/// <summary>
/// Action concernant un servomoteur.
/// Effectue lui-même le wait d'attente de fin de rotation
/// </summary>
public ActionServo(String description, AX12 servomoteur, ServoCommandTypes commandType, float angle)
: base(description)
{
this.servomoteur = servomoteur;
this.angle = angle;
this.commandType = commandType;
}
public ActionServoRotation(String description, AX12 servomoteur, speed vitesse, int duration)
: base(description)
{
this.servomoteur = servomoteur;
this.duration = duration;
this.vitesse = (int)vitesse;
}
public ActionServoAbsolue(String description, AX12 servomoteur, int angle, int duration)
: base(description)
{
this.servomoteur = servomoteur;
this.angle = angle;
this.duration = duration;
}
public ActionServo BuildActionServo(AX12 servomoteur, ServoCommandTypes commandType, float angle)
{
return(new ActionServo(description, servomoteur, commandType, angle));
}
public ActionServoRotation BuildActionServoRotation(AX12 servomoteur, int vitesse, int duration)
{
return(new ActionServoRotation(description, servomoteur, vitesse, duration));
}
public ActionServoRotation BuildActionServoRotation(AX12 servomoteur, speed direction, int duration)
{
return(new ActionServoRotation(description, servomoteur, direction, duration));
}
public ActionServoAbsolue BuildActionServoAbsolue(AX12 servomoteur, int angle, int duration)
{
return(new ActionServoAbsolue(description, servomoteur, angle, duration));
}
