/// <summary>
/// This command controls a single servo.
/// </summary>
/// <param name="channel">Pin / channel to which the servo is connected (0 to 31).</param>
/// <param name="pulseWidth">Desired pulse width (normally 500 to 2500) in microseconds.</param>
/// <param name="speed">Servo movement speed in microseconds per second.</param>
/// <param name="time">Time in microseconds to travel from the current position to the desired position. (65535 max)</param>
public static Command SingleServo(this Command command, int channel, int pulseWidth, int?speed = null, ushort?time = null)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
SSC32.ValidateServoChannel(channel);
var sb = command.Builder;
sb.Append('#');
sb.Append(channel);
sb.Append('P');
sb.Append(pulseWidth);
if (speed != null)
{
sb.Append('S');
sb.Append(speed);
}
if (time != null)
{
sb.Append('T');
sb.Append(time);
}
return(command);
}
/// <summary>
/// Immediately stops the specified servo at its current position.
/// </summary>
/// <returns>The position offset.</returns>
/// <param name="channel">Pin / channel to which the servo is connected (0 to 31).</param>
public static Command StopServo(this Command command, int channel)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
SSC32.ValidateServoChannel(channel);
var sb = command.Builder;
sb.Append("STOP");
sb.Append(channel);
return(command);
}
/// <summary>
/// The position offset command allows you to change the center position (associated with 1500us)
/// of one or more servos via software within 15 degrees of the absolute center.
/// </summary>
/// <returns>The position offset.</returns>
/// <param name="channel">Pin / channel to which the servo is connected (0 to 31).</param>
/// <param name="positionOffset">The position offset is restricted to -100us to 100us (around 15°)</param>
public static Command ServoPositionOffset(this Command command, int channel, int positionOffset)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
SSC32.ValidateServoChannel(channel);
if (positionOffset < -100 || positionOffset > 100)
{
throw new ArgumentOutOfRangeException(nameof(positionOffset), "The position offset is restricted to -100us to 100us (around 15°)");
}
var sb = command.Builder;
sb.Append('#');
sb.Append(channel);
sb.Append("PO");
sb.Append(positionOffset);
return(command);
}