예제 #1
0
        public void RunServoMotion(ServoMotor Motor, List <ServoPosition> MotionProfile, int NumIterations)
        {
            //Clear any exisiting motion profile for the selected motor
            CancelServoMotion(Motor);

            //add to the execution list
            MotionExecutionState state = new MotionExecutionState();

            state.Motor           = Motor;
            state.LastUpdateTime  = m_stopWatch.ElapsedMilliseconds;
            state.MotionProfile   = MotionProfile;
            state.TotalIterations = NumIterations;
            state.isRunning       = (MotionProfile.Count > 0);
            if (state.isRunning)
            {
                state.CurrentAngle = MotionProfile[0].TargetAngle;
            }
            else
            {
                state.CurrentAngle = Motor.MaxAngle / 2;
            }
            m_ExecutionList.Add(state);

            //ensure update timer is enabled
            m_updateTimer.Enabled = true;
        }
예제 #2
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        public bool IsMotorRunning(ServoMotor Motor)
        {
            uint motorID = Motor.PWMHardwareIndex;

            for (int i = 0; i < m_ExecutionList.Count; i++)
            {
                if (m_ExecutionList[i].Motor.PWMHardwareIndex == motorID)
                {
                    return(m_ExecutionList[i].isRunning);
                }
            }
            return(false);
        }
예제 #3
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        public void CancelServoMotion(ServoMotor Motor)
        {
            bool motorFound = false;

            for (int i = 0; i < m_ExecutionList.Count; i++)
            {
                if (Motor == m_ExecutionList[i].Motor)
                {
                    m_ExecutionList.RemoveAt(i);
                    motorFound = true;
                    break;
                }
            }
            if (!motorFound)
            {
                throw new ArgumentException("ERROR: Could not find motor to cancel motion");
            }
        }
예제 #4
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        public void PauseServoMotion(ServoMotor Motor)
        {
            bool motorFound = false;

            for (int i = 0; i < m_ExecutionList.Count; i++)
            {
                if (Motor == m_ExecutionList[i].Motor)
                {
                    m_ExecutionList[i].isRunning = false;
                    motorFound = true;
                    break;
                }
            }
            if (!motorFound)
            {
                throw new ArgumentException("ERROR: Paused motor not found");
            }
        }
예제 #5
0
        public void ResumeServoMotion(ServoMotor Motor)
        {
            bool motorFound = false;

            for (int i = 0; i < m_ExecutionList.Count; i++)
            {
                if (Motor == m_ExecutionList[i].Motor)
                {
                    m_ExecutionList[i].isRunning = true;
                    motorFound            = true;
                    m_updateTimer.Enabled = true;
                    break;
                }
            }
            if (!motorFound)
            {
                throw new ArgumentException("ERROR: Could not find motor to resume");
            }
        }
예제 #6
0
 /// <summary>
 /// Run motion profile forever until cancelled. Repeats from the start of the profile.
 /// </summary>
 /// <param name="Motor">The motor to run the motion profile on</param>
 /// <param name="MotionProfile">The profile to run</param>
 public void RunServoMotion(ServoMotor Motor, List <ServoPosition> MotionProfile)
 {
     //call overload with multiple iterations. -1 means infinite
     RunServoMotion(Motor, MotionProfile, -1);
 }