/// <summary>
/// moves the sevo instantly. used for calibrating a servo's max speed. returns with the duration when the servo apears to have stoped moving.
/// </summary>
/// <param name="position">from -180 - 360</param>
public async Task <ServoCalibrationMoveResponse> CalibrationMoveAsync(float position)
{
return(await _runner.ExecuteAsync(new AsyncCommandFirstServoResponse <ServoCalibrationMoveResponse>(_servoID, new ServoCalibrationMoveCommand()
{
ServoID = _servoID, Position = position
}, timeoutMS : 5000)));
}
/// <summary>
/// play a series of notes, return when done
/// </summary>
/// <param name="notes">format [note:A-F][#][octave:1-7][duration:1-128] ex. D#5-8,C,A-4,R</param>
public async Task <SoundPlayNotesResponse> PlayNotesAsync(string notes = null, CancellationToken?cancelationToken = null)
{
return(await _runner.ExecuteAsync(new AsyncCommandFirstResponse <SoundPlayNotesResponse>(new SoundPlayNotesCommand()
{
Notes = notes, CallbackWhenDone = true
}, cancelationToken, () => Stop(), null, 4000)));
}
/// <summary>
/// Animate all the servos to a position using speed and easing. Will turn on the servo if off. Returns when position reached or stopped early for all the servos.
/// </summary>
/// <param name="speed">0-100</param>
/// <param name="easeIn">0-100</param>
/// <param name="easeOut">0-100</param>
/// <param name="synchronized">all servos will reach their destination at the same time</param>
/// <param name="percentageComplete">0-1 representing where to start within the movement</param>
public async Task <IEnumerable <MoveResponse> > MoveAsync(Pose pose, int?speed = null, int?easeIn = null, int?easeOut = null, bool synchronized = false, float?percentageComplete = null, CancellationToken?cancelationToken = null)
{
//validate
if (pose == null)
{
return(null);
}
var cmd = (synchronized) ? new MoveAllSynchronizedCommand(_servoCount) : new MoveAllCommand(_servoCount);
cmd.Servo1_Position = pose.Servo1_Position;
cmd.Servo2_Position = pose.Servo2_Position;
cmd.Servo3_Position = pose.Servo3_Position;
cmd.Servo4_Position = pose.Servo4_Position;
cmd.Servo5_Position = pose.Servo5_Position;
cmd.Servo6_Position = pose.Servo6_Position;
cmd.Servo7_Position = pose.Servo7_Position;
cmd.Speed = speed;
cmd.EaseIn = easeIn;
cmd.EaseOut = easeOut;
cmd.PercentageComplete = percentageComplete;
var result = new ConcurrentBag <MoveResponse>();
var poseCount = pose.Servos.Count(e => e != null);
return(await _runner.ExecuteAsync(new AsyncCommand <IEnumerable <MoveResponse> >(cmd, i =>
{
//wait until all move commands are received
var response = i as MoveResponse;
if (response != null)
{
if (result.FirstOrDefault(e => e.ServoID == response.ServoID) == null && pose.Get(response.ServoID) != null)
{
//add to results
result.Add(response);
//return when all found
if (result.Count == poseCount)
{
return result.OrderBy(e => e.ServoID);
}
}
}
return null;
}, cancelationToken, () => StopMove(),
async origTask =>
{
//wait a bit for the MoveResponses to arrive
var completedTask = await Task.WhenAny(origTask, Task.Delay(500)); //timeout in .5 sec
if (completedTask == origTask)
{
return await origTask;
}
return null;
}, EstimateMoveTimeout(speed))));
}
/// <summary>
/// Send a ping and awaits a reply
/// </summary>
public async Task <bool> PingAsync()
{
var command = new AsyncCommand <bool>(new PingCommand(), i =>
{
var info = i as InfoResponse;
if (info != null && info.Message == CommandBuilder.PingMessage)
{
return(true);
}
return(false);
});
return(await _runner.ExecuteAsync(command));
}
/// <summary>
/// request to receive the current position of the knob. the Position event will fire after this call
/// </summary>
public async Task <KnobPositionResponse> GetPositionAsync()
{
return(await _runner.ExecuteAsync(new AsyncCommandFirstResponse <KnobPositionResponse>(new KnobPositionCommand())));
}
/// <summary>
/// request to receive the current status of the button. the StatusReceived event will fire after this call
/// </summary>
public async Task <ButtonStatusResponse> GetStatusAsync()
{
return(await _runner.ExecuteAsync(new AsyncCommandFirstResponse <ButtonStatusResponse>(new ButtonStatusCommand())));
}