public void UpdateState(PololuMaestroState state)
{
DeviceSerialNumber = state.SerialNumber;
IsConnected = state.Connected;
if (Servos == null || Servos.Count != state.Channels.Count)
{
Servos = new ObservableCollection<ServoStateViewModel>();
for (int i = 0; i < state.Channels.Count; i++)
{
var vm = new ServoStateViewModel();
vm.PropertyChanged += OnServoStatePropertyChanged;
Servos.Add(vm);
}
}
try
{
_updatingServoState = true;
for (int i = 0; i < _servos.Count; i++)
Servos[i].Update(state.Channels[i]);
}
finally
{
_updatingServoState = false;
}
}
private void SetNeutralPosition(ServoStateViewModel vm)
{
_service.SetServoState(vm.Index, (ushort) (vm.Neutral*4), vm.Speed, vm.Acceleration);
}