/// <summary>
/// Direct servos control of the SVS board.
/// </summary>
///
/// <param name="servosBank">SVS's servo bank to control.</param>
/// <param name="leftServo">Left servo setting, [0, 100].</param>
/// <param name="rightServo">Right servo setting, [0, 100].</param>
///
/// <remarks><para>The method performs servos control of the SVS board.
/// For <see cref="ServosBank.Bank1"/> and <see cref="ServosBank.Bank3"/>
/// banks it calls <see cref="SRV1.ControlServos"/> method for the corresponding
/// SRV-1 Blackfin camera. In the case of <see cref="ServosBank.Bank0"/> or <see cref="ServosBank.Bank2"/>,
/// the method sends 'Sab' SRV-1 command (see <a href="http://www.surveyor.com/SRV_protocol.html">SRV-1
/// Control Protocol</a>) to the appropriate SRV-1 Blackfin camera.</para>
/// </remarks>
///
/// <exception cref="NotConnectedException">Not connected to SVS. Connect to SVS board before using
/// this method.</exception>
///
public void ControlServos(ServosBank servosBank, int leftServo, int rightServo)
{
switch (servosBank)
{
case ServosBank.Bank0:
// check limts
if (leftServo > 100)
{
leftServo = 100;
}
if (rightServo > 100)
{
rightServo = 100;
}
SafeGetCommunicator1( ).Send(new byte[] { (byte)'S', (byte)leftServo, (byte)rightServo });
break;
case ServosBank.Bank1:
SafeGetCommunicator1( ).ControlServos(leftServo, rightServo);
break;
case ServosBank.Bank2:
// check limts
if (leftServo > 100)
{
leftServo = 100;
}
if (rightServo > 100)
{
rightServo = 100;
}
SafeGetCommunicator2( ).Send(new byte[] { (byte)'S', (byte)leftServo, (byte)rightServo });
break;
case ServosBank.Bank3:
SafeGetCommunicator2( ).ControlServos(leftServo, rightServo);
break;
}
}
/// <summary>
/// Direct servos control of the SVS board.
/// </summary>
///
/// <param name="servosBank">SVS's servo bank to control.</param>
/// <param name="leftServo">Left servo setting, [0, 100].</param>
/// <param name="rightServo">Right servo setting, [0, 100].</param>
///
/// <remarks><para>The method performs servos control of the SVS board.
/// For <see cref="ServosBank.Bank1"/> and <see cref="ServosBank.Bank3"/>
/// banks it calls <see cref="SRV1.ControlServos"/> method for the corresponding
/// SRV-1 Blackfin camera. In the case of <see cref="ServosBank.Bank0"/> or <see cref="ServosBank.Bank2"/>,
/// the method sends 'Sab' SRV-1 command (see <a href="http://www.surveyor.com/SRV_protocol.html">SRV-1
/// Control Protocol</a>) to the appropriate SRV-1 Blackfin camera.</para>
/// </remarks>
///
/// <exception cref="NotConnectedException">Not connected to SVS. Connect to SVS board before using
/// this method.</exception>
///
public void ControlServos( ServosBank servosBank, int leftServo, int rightServo )
{
switch ( servosBank )
{
case ServosBank.Bank0:
// check limts
if ( leftServo > 100 )
leftServo = 100;
if ( rightServo > 100 )
rightServo = 100;
SafeGetCommunicator1( ).Send( new byte[] { (byte) 'S', (byte) leftServo, (byte) rightServo } );
break;
case ServosBank.Bank1:
SafeGetCommunicator1( ).ControlServos( leftServo, rightServo );
break;
case ServosBank.Bank2:
// check limts
if ( leftServo > 100 )
leftServo = 100;
if ( rightServo > 100 )
rightServo = 100;
SafeGetCommunicator2( ).Send( new byte[] { (byte) 'S', (byte) leftServo, (byte) rightServo } );
break;
case ServosBank.Bank3:
SafeGetCommunicator2( ).ControlServos( leftServo, rightServo );
break;
}
}
