ArgumentException("Servo driver cannot drive pin " + servoPin.ToString());
}
PCA9685GpioServoDriver driver = null;
lock (_lock) {
if (this._allocatedDrivers.ContainsKey((PCA9685Pin)servoPin)) {
driver = this._allocatedDrivers.Values.ElementAt(index);
}
else {
driver = new PCA9685GpioServoDriver(this._provider, (PCA9685Pin)servoPin);
this._allocatedDrivers.Add((PCA9685Pin)servoPin, driver);
}
}
return driver;
}
