static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletServoV2 s = new BrickletServoV2(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
s.PositionReachedCallback += PositionReachedCB;
// Enable position reached callback
s.SetPositionReachedCallbackConfiguration(0, true);
// 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
s.SetMotionConfiguration(0, 10000, 500000, 500000);
s.SetPosition(0, 9000);
s.SetEnable(0, true);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
s.SetEnable(0, false);
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Servo Bricklet 2.0
// Use position reached callback to swing back and forth
static void PositionReachedCB(BrickletServoV2 sender, int servoChannel,
short position)
{
if (position == 9000)
{
Console.WriteLine("Position: 90°, going to -90°");
sender.SetPosition(servoChannel, -9000);
}
else if (position == -9000)
{
Console.WriteLine("Position: -90°, going to 90°");
sender.SetPosition(servoChannel, 9000);
}
else
{
// Can only happen if another program sets position
Console.WriteLine("Error");
}
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Servo Bricklet 2.0
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletServoV2 s = new BrickletServoV2(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
// and operating angle -100 to 100°
s.SetDegree(0, -10000, 10000);
s.SetPulseWidth(0, 1000, 2000);
s.SetPeriod(0, 19500);
s.SetMotionConfiguration(0, 500000, 1000,
1000); // Full velocity with slow ac-/deceleration
// Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95 to 1.95ms
// and operating angle -90 to 90°
s.SetDegree(5, -9000, 9000);
s.SetPulseWidth(5, 950, 1950);
s.SetPeriod(5, 20000);
s.SetMotionConfiguration(5, 500000, 500000,
500000); // Full velocity with full ac-/deceleration
s.SetPosition(0, 10000); // Set to most right position
s.SetEnable(0, true);
s.SetPosition(5, -9000); // Set to most left position
s.SetEnable(5, true);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
s.SetEnable(0, false);
s.SetEnable(5, false);
ipcon.Disconnect();
}
