public Servo(int servoNum, serHandler serHandler, int servoPos = 1500, int offset = 0, bool active = false)
{
_ServoHandler = serHandler;
_Active = active;
_ServoNumber = servoNum;
// Servo position and offset is stored in microseconds (uS)
_ServoPosition = servoPos;
_Offset = offset;
}
public Controller(int servos = 32)
{
_SerialHandler = new serHandler();
var timeout = DateTime.Now;
while( !(_SerialHandler.serOpen || DateTime.Now - timeout > new TimeSpan(0, 1, 10)))
{
Thread.Sleep(10);
}
if (!_SerialHandler.serOpen)
{
Console.WriteLine("Connection to Servotor failed. No robot movement will occur.");
}
Console.WriteLine("initializing servos");
Servos = new Servo[servos];
for (int i = 0; i < servos; i++)
{
Servos[i] = new Servo(i, _SerialHandler);
Servos[i].kill();
}
}