public AsyncInputFrameArgs(int servo1target, int servo2target, int ping1value, int ping2value, bool fpss, SensorsState sensState)
{
timestamp = DateTime.Now.Ticks;
fromPingScanStop = fpss;
dPos1Mks = ProximityBoard.servoTargetToMks(servo1target);
dPos2Mks = ProximityBoard.servoTargetToMks(servo2target);
dPing1DistanceM = ProximityBoard.pingValueToDistanceM(ping1value);
dPing2DistanceM = ProximityBoard.pingValueToDistanceM(ping2value);
sensorsState = sensState;
}
public double ServoPositionGet(int servoNumber)
{
double dPosMks = 0;
try
{
Tracer.Trace("PM Command::ServoPositionGet(" + servoNumber + ")");
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.ServoPositionGet; // will be analyzed in a switch
outputReportBuffer[2] = (byte)servoNumber; // which servo
byte[] inputReportBuffer = ReadAndWriteToDevice(outputReportBuffer, INPUT_REPORT_ID);
// data bytes 1 and 2 of the Input Report contain servo position:
int servotarget = intFromBuffer(inputReportBuffer, 1);
dPosMks = ProximityBoard.servoTargetToMks(servotarget);
}
else
{
Tracer.Error("FindTheHid() unsuccessful, skipped the ServoPositionGet command");
}
}
catch (Exception ex)
{
Tracer.Error(ex);
throw;
}
return(dPosMks);
}