/// <summary>
/// Animate the servo to a position using speed and easing. Will turn on the servo if off. Returns when position reached or stopped early.
/// </summary>
/// <param name="position">from -180 - 360</param>
/// <param name="speed">0-100</param>
/// <param name="easeIn">0-100</param>
/// <param name="easeOut">0-100</param>
public async Task <MoveResponse> MoveAsync(float position, int?speed = null, int?easeIn = null, int?easeOut = null, CancellationToken?cancelationToken = null)
{
return(await _runner.ExecuteAsync(new AsyncCommandFirstServoResponse <MoveResponse>(_servoID, new MoveCommand()
{
ServoID = _servoID, Position = position, Speed = speed, EaseIn = easeIn, EaseOut = easeOut
}, cancelationToken, () => StopMove(),
async origTask =>
{
//wait a bit for the MoveResponse to arrive
var completedTask = await Task.WhenAny(origTask, Task.Delay(200)); //timeout in .2 sec
if (completedTask == origTask)
{
return await origTask;
}
return null;
}, Servos.EstimateMoveTimeout(speed))));
}
public Arm(ICommunication comm, int servoCount = 5)
{
//set fields
Communication = comm;
Behaviors = new BehaviorManager(this);
_runner = new CommandRunner(comm);
Led = new Led(_runner, this);
Button = new Button(_runner, this);
Knob = new Knob(_runner, this);
Sound = new Sound(_runner, this);
Servos = new Servos(_runner, this, servoCount);
//register responses
_runner.RegisterForResponse <ErrorResponse>(ErrorResponse);
_runner.RegisterForResponse <InfoResponse>(InfoResponse);
_runner.RegisterForResponse <SoftResetResponse>(SoftResetResponse);
}