//pin will not correspond to pin number for analog input pins being used
//for digitalWrite
public bool DigitalWrite(int pin, bool on)
{
try
{
ArduinoCommand cmd = new ArduinoCommand()
{
Command = Command.DigitalWrite,
NumberOfReturnedBytes = 0
};
cmd.AddParameter(pin);
cmd.AddParameter(on ? 1: 0);
byte[] toWrite = cmd.GetCommandBytes();
stream.Write(toWrite, 0, toWrite.Length);
return(true);
}
catch (Exception) { return(false); }
}
public bool VerticalStabilize(int verticalLeftPwr, int verticalRightPwr)
{
try
{
ArduinoCommand command = new ArduinoCommand()
{
Command = Command.VerticalStabilize,
NumberOfReturnedBytes = 0
};
int verticalSpeed = ((verticalLeftPwr + verticalRightPwr) / 2) - 1500;
int rollPos = (verticalLeftPwr - verticalRightPwr) / 2;
command.AddParameter(verticalSpeed);
command.AddParameter(rollPos);
byte[] toWrite = command.GetCommandBytes();
stream.Write(toWrite, 0, toWrite.Length);
return(true);
}
catch (Exception) { return(false); }
}
public bool SetThruster(Thrusters thruster, int value)
{
try
{
ArduinoCommand command = new ArduinoCommand()
{
Command = Command.SetThruster,
NumberOfReturnedBytes = 0
};
command.AddParameter((int)thruster);
command.AddParameter(value);
{
byte[] toWrite = command.GetCommandBytes();
stream.Write(toWrite, 0, toWrite.Length);
return(true);
}
}
catch (Exception) { return(false); }
}
public bool SetServoSpeed(Servos servo, int speed)
{
ArduinoCommand cmd = new ArduinoCommand()
{
Command = Command.SetServoSpeed,
NumberOfReturnedBytes = 0
};
cmd.AddParameter((int)servo);
cmd.AddParameter(speed);
try
{
byte[] toWrite = cmd.GetCommandBytes();
stream.Write(toWrite, 0, toWrite.Length);
return(true);
}
catch (Exception)
{
return(false);
}
}
