/*
* Tripod control command
*/
/// <summary>
/// Default constructor
/// </summary>
public APod()
{
// set up
Port = new Connector("COM6", 115100);
Port.Open();
// head
head = new Head(new Servo(14, 1500), new Servo(13, 1500), new Servo(29, 1500),
new Servo(12, 1500), new Servo(28, 1500));
// legs
LeftFront = new Leg(new Servo(16, 1500), new Servo(17, 1500),
new Servo(18, 1500), Leg.LEFT);
LeftCenter = new Leg(new Servo(20, 1500), new Servo(21, 1500),
new Servo(22, 1500), Leg.LEFT);
LeftRear = new Leg(new Servo(24, 1500), new Servo(25, 1500),
new Servo(26, 1500), Leg.LEFT);
RightFront = new Leg(new Servo(0, 1500), new Servo(1, 1500),
new Servo(2, 1500), Leg.RIGHT);
RightCenter = new Leg(new Servo(4, 1500), new Servo(5, 1500),
new Servo(6, 1500), Leg.RIGHT);
RightRear = new Leg(new Servo(8, 1500), new Servo(9, 1500),
new Servo(10, 1500), Leg.RIGHT);
}
/// <summary>
/// Update communication port
/// </summary>
/// <param name="port"></param>
public void SetPort(SerialPort port)
{
Port = new Connector(port);
}