public MoveRawCommand GetRawCommand()
{
MoveRawCommand rawCommand = new MoveRawCommand();
for (int i = 0; i < m_ServosPositions.Length; i++)
{
double? servoPosition = m_ServosPositions[i];
if (servoPosition != null)
{
rawCommand[i] = m_Servos[i].MilliSecForAngleDeg(servoPosition.Value);
}
}
rawCommand.Speed = this.Speed;
return rawCommand;
}
public MoveRawCommand GetRawCommand()
{
MoveRawCommand rawCommand = new MoveRawCommand();
for (int i = 0; i < m_ServosPositions.Length; i++)
{
double?servoPosition = m_ServosPositions[i];
if (servoPosition != null)
{
rawCommand[i] = m_Servos[i].MilliSecForAngleDeg(servoPosition.Value);
}
}
rawCommand.Speed = this.Speed;
return(rawCommand);
}
internal void RunCommand(MoveRawCommand command)
{
this.RunCommand(command.GetCommandText());
}
internal void RunCommand(MoveRawCommand command)
{
this.RunCommand(command.GetCommandText());
}
public void RunCommand(MoveRawCommand command)
{
m_CommandRunner.RunCommand(command);
}
private void Move()
{
MoveRawCommand moveCommand = new MoveRawCommand();
moveCommand[ChannelId.Base] = this.BaseMilliSecs;
moveCommand[ChannelId.Shoulder] = this.ShoulderMilliSecs;
moveCommand[ChannelId.Elbow] = this.ElbowMilliSecs;
moveCommand[ChannelId.WristUpDown] = this.WristTiltMilliSecs;
m_SSC32Board.RunCommand(moveCommand);
}
public void RunCommand(MoveRawCommand command)
{
m_CommandRunner.RunCommand(command);
}