private void ServoBoard_Attach(object sender, AttachEventArgs e)
{
for (int i = 0; i < _servoBoard.servos.Count; i++)
{
if (_servoCount == 0)
{
SetServoProperties(i, _servos[i].ServoType, _servos[i].ServoMinPulseWidth, _servos[i].ServoMaxPulseWidth, _servos[i].ServoMaxVelocity, _servos[i].ServoDegrees);
_servos[i].MinAcceleration = _servoBoard.servos[i].AccelerationMin;
_servos[i].MaxAcceleration = _servoBoard.servos[i].AccelerationMax;
_servos[i].Acceleration = _servos[i].MaxAcceleration;
_servos[i].MinVelocity = _servoBoard.servos[i].VelocityMin;
_servos[i].MaxVelocity = _servoBoard.servos[i].VelocityMax;
_servos[i].VelocityLimit = _servos[i].MaxVelocity;
RegisterBindings(i);
}
_servoBoard.servos[i].VelocityLimit = _servos[i].VelocityLimit;
_servoBoard.servos[i].Acceleration = _servos[i].Acceleration < _servoBoard.servos[i].AccelerationMax ? _servos[i].Acceleration : _servoBoard.servos[i].AccelerationMax;;
_servos[i].Calibration.OutputLimitMax = _servoBoard.servos[i].PositionMax;
_servos[i].Calibration.OutputLimitMin = _servoBoard.servos[i].PositionMin;
}
if (_servoCount == 0)
{
_servoCount = _servoBoard.servos.Count;
ConfigManager.LogManager.LogDebug("Detaching phidget servo board after config. (SerialNumber=\"" + _serialNumber + "\")");
_servoBoard.close();
_servoBoard = null;
}
}
//When the application is terminating, close the Phidget.
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
advServo.Attach -= new AttachEventHandler(advServo_Attach);
advServo.Detach -= new DetachEventHandler(advServo_Detach);
advServo.Error -= new ErrorEventHandler(advServo_Error);
advServo.CurrentChange -= new CurrentChangeEventHandler(advServo_CurrentChange);
advServo.PositionChange -= new PositionChangeEventHandler(advServo_PositionChange);
advServo.VelocityChange -= new VelocityChangeEventHandler(advServo_VelocityChange);
//run any events in the message queue - otherwise close will hang if there are any outstanding events
Application.DoEvents();
advServo.close();
advServo = null;
}
static void Main(string[] args)
{
//Declare an Advanced Servo object
AdvancedServo advServo = new AdvancedServo();
//Hook the basic event handlers
advServo.Attach += new AttachEventHandler(advServo_Attach);
advServo.Detach += new DetachEventHandler(advServo_Detach);
advServo.Error += new ErrorEventHandler(advServo_Error);
//hook the phidget specific event handlers
//I decided to leave out the current change event handler for readability.
advServo.PositionChange += new PositionChangeEventHandler
(advServo_PositionChange);
advServo.VelocityChange += new VelocityChangeEventHandler
(advServo_VelocityChange);
//open the Servo object for device connections
advServo.open();
//Get the program to wait for an Advanced Servo to be attached
Console.WriteLine("Waiting for Advanced Servo to be attached...");
advServo.waitForAttachment();
//Set the initial position for the servo motor. I set it to 15 here just
//since I am going to cycle through the positive values to show a basic
//full movement
if (advServo.Attached)
{
advServo.servos[0].Acceleration = 1000.00; //max 4590, min 0
advServo.servos[0].VelocityLimit = 1000.00; //max 1500, min 0
advServo.servos[0].Position = 30.00; //range is -23 to 232
}
//Wait for the motor to finish getting to position and let user continue
Console.WriteLine("Press any key to continue...");
Console.Read();
//Move the motor from position value 30 to 200, we sleep for 500
//milliseconds to give the motor enough time to move to the set position
if (advServo.Attached)
{
advServo.servos[0].Position = 200; //range is -23 to 232
Thread.Sleep(500);
}
//Wait for the events to fire and display, user input will continue the
//program
Console.WriteLine("Press any key to end...");
Console.Read();
//user input was read so we can terminate the program now, close the
//AdvancedServo object. Left out the current change event handler for
//readability.
advServo.PositionChange -= new PositionChangeEventHandler
(advServo_PositionChange);
advServo.VelocityChange -= new VelocityChangeEventHandler
(advServo_VelocityChange);
//user input was read so we can terminate the program now, close the
//AdvancedServo object
advServo.close();
//set the object to null to get it out of memory
advServo = null;
Console.WriteLine("ok");
}
