private void Start()
{
servo = new RCServo();
servo.Open();
servo.Attach += OnAttachServo;
sensorDistance = new DistanceSensor();
sensorDistance.Open();
sensorDistance.Attach += OnAttachDistanceSensor;
}
private void CloseConnection()
{
if (servo != null)
{
servo.Close();
servo = null;
}
if (sensorDistance != null)
{
sensorDistance.Close();
sensorDistance = null;
}
}
public void Servo_Attach(object sender, AttachEventArgs e)
{
RCServo servo = (RCServo)sender;
//servo.Voltage = RCServoVoltage.Volts_5_0;
//servo.MinPulseWidth = MIN_PULSEWIDTH;
//servo.MaxPulseWidth = MAX_PULSEWIDTH;
servo.MinPosition = POSITION_AT_MIN_PULSEWIDTH;
servo.MaxPosition = POSITION_AT_MAX_PULSEWIDTH;
servo.VelocityLimit = servo.MaxVelocityLimit;
servo.Acceleration = servo.MaxAcceleration;
servo.TargetPosition = TargetPosition;
servo.Engaged = true;
UpdateConnectionStatus();
}
public void SetupPhidget()
{
servo = new RCServo();
servo.Attach += Servo_Attach;
servo.Detach += Servo_Detach;
servo.TargetPositionReached += Servo_TargetPositionReached;
servo.DeviceSerialNumber = 306371;
servo.Channel = 0;
servo.IsHubPortDevice = false;
try
{
servo.Open(CONNECTION_TIMEOUT);
}
catch (PhidgetException e)
{
Debug.WriteLine($"Failed to connect phidget with msg {e}");
}
UpdateConnectionStatus();
}
public CallBackInfo(RCServo servo, double intendedTargetPosition)
{
Owner = servo;
IntendedTargetPosition = intendedTargetPosition;
}
