private void ServoSeletion(object sender, EventArgs e)
{
updating_servo_info = true;
uc.UcServo ucServo = (uc.UcServo)sender;
if (ucServo.isActive)
{
if (rbSelect.IsChecked == true)
{
ucServo.SetSelection(true);
}
else if (rbUnSelect.IsChecked == true)
{
ucServo.SetSelection(false);
}
else if (rbToggle.IsChecked == true)
{
ucServo.SetSelection(!ucServo.isSelected);
}
}
UpdateActiveServoInfo();
updating_servo_info = false;
UpdateInfo(String.Format("Servo_Click from {0}", ucServo.id));
}
private void ServoLedChange(object sender, EventArgs e)
{
uc.UcServo ucServo = (uc.UcServo)sender;
byte id = ucServo.id;
if ((id < 1) || (id > CONST.MAX_SERVO))
{
return;
}
byte mode = servo[id].led;
switch (mode)
{
case CONST.LED.NO_CHANGE:
mode = CONST.LED.TURN_ON;
UBT.V2_SetLED(id, 0);
break;
case CONST.LED.TURN_ON:
mode = CONST.LED.TURN_OFF;
UBT.V2_SetLED(id, 1);
break;
default:
mode = CONST.LED.NO_CHANGE;
break;
}
servo[id].SetLED(mode);
servo[id].Show();
if (activeServo == id)
{
UpdateActiveServoInfo();
}
}
private void ServoSeletion(object sender, EventArgs e)
{
updating_servo_info = true;
// uc.UcServo ucServo = (uc.UcServo)sender;
uc.UcServo ucServo = (uc.UcServo)sender;
/*
* if ((activeServo > 0) && (activeServo != ucServo.id))
* {
* servo[activeServo].SetActive(false);
* }
* ucServo.SetActive(true);
* activeServo = (ucServo.isActive ? ucServo.id : 0);
*/
if (ucServo.isActive)
{
if (rbSelect.IsChecked == true)
{
ucServo.SetSelection(true);
}
else if (rbUnSelect.IsChecked == true)
{
ucServo.SetSelection(false);
}
else if (rbToggle.IsChecked == true)
{
ucServo.SetSelection(!ucServo.isSelected);
}
}
UpdateActiveServoInfo();
updating_servo_info = false;
UpdateInfo(String.Format("Servo_Click from {0}", ucServo.id));
}
private void SetServoActive(object sender, EventArgs e)
{
updating_servo_info = true;
uc.UcServo ucServo = (uc.UcServo)sender;
if ((activeServo > 0) && (activeServo != ucServo.id))
{
servo[activeServo].SetActive(false);
}
ucServo.SetActive(true);
activeServo = (ucServo.isActive ? ucServo.id : 0);
ucMainServo.SetActiveServo(activeServo);
UpdateActiveServoInfo();
updating_servo_info = false;
}
private void ServoLockChange(object sender, EventArgs e)
{
uc.UcServo ucServo = (uc.UcServo)sender;
byte id = ucServo.id;
if ((id < 1) || (id > CONST.MAX_SERVO))
{
return;
}
bool goLock = !servo[id].locked;
List <data.ServoInfo> lsi = new List <data.ServoInfo>();
lsi.Add(new data.ServoInfo(id));
UBT.LockServo(lsi, goLock);
// servo[id].Show();
if (activeServo == id)
{
UpdateActiveServoInfo();
}
}
private void InitServo()
{
ConfigObject CONFIG = SYSTEM.configObject;
gridRobot.Background = loadImage(CONFIG);
for (byte i = 1; i <= CONFIG.max_servo; i++)
{
uc.UcServo us = new uc.UcServo(UBT.GetServo(i));
us.Width = 38;
us.Height = 38;
us.HorizontalAlignment = HorizontalAlignment.Left;
us.VerticalAlignment = VerticalAlignment.Top;
// us.Margin = new Thickness(servoPos[i, 0], servoPos[i, 1], 0, 0);
us.Margin = new Thickness(CONFIG.servos[i - 1].X, CONFIG.servos[i - 1].Y, 0, 0);
us.Show();
us.MouseDownEventHandler += Servo_MouseDown;
servo[i] = us;
gridRobot.Children.Add(us);
}
}
