private void SetPositionAndGetReading(int position)
{
try
{
_contoller.SetPwm(PwmChannel.C0, 0, position);
Task.Delay(50).Wait();
if (_haveReading())
{
PositionFound?.Invoke(this, new PositionalDistanceEventArgs {
Angle = Angle(position), Proximity = _lastReading.Proximity, RawValue = _lastReading.RawValue
});
}
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs {
Exception = ex, Message = "An error occured setting Angle and getting distance."
});
}
}
public SonarCoordinator(PCA9685ServoContoller contoller)
{
_contoller = contoller;
//sensor.ProximityReceived += (sender, args) => _lastReading = args;
//sensor.SensorException += (sender, args) => SensorException?.Invoke(this, args); //Pass exceptions from Arduino "sensor" along.
_minServoSetting = 250;
_maxServoSetting = 800;
_contoller.ResetDevice();
_contoller.SetPwmUpdateRate(60);
_contoller.SetPwm(PwmChannel.C0, 0, _minServoSetting);
Task.Delay(500).Wait();
_currentPosition = _minServoSetting;
_arcUnitsPerDegree = (_maxServoSetting - _minServoSetting) / 180d;
_stepSize = (int)Math.Floor(_arcUnitsPerDegree * 5);
_haveReading = () => true; //_lastReading?.RawValue != default(double);
}
