private static string UID = "XXYYZZ"; // Change XXYYZZ to the UID of your Servo Brick
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickServo servo = new BrickServo(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register position reached callback to function PositionReachedCB
servo.PositionReached += PositionReachedCB;
// Enable position reached callback
servo.EnablePositionReachedCallback();
// Set velocity to 100°/s. This has to be smaller or equal to the
// maximum velocity of the servo you are using, otherwise the position
// reached callback will be called too early
servo.SetVelocity(0, 10000);
servo.SetPosition(0, 9000);
servo.Enable(0);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
servo.Disable(0);
ipcon.Disconnect();
}
private void SetMotorConfiguration(byte motorID, MotorConfiguration mc)
{
if (GetMotorIDs().Contains(motorID))
{
servo.SetDegree(motorID, mc.GetShortValue("Degree_Min"), mc.GetShortValue("Degree_Max"));
servo.SetPulseWidth(motorID, mc.GetIntValue("PulseWidth_Min"), mc.GetIntValue("PulseWidth_Max"));
servo.SetPeriod(motorID, mc.GetIntValue("Period"));
servo.SetAcceleration(motorID, mc.GetIntValue("Acceleration"));
servo.SetVelocity(motorID, mc.GetIntValue("Velocity"));
servo.SetPosition(motorID, mc.GetShortValue("Position"));
servo.Enable(motorID);
}
else
{
throw new Exception("Unkown motorID in SetMotorConfiguration: " + motorID);
}
}
// Callback function for distance callback (parameter has unit mm)
static void ReachedCB(BrickServo sender, byte servoNum, short position)
{
if(position == 9000)
{
System.Console.WriteLine("Position: 90°, going to -90°");
sender.SetPosition(servoNum, -9000);
}
else if(position == -9000)
{
System.Console.WriteLine("Position: -90°, going to 90°");
sender.SetPosition(servoNum, 9000);
}
else
{
// Can only happen if another program sets position
System.Console.WriteLine("Error");
}
}
private static string UID = "XXYYZZ"; // Change XXYYZZ to the UID of your Servo Brick
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickServo servo = new BrickServo(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Configure two servos with voltage 5.5V
// Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
// and operating angle -100 to 100°
//
// Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95
// to 1.95ms and operating angle -90 to 90°
servo.SetOutputVoltage(5500);
servo.SetDegree(0, -10000, 10000);
servo.SetPulseWidth(0, 1000, 2000);
servo.SetPeriod(0, 19500);
servo.SetAcceleration(0, 1000); // Slow acceleration
servo.SetVelocity(0, 65535); // Full speed
servo.SetDegree(5, -9000, 9000);
servo.SetPulseWidth(5, 950, 1950);
servo.SetPeriod(5, 20000);
servo.SetAcceleration(5, 65535); // Full acceleration
servo.SetVelocity(5, 65535); // Full speed
servo.SetPosition(0, 10000); // Set to most right position
servo.Enable(0);
servo.SetPosition(5, -9000); // Set to most left position
servo.Enable(5);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
servo.Disable(0);
servo.Disable(5);
ipcon.Disconnect();
}
private static string UID = "a4LCMm3K2bS"; // Change to your UID
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickServo servo = new BrickServo(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register "position reached callback" to ReachedCB
// ReachedCB will be called every time a position set with
// SetPosition is reached
servo.PositionReached += ReachedCB;
// Set velocity to 100°/s. This has to be smaller or equal to
// maximum velocity of the servo, otherwise ReachedCB will be
// called too early
servo.SetVelocity(0, 10000);
servo.SetPosition(0, 9000);
servo.Enable(0);
System.Console.WriteLine("Press key to exit");
System.Console.ReadKey();
ipcon.Disconnect();
}
