public void Run(double speed, bool shutdownOverride = false)
{
if (shutdown && !shutdownOverride)
{
return;
}
if (speed < 0)
{
hat.SetPulseParameters(this.number, (servoMin));
return;
}
this.speed = speed;
this.running = true;
Debug.WriteLine("Running {0} at {1}", number, servoMin + speed * (servoMax - servoMin));
hat.SetPulseParameters(this.number, servoMin + speed * (servoMax - servoMin));
}
private void RotateExample()
{
try
{
using (var hat = new PwmController())
{
hat.SetDesiredFrequency(364); // spec'd to 658?
while (true)
{
int s = 0;
int m = 8;
int max = (int) ((float) 4096*(0.75));
int min = (int) ((float) 4096*(0.28));
while (true)
{
s += m;
if (s >= max)
{
s = max;
m = -4;
}
if (s <= min)
{
s = min;
m = 4;
}
hat.SetPulseParameters(15, s);
Task.Delay(TimeSpan.FromMilliseconds(10)).Wait();
}
hat.SetPulseParameters(15, 0);
hat.SetPulseParameters(4, 40); //aux
hat.SetPulseParameters(3, 40); //rud
hat.SetPulseParameters(2, 40); //ele
hat.SetPulseParameters(1, 40); //ail
hat.SetPulseParameters(0, 40); //thr
Task.Delay(TimeSpan.FromSeconds(5)).Wait();
hat.SetPulseParameters(15, 4096);
hat.SetPulseParameters(4, 4055); //aux
hat.SetPulseParameters(3, 4055); //rud
hat.SetPulseParameters(2, 4055); //ele
hat.SetPulseParameters(1, 4055); //ail
hat.SetPulseParameters(0, 4055); //thr
Task.Delay(TimeSpan.FromSeconds(5)).Wait();
}
}
}
/* If the write fails display the error and stop running */
catch (Exception ex)
{
Text_Status.Text = "Failed to communicate with device: " + ex.Message;
return;
}
}