public void RunServoMotion(ServoMotor Motor, List <ServoPosition> MotionProfile, int NumIterations)
{
//Clear any exisiting motion profile for the selected motor
CancelServoMotion(Motor);
//add to the execution list
MotionExecutionState state = new MotionExecutionState();
state.Motor = Motor;
state.LastUpdateTime = m_stopWatch.ElapsedMilliseconds;
state.MotionProfile = MotionProfile;
state.TotalIterations = NumIterations;
state.isRunning = (MotionProfile.Count > 0);
if (state.isRunning)
{
state.CurrentAngle = MotionProfile[0].TargetAngle;
}
else
{
state.CurrentAngle = Motor.MaxAngle / 2;
}
m_ExecutionList.Add(state);
//ensure update timer is enabled
m_updateTimer.Enabled = true;
}
public bool IsMotorRunning(ServoMotor Motor)
{
uint motorID = Motor.PWMHardwareIndex;
for (int i = 0; i < m_ExecutionList.Count; i++)
{
if (m_ExecutionList[i].Motor.PWMHardwareIndex == motorID)
{
return(m_ExecutionList[i].isRunning);
}
}
return(false);
}
public void CancelServoMotion(ServoMotor Motor)
{
bool motorFound = false;
for (int i = 0; i < m_ExecutionList.Count; i++)
{
if (Motor == m_ExecutionList[i].Motor)
{
m_ExecutionList.RemoveAt(i);
motorFound = true;
break;
}
}
if (!motorFound)
{
throw new ArgumentException("ERROR: Could not find motor to cancel motion");
}
}
public void PauseServoMotion(ServoMotor Motor)
{
bool motorFound = false;
for (int i = 0; i < m_ExecutionList.Count; i++)
{
if (Motor == m_ExecutionList[i].Motor)
{
m_ExecutionList[i].isRunning = false;
motorFound = true;
break;
}
}
if (!motorFound)
{
throw new ArgumentException("ERROR: Paused motor not found");
}
}
public void ResumeServoMotion(ServoMotor Motor)
{
bool motorFound = false;
for (int i = 0; i < m_ExecutionList.Count; i++)
{
if (Motor == m_ExecutionList[i].Motor)
{
m_ExecutionList[i].isRunning = true;
motorFound = true;
m_updateTimer.Enabled = true;
break;
}
}
if (!motorFound)
{
throw new ArgumentException("ERROR: Could not find motor to resume");
}
}
/// <summary>
/// Run motion profile forever until cancelled. Repeats from the start of the profile.
/// </summary>
/// <param name="Motor">The motor to run the motion profile on</param>
/// <param name="MotionProfile">The profile to run</param>
public void RunServoMotion(ServoMotor Motor, List <ServoPosition> MotionProfile)
{
//call overload with multiple iterations. -1 means infinite
RunServoMotion(Motor, MotionProfile, -1);
}
