internal ServoServiceImpl(ServoControllerPrx proxy) { this.proxy = proxy; numServos = 16; // todo: this should be retrieved from the qwerk // create and initialize the all-on mask array maskAllOn = new bool[numServos]; for (int i = 0; i < maskAllOn.Length; i++) { maskAllOn[i] = true; } // create the array used for zero velocity or acceleration allZeros = new int[numServos]; allDefaultPosition = new int[numServos]; defaultVelocities = new int[numServos]; for (int i = 0; i < numServos; i++) { allDefaultPosition[i] = SERVO_DEFAULT_POSITION; defaultVelocities[i] = SERVO_DEFAULT_VELOCITY; } // build the mask arrays for each servo and store them in a map indexed on servo id servoIdToMaskArrayMap = new Dictionary <int, bool[]>(numServos); for (int i = 0; i < numServos; i++) { bool[] mask = new bool[numServos]; mask[i] = true; servoIdToMaskArrayMap.Add(i, mask); } // build the servo mode arrays and store them in a map indexed on servo mode servoModeToModeArrayMap = new Dictionary <ServoMode, ServoMode[]>(numServos); ServoMode[] servoModeOffArray = new ServoMode[numServos]; ServoMode[] servoModePositionControlArray = new ServoMode[numServos]; ServoMode[] servoModeSpeedControlArray = new ServoMode[numServos]; for (int i = 0; i < numServos; i++) { servoModeOffArray[i] = ServoMode.ServoOff; servoModePositionControlArray[i] = ServoMode.ServoMotorPositionControl; servoModeSpeedControlArray[i] = ServoMode.ServoMotorSpeedControl; } servoModeToModeArrayMap.Add(ServoMode.ServoOff, servoModeOffArray); servoModeToModeArrayMap.Add(ServoMode.ServoMotorPositionControl, servoModePositionControlArray); servoModeToModeArrayMap.Add(ServoMode.ServoMotorSpeedControl, servoModeSpeedControlArray); }
internal ServoServiceImpl(ServoControllerPrx proxy) { this.proxy = proxy; numServos = 16; // todo: this should be retrieved from the qwerk // create and initialize the all-on mask array maskAllOn = new bool[numServos]; for (int i = 0; i < maskAllOn.Length; i++) { maskAllOn[i] = true; } // create the array used for zero velocity or acceleration allZeros = new int[numServos]; allDefaultPosition = new int[numServos]; defaultVelocities = new int[numServos]; for (int i = 0; i < numServos; i++) { allDefaultPosition[i] = SERVO_DEFAULT_POSITION; defaultVelocities[i] = SERVO_DEFAULT_VELOCITY; } // build the mask arrays for each servo and store them in a map indexed on servo id servoIdToMaskArrayMap = new Dictionary<int, bool[]>(numServos); for (int i = 0; i < numServos; i++) { bool[] mask = new bool[numServos]; mask[i] = true; servoIdToMaskArrayMap.Add(i, mask); } // build the servo mode arrays and store them in a map indexed on servo mode servoModeToModeArrayMap = new Dictionary<ServoMode, ServoMode[]>(numServos); ServoMode[] servoModeOffArray = new ServoMode[numServos]; ServoMode[] servoModePositionControlArray = new ServoMode[numServos]; ServoMode[] servoModeSpeedControlArray = new ServoMode[numServos]; for (int i = 0; i < numServos; i++) { servoModeOffArray[i] = ServoMode.ServoOff; servoModePositionControlArray[i] = ServoMode.ServoMotorPositionControl; servoModeSpeedControlArray[i] = ServoMode.ServoMotorSpeedControl; } servoModeToModeArrayMap.Add(ServoMode.ServoOff, servoModeOffArray); servoModeToModeArrayMap.Add(ServoMode.ServoMotorPositionControl, servoModePositionControlArray); servoModeToModeArrayMap.Add(ServoMode.ServoMotorSpeedControl, servoModeSpeedControlArray); }