/// <summary>
/// Attempts to set the target (width of pulses sent) of a channel.
/// </summary>
/// <param name="channel">Channel number from 0 to 23.</param>
/// <param name="target">
/// Target, in units of quarter microseconds. For typical servos,
/// 6000 is neutral and the acceptable range is 4000-8000.
/// </param>
void TrySetTarget(Byte channel, int target)
{
try
{
// using () // Find a device and temporarily connect.
{
try{
//Console.WriteLine(this.Name+" Target :"+target*4);
if ((target * 4) < UInt16.MaxValue)
{
//Console.WriteLine("Servo:"+channel+" target:"+target)
channels[channel] = Convert.ToUInt16(target * 4);
//usbdevice.SetAllChannels(channels);
if (ImmediateMode)
{
if (usbdevice == null)
{
connectToDevice();
}
Console.WriteLine("immediate Set");
usbdevice.setTarget(channel, Convert.ToUInt16(target * 4));
}
}
else
{
Console.WriteLine("Invalid Target: " + target + " for Channel: " + this.channel);
}
}catch (Exception ex) {
Console.WriteLine("Invalid Target " + target + ex.Message + ex.StackTrace.ToString());
usbdevice.disconnect();
usbdevice = null;
connectToDevice();
}
// Console.WriteLine("Servo: "+channel+" mit wert "+target);
// device.Dispose() is called automatically when the "using" block ends,
// allowing other functions and processes to use the device.
}
}
catch (Exception exception) // Handle exceptions by displaying them to the user.
{
Console.WriteLine(exception.Message + "\n" + exception.StackTrace.ToString());
// displayException(exception);
}
}
// Disconnects all devices that are currently connected.
public static void disconnectDevices()
{
if (NumOfConnectedMaestros > 0)
{
usc.disconnect();
}
if (NumOfConnectedJrks > 0)
{
Jrk1.disconnect();
}
if (NumOfConnectedJrks > 1)
{
Jrk2.disconnect();
}
if (NumOfConnectedJrks > 2)
{
Jrk3.disconnect();
}
if (NumOfConnectedJrks > 3)
{
Jrk4.disconnect();
}
}
