public void ServoSweepParams(int servoNumber, double sweepMin, double sweepMax, double sweepStartPos, double sweepStep, bool initialDirectionUp, double sweepRate)
{
try
{
Tracer.Trace("PM Command::ServoSweepParams(" + servoNumber + "," + sweepMin + "," + sweepMax + "," + sweepStep + "," + sweepRate + ")");
sweepMin = ProximityBoard.toWithinServoRangeMks(sweepMin); // cut it to the allowed limits
sweepMax = ProximityBoard.toWithinServoRangeMks(sweepMax);
if (!myDeviceDetected)
{
myDeviceDetected = FindTheHid(vendorId, productId);
}
if (myDeviceDetected)
{
// Set the size of the Output report buffer.
byte[] outputReportBuffer = new byte[MyHid.Capabilities.OutputReportByteLength];
// Store the report ID (command) in the first byte of the buffer:
outputReportBuffer[0] = OUTPUT_REPORT_ID; // will turn out on the board as Output Report ID
outputReportBuffer[1] = (byte)ProximityBoardCommand.ServoSweepParams; // will be analyzed in a switch
outputReportBuffer[2] = (byte)servoNumber; // which servo
int iSweepMin = ProximityBoard.mksToServoTarget(sweepMin);
int iSweepMax = ProximityBoard.mksToServoTarget(sweepMax);
int iSweepStart = ProximityBoard.mksToServoTarget(sweepStartPos);
int iSweepStep = (int)sweepStep;
int iSweepRate = (int)sweepRate;
intToBuffer(outputReportBuffer, 3, (UInt16)iSweepMin);
intToBuffer(outputReportBuffer, 5, (UInt16)iSweepMax);
intToBuffer(outputReportBuffer, 7, (UInt16)iSweepStart);
intToBuffer(outputReportBuffer, 9, (UInt16)iSweepStep);
intToBuffer(outputReportBuffer, 11, (UInt16)iSweepRate);
outputReportBuffer[13] = (byte)(initialDirectionUp ? 1 : -1);
ReadAndWriteToDevice(outputReportBuffer, INPUT_REPORT_ID);
//WriteToDevice(outputReportBuffer);
}
else
{
Tracer.Error("FindTheHid() unsuccessful, skipped the ServoSweepParams command");
}
}
catch (Exception ex)
{
Tracer.Error(ex);
throw;
}
}
public void ServoPositionSet(int servoNumber, double dPosMks)
{
try
{
Tracer.Trace("PM Command::ServoPositionSet(" + servoNumber + "," + dPosMks + ")");
dPosMks = ProximityBoard.toWithinServoRangeMks(dPosMks); // cut it to the allowed limits
if (!myDeviceDetected)
{
myDeviceDetected = FindTheHid(vendorId, productId);
}
if (myDeviceDetected)
{
// Set the size of the Output report buffer.
byte[] outputReportBuffer = new byte[MyHid.Capabilities.OutputReportByteLength];
// Store the report ID (command) in the first byte of the buffer:
outputReportBuffer[0] = OUTPUT_REPORT_ID; // will turn out on the board as Output Report ID
outputReportBuffer[1] = (byte)ProximityBoardCommand.ServoPositionSet; // will be analyzed in a switch
outputReportBuffer[2] = (byte)servoNumber; // which servo
int servotarget = ProximityBoard.mksToServoTarget(dPosMks);
// data bytes 0 and 1 of the Output Report - hid_report_out[]:
intToBuffer(outputReportBuffer, 3, (UInt16)servotarget);
ReadAndWriteToDevice(outputReportBuffer, INPUT_REPORT_ID);
//WriteToDevice(outputReportBuffer);
}
else
{
Tracer.Error("FindTheHid() unsuccessful, skipped the ServoPositionSet command");
}
}
catch (Exception ex)
{
Tracer.Error(ex);
throw;
}
}