//When the application is terminating, close the Phidgets.
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
servo1.Attach -= new AttachEventHandler(servo_Attach);
servo1.Detach -= new DetachEventHandler(servo_Detach);
servo1.PositionChange -= new PositionChangeEventHandler(servo_PositionChange);
servo2.Attach -= new AttachEventHandler(servo_Attach);
servo2.Detach -= new DetachEventHandler(servo_Detach);
servo2.PositionChange -= new PositionChangeEventHandler(servo_PositionChange);
Application.DoEvents();
servo1.close();
servo1 = null;
servo2.close();
servo2 = null;
}
static void Main(string[] args)
{
try
{
//Declare a Servo object
Servo servo = new Servo();
//Hook the basic event handlers
servo.Attach += new AttachEventHandler(servo_Attach);
servo.Detach += new DetachEventHandler(servo_Detach);
servo.Error += new ErrorEventHandler(servo_Error);
//hook the phidget specific event handlers
servo.PositionChange += new PositionChangeEventHandler
(servo_PositionChange);
//open the Servo object for device connections
servo.open();
//Get the program to wait for a Servo to be attached
Console.WriteLine("Waiting for Servo to be attached...");
servo.waitForAttachment();
//Set the initial position for the servo. I set it to 15 here just
//since I am going to cycle through the positive values to show a basic
//full movement
if (servo.Attached)
{
servo.servos[0].Position = 15.00;
}
double i;
//Wait for the motor to finish getting into position and let the user
//continue
Console.WriteLine("Press any key to continue...");
Console.Read();
//Move the motor from position value 15 to 231m we sleep for
//10 milliseconds between each step to give the motor enough time to
//move to the set position
if (servo.Attached)
{
for (i = 15.00; i < 232.00; i++)
{
Thread.Sleep(10);
servo.servos[0].Position = i;
}
}
//Wait for the events to fire and display, user input will continue the
//program
Console.WriteLine("Press any key to end...");
Console.Read();
//user input was read so we can terminate the program now, close the
//Servo object
servo.close();
//set the object to null to get it out of memory
servo = null;
//if no exceptions were thrown at this point it is safe to terminate
Console.WriteLine("ok");
}
catch (PhidgetException ex)
{
Console.WriteLine(ex.Description);
}
}
