/// <summary>
/// Creates a <see cref="ServoMotor"/> from one of the 4 available PWM channels in the MotorHat
/// </summary>
/// <param name="channelNumber">A valid PWM channel (0, 1, 14 or 15)</param>
/// <param name="maximumAngle">The maximum angle the servo motor can move represented as a value between 0 and 360.</param>
/// <param name="minimumPulseWidthMicroseconds">The minimum pulse width, in microseconds, that represent an angle for 0 degrees.</param>
/// <param name="maximumPulseWidthMicroseconds">The maxnimum pulse width, in microseconds, that represent an angle for maximum angle.</param>
/// <remarks>
/// The channelNumber refers to ont of the available PWM channel numbers available in the Motor Hat (0, 1, 14, 15) printed in the device.
/// </remarks>
public ServoMotor.ServoMotor CreateServoMotor(int channelNumber, double maximumAngle = 180, double minimumPulseWidthMicroseconds = 1000, double maximumPulseWidthMicroseconds = 2000)
{
var pwmChannel = CreatePwmChannel(channelNumber);
var servo = new ServoMotor.ServoMotor(pwmChannel, maximumAngle, minimumPulseWidthMicroseconds, maximumPulseWidthMicroseconds);
return(servo);
}
private static void CalibratePulseWidth(ServoMotor.ServoMotor servo, ref int pulseWidthMicroSeconds)
{
void SetPulseWidth(ref int pulseWidth)
{
pulseWidth = Math.Max(pulseWidth, 0);
servo.WritePulseWidth(pulseWidth);
}
Console.WriteLine("Use A/Z (1x); S/X (10x); D/C (100x)");
Console.WriteLine("Press enter to accept value");
while (true)
{
SetPulseWidth(ref pulseWidthMicroSeconds);
Console.WriteLine($"Current value: {pulseWidthMicroSeconds}");
switch (Console.ReadKey().Key)
{
case ConsoleKey.A:
pulseWidthMicroSeconds++;
break;
case ConsoleKey.Z:
pulseWidthMicroSeconds--;
break;
case ConsoleKey.S:
pulseWidthMicroSeconds += 10;
break;
case ConsoleKey.X:
pulseWidthMicroSeconds -= 10;
break;
case ConsoleKey.D:
pulseWidthMicroSeconds += 100;
break;
case ConsoleKey.C:
pulseWidthMicroSeconds -= 100;
break;
case ConsoleKey.Enter:
return;
}
}
}
private static void CalibrateServo(ServoMotor.ServoMotor servo)
{
int maximumAngle = 180;
int minimumPulseWidthMicroseconds = 520;
int maximumPulseWidthMicroseconds = 2590;
Console.WriteLine("Searching for minimum pulse width");
CalibratePulseWidth(servo, ref minimumPulseWidthMicroseconds);
Console.WriteLine();
Console.WriteLine("Searching for maximum pulse width");
CalibratePulseWidth(servo, ref maximumPulseWidthMicroseconds);
Console.WriteLine("Searching for angle range");
Console.WriteLine(
"What is the angle range? (type integer with your angle range or enter to move to MIN/MAX)");
while (true)
{
servo.WritePulseWidth(maximumPulseWidthMicroseconds);
Console.WriteLine("Servo is now at MAX");
if (int.TryParse(Console.ReadLine(), out maximumAngle))
{
break;
}
servo.WritePulseWidth(minimumPulseWidthMicroseconds);
Console.WriteLine("Servo is now at MIN");
if (int.TryParse(Console.ReadLine(), out maximumAngle))
{
break;
}
}
servo.Calibrate(maximumAngle, minimumPulseWidthMicroseconds, maximumPulseWidthMicroseconds);
Console.WriteLine($"Angle range: {maximumAngle}");
Console.WriteLine($"Min PW [uS]: {minimumPulseWidthMicroseconds}");
Console.WriteLine($"Max PW [uS]: {maximumPulseWidthMicroseconds}");
}
