static PololuMiniUsb()
{
List<DeviceListItem> device_list = Usc.getConnectedDevices();
if (device_list.Count > 0)
{
serialNumber = device_list[0].serialNumber;
usc = new Usc(device_list[0]);
settings = usc.getUscSettings();
Console.WriteLine("Pololu connectée");
List<int> servos = new List<int>();
servos.Add(1);
servos.Add(0);
servos.Add(3);
servos.Add(2);
servos.Add(5);
servos.Add(8);
servos.Add(6);
servos.Add(7);
connected = true;
for (int i = 0; i < servos.Count; i++)
{
setMin(servos[i], 256);
setMax(servos[i], 16320);
}
}
else
{
Console.WriteLine("Pololu non connectée");
}
}
/// <summary>
/// Connects to a Maestro using native USB and returns the Usc object
/// representing that connection. When you are done with the
/// connection, you should close it using the Dispose() method so that
/// other processes or functions can connect to the device later. The
/// "using" statement can do this automatically for you.
/// </summary>
Usc connectToDevice()
{
// Get a list of all connected devices of this type.
List<DeviceListItem> connectedDevices = Usc.getConnectedDevices();
foreach (DeviceListItem dli in connectedDevices)
{
if ((device == null) || (this.device == dli.serialNumber))
{
// If you have multiple devices connected and want to select a particular
// device by serial number, you could simply add a line like this:
// if (dli.serialNumber != "00012345"){ continue; }
Usc uscdevice = new Usc(dli); // Connect to the device.
uscdevice.getUscSettings().channelSettings[channel].mode = ChannelMode.Output;
return uscdevice; // Return the device.
}
}
throw new Exception("Could not find device. Make sure it is plugged in to USB " +
"and check your Device Manager (Windows) or run lsusb (Linux).");
}
