private static void LoadLimits(DynamixelDriver driver)
{
Console.WriteLine("Loading motor limits");
List <MinMax> minMaxPairs = JsonConvert.DeserializeObject <List <MinMax> >(File.ReadAllText("MinMaxPairs.json"));
foreach (var minMaxPair in minMaxPairs)
{
ushort maxAngle = DynamixelDriver.DegreesToUnits(minMaxPair.Max);
ushort minAngle = DynamixelDriver.DegreesToUnits(minMaxPair.Min);
driver.SetCcwMaxAngleLimit((byte)minMaxPair.Index, maxAngle);
driver.SetCwMinAngleLimit((byte)minMaxPair.Index, minAngle);
}
Console.ForegroundColor = ConsoleColor.Blue;
Console.WriteLine(JsonConvert.SerializeObject(minMaxPairs));
Console.ResetColor();
Console.WriteLine("Limits loaded");
}
public ushort ToDynamixelUnits()
{
return(DynamixelDriver.DegreesToUnits(new Angle(_value + 150f)));
}