예제 #1
0
파일: Servo.cs 프로젝트: Togusa09/Hexy
        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;
        }
예제 #2
0
파일: Controller.cs 프로젝트: Togusa09/Hexy
 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();
     }
 }