private int Move(GT.Interfaces.PWMOutput pwm, int position, int minPosition, int maxPosition, int pwmMin, int pwmMax)
{
position = position > maxPosition ? maxPosition : position;
position = position < minPosition ? minPosition : position;
Servo(pwm, GetPwmPulseValue(pwmMax, pwmMin, position));
return(position);
}
public RoboticArmController(Extender extender, GT.Socket.Pin clawPin, GT.Socket.Pin armPin, uint pwmPulsePeriod)
{
if (extender == null)
{
throw new ApplicationException("robotic arm pwm extender not set up correctly");
}
_pwmPulsePeriod = pwmPulsePeriod;
_clawPwm = extender.SetupPWMOutput(clawPin);
_armPwm = extender.SetupPWMOutput(armPin);
Reset();
}
public RoboticArmController(Extender extender, GT.Socket.Pin clawPin, GT.Socket.Pin armPin, uint pwmPulsePeriod)
{
if (extender == null)
{
throw new ApplicationException("robotic arm pwm extender not set up correctly");
}
_pwmPulsePeriod = pwmPulsePeriod;
_clawPwm = extender.SetupPWMOutput(clawPin);
_armPwm = extender.SetupPWMOutput(armPin);
Reset();
}
private void Servo(GT.Interfaces.PWMOutput pwm, int pwmPulseHighTime)
{
pwm.SetPulse(_pwmPulsePeriod, (uint)pwmPulseHighTime);
}
