/// <summary>
/// Set the value for the servos on the sides of the hexapod.
/// SSC-32U Commands: LH, LM, LL, RH, RM, RL
/// </summary>
/// <param name="side">Specifies the side of the hexapod.</param>
/// <param name="legValue">Leg Value : High - maximum height, Low - minimum h.</param>
/// <param name="value">Value.</param>
public static Command SetVerticalServo(this Command command, ServoSide side, LegValue legValue, int value)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
if (value < 500 || value > 2500)
{
throw new ArgumentOutOfRangeException(nameof(value), "The valid range is between 500 to 2500uS.");
}
var sb = command.Builder;
sb.Append(side == ServoSide.Left ? 'L' : 'R');
switch (legValue)
{
case LegValue.High:
sb.Append('H');
break;
case LegValue.Mid:
sb.Append('M');
break;
case LegValue.Low:
sb.Append('L');
break;
}
sb.Append(' ');
sb.Append(value);
return(command);
}
/// <summary>
/// Set the travel percentage for left and right legs. The valid range is -100% to 100%.
/// Negative values cause the legs on the side to move in reverse. With a value of 100%, the legs will move
/// between the front and rear positions.Lower values cause the travel to be proportionally less, but
/// always centered.The speed for horizontal moves is adjusted based on the XL and XR
/// commands, so the move time remains the same.
/// SSC-32U Commands: XL, XR
/// </summary>
/// <param name="side">Specifies the side of the hexapod.</param>
/// <param name="percentage"> The valid range is -100% to 100%.</param>
public static Command SetTravelPercentage(this Command command, ServoSide side, int percentage)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
if (percentage < -100 || percentage > 100)
{
throw new ArgumentOutOfRangeException(nameof(percentage), "The valid range is between -100% to 100%");
}
var sb = command.Builder;
sb.Append(side == ServoSide.Left ? "XL" : "XR");
sb.Append(percentage);
return(command);
}
/// <summary>
/// Set the value for the horizontal servos on the left side of the robot. sets the pulse width to move the leg to the maximum forward/rear position;
/// SSC-32U Commands: LF, LR, RF, RR
/// </summary>
/// <param name="side">Specifies the side of the hexapod.</param>
/// <param name="servoValue">Specifies front/rear servos.</param>
/// <param name="value"> The valid range for the arguments is 500 to 2500uS.</param>
public static Command SetHorizontalServo(this Command command, ServoSide side, FrontRear servoValue, int value)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
if (value < 500 || value > 2500)
{
throw new ArgumentOutOfRangeException(nameof(value), "The valid range is between 500 to 2500uS.");
}
var sb = command.Builder;
sb.Append(side == ServoSide.Left ? 'L' : 'R');
sb.Append(servoValue == FrontRear.Front ? "F " : "R ");
sb.Append(value);
return(command);
}