public Servos()
{
m_Servos = new Servo[8];
for (int servoIndex = 0; servoIndex < Servos.c_ServosCount; servoIndex++)
{
m_Servos[servoIndex] = new Servo(servoIndex);
}
}
public Servos()
{
m_Servos = new Servo[8];
for (int servoIndex = 0; servoIndex < Servos.c_ServosCount; servoIndex++)
{
m_Servos[servoIndex] = new Servo(servoIndex);
}
}
public static void ConfigureServosFromFile(string filePath, Servo[] servos)
{
using (StreamReader file = new StreamReader(filePath))
{
for (int servoIndex = 0; servoIndex < Servos.c_ServosCount; servoIndex++)
{
InitializeServo(file, servos[servoIndex]);
}
}
}
private static void WriteParameters(StreamWriter writer, Servo servo, int index)
{
writer.Write(index);
writer.Write('\t');
writer.Write(servo.Name);
writer.Write('\t');
writer.Write(servo.MinPosMSecs);
writer.Write('\t');
writer.Write(servo.MaxPosMSecs);
writer.Write('\t');
writer.Write(servo.Slope);
writer.Write('\t');
writer.Write(servo.YIntercept);
writer.WriteLine();
}
private static void WriteParameters(StreamWriter writer, Servo servo, int index)
{
writer.Write(index);
writer.Write('\t');
writer.Write(servo.Name);
writer.Write('\t');
writer.Write(servo.MinPosMSecs);
writer.Write('\t');
writer.Write(servo.MaxPosMSecs);
writer.Write('\t');
writer.Write(servo.Slope);
writer.Write('\t');
writer.Write(servo.YIntercept);
writer.WriteLine();
}
private static void InitializeServo(StreamReader file, Servo servo)
{
bool isEnabled = ParseBoolean(file.ReadLine());
bool isReverse = ParseBoolean(file.ReadLine());
file.ReadLine(); // Rate
file.ReadLine(); // Don't know what this number means
int limit1Ticks = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int limit2Ticks = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int limit1Degrees = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int limit2Degrees = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int minPosMSecs;
int maxPosMSecs;
int maxDegrees;
int minDegrees;
if (limit2Ticks > limit1Ticks)
{
minPosMSecs = MillisecsFromTicks(limit1Ticks);
maxPosMSecs = MillisecsFromTicks(limit2Ticks);
minDegrees = limit1Degrees;
maxDegrees = limit2Degrees;
}
else
{
// inverse
minPosMSecs = MillisecsFromTicks(limit2Ticks);
maxPosMSecs = MillisecsFromTicks(limit1Ticks);
minDegrees = limit2Degrees;
maxDegrees = limit1Degrees;
}
double slope = (double)((maxPosMSecs - minPosMSecs)) / ((double)(maxDegrees - minDegrees));
double yIntercept = maxPosMSecs - slope * maxDegrees;
servo.Initialize(
isEnabled,
minPosMSecs,
maxPosMSecs,
slope,
yIntercept);
}
private static void InitializeServo(StreamReader file, Servo servo)
{
bool isEnabled = ParseBoolean(file.ReadLine());
bool isReverse = ParseBoolean(file.ReadLine());
file.ReadLine(); // Rate
file.ReadLine(); // Don't know what this number means
int limit1Ticks = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int limit2Ticks = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int limit1Degrees = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int limit2Degrees = Int32.Parse(file.ReadLine(), CultureInfo.InvariantCulture);
int minPosMSecs;
int maxPosMSecs;
int maxDegrees;
int minDegrees;
if (limit2Ticks > limit1Ticks)
{
minPosMSecs = MillisecsFromTicks(limit1Ticks);
maxPosMSecs = MillisecsFromTicks(limit2Ticks);
minDegrees = limit1Degrees;
maxDegrees = limit2Degrees;
}
else
{
// inverse
minPosMSecs = MillisecsFromTicks(limit2Ticks);
maxPosMSecs = MillisecsFromTicks(limit1Ticks);
minDegrees = limit2Degrees;
maxDegrees = limit1Degrees;
}
double slope = (double)((maxPosMSecs - minPosMSecs)) / ((double)(maxDegrees - minDegrees));
double yIntercept = maxPosMSecs - slope * maxDegrees;
servo.Initialize(
isEnabled,
minPosMSecs,
maxPosMSecs,
slope,
yIntercept);
}
private static void InitializeServo(StreamReader reader, Servo servo)
{
string line = reader.ReadLine();
string[] parts = line.Split('\t');
int index = Int32.Parse(parts[(int)ParamField.Index], CultureInfo.InvariantCulture);
string name = parts[(int)ParamField.Name];
int minPosMilliSecs = Int32.Parse(parts[(int)ParamField.MinPosMilliSecs], CultureInfo.InvariantCulture);
servo.MinPosMSecs = minPosMilliSecs;
int maxPosMilliSecs = Int32.Parse(parts[(int)ParamField.MaxPosMilliSecs], CultureInfo.InvariantCulture);
servo.MaxPosMSecs = maxPosMilliSecs;
double slope = Double.Parse(parts[(int)ParamField.Slope], CultureInfo.InvariantCulture);
servo.Slope = slope;
double yIntercept = Double.Parse(parts[(int)ParamField.YIntercept], CultureInfo.InvariantCulture);
servo.YIntercept = yIntercept;
}
private static void InitializeServo(StreamReader reader, Servo servo)
{
string line = reader.ReadLine();
string[] parts = line.Split('\t');
int index = Int32.Parse(parts[(int)ParamField.Index], CultureInfo.InvariantCulture);
string name = parts[(int)ParamField.Name];
int minPosMilliSecs = Int32.Parse(parts[(int)ParamField.MinPosMilliSecs], CultureInfo.InvariantCulture);
servo.MinPosMSecs = minPosMilliSecs;
int maxPosMilliSecs = Int32.Parse(parts[(int)ParamField.MaxPosMilliSecs], CultureInfo.InvariantCulture);
servo.MaxPosMSecs = maxPosMilliSecs;
double slope = Double.Parse(parts[(int)ParamField.Slope], CultureInfo.InvariantCulture);
servo.Slope = slope;
double yIntercept = Double.Parse(parts[(int)ParamField.YIntercept], CultureInfo.InvariantCulture);
servo.YIntercept = yIntercept;
}
