public bool SetLimits(PanTiltLimit panTiltLimit)
{
this._panTiltlimit = panTiltLimit;
this.LimitChanged?.Invoke();
return(true);
}
public EneoPanTiltControl(ICommunication communication, bool debug = false)
{
this._communication = communication;
this._communication.ReceiveData += PackageReceived;
this._debug = debug;
this._positionConverter = new PositionConverter();
this._position = new PanTiltPosition(0, 0);
this._limits = new PanTiltLimit();
this._handler = new FeedbackHandler();
this._resetEvent = new ManualResetEvent(false);
this._stopHeartbeat = true;
this.InitializeSpeedTranslationTable();
}
public AlturosPanTiltControl(ICommunication communication, bool debug = false)
{
if (communication is TcpNetworkCommunication || communication is SerialPortCommunication)
{
throw new NotSupportedException("Only upd communication is supported");
}
//Add default limits
this._panTiltlimit = new PanTiltLimit
{
PanMin = -170,
PanMax = 170,
TiltMin = -60,
TiltMax = 45
};
this._position = new PanTiltPosition(0, 0);
this._communication = communication;
this._communication.ReceiveData += PackageReceived;
this._debug = debug;
}
public bool SetLimits(PanTiltLimit panTiltLimit)
{
Task.Run(async() =>
{
var positionChecker = new PositionChecker(this);
//Disable limits
this.DisableLimit();
//Move to zero position
this.PanTiltAbsolute(0, 0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0));
var tempPanMin = panTiltLimit.PanMin - 10;
var tempTiltMin = panTiltLimit.TiltMin - 10;
//PanMin
this.PanRelative(-30);
await positionChecker.ComparePositionAsync(new PanTiltPosition(tempPanMin, 0), tolerance: 5, timeout: 50, retry: 200);
//TiltMin
this.TiltRelative(-20);
await positionChecker.ComparePositionAsync(new PanTiltPosition(tempPanMin, tempTiltMin), tolerance: 5, timeout: 50, retry: 200);
//Set temp limits
this.SetLimitLeft();
this.SetLimitDown();
//Drive to absolute position
this.PanTiltAbsolute(panTiltLimit.PanMin, panTiltLimit.TiltMin);
await positionChecker.ComparePositionAsync(new PanTiltPosition(panTiltLimit.PanMin, panTiltLimit.TiltMin));
//Set real limits
this.SetLimitLeft();
this.SetLimitDown();
var tempPanMax = panTiltLimit.PanMax + 10;
var tempTiltMax = panTiltLimit.TiltMax + 10;
//PanMax
this.PanRelative(30);
await positionChecker.ComparePositionAsync(new PanTiltPosition(tempPanMax, panTiltLimit.TiltMin), tolerance: 5, timeout: 50, retry: 200);
//TiltMax
this.TiltRelative(20);
await positionChecker.ComparePositionAsync(new PanTiltPosition(tempPanMax, tempTiltMax), tolerance: 5, timeout: 50, retry: 200);
//Set temp limits
this.SetLimitRigth();
this.SetLimitUp();
//Drive to absolute position
this.PanTiltAbsolute(panTiltLimit.PanMax, panTiltLimit.TiltMax);
await positionChecker.ComparePositionAsync(new PanTiltPosition(panTiltLimit.PanMax, panTiltLimit.TiltMax));
//Set real limits
this.SetLimitRigth();
this.SetLimitUp();
//Enable limits
this.EnableLimit();
}).ContinueWith(async o =>
{
this.QueryLimits();
//Move to zero position
var positionChecker = new PositionChecker(this);
this.PanTiltAbsolute(0, 0);
await positionChecker.ComparePositionAsync(new PanTiltPosition(0, 0));
this.LimitChanged?.Invoke();
});
return(true);
}
public bool SetLimits(PanTiltLimit panTiltLimit)
{
//this.LimitChanged?.Invoke();
return(true);
}