/// <summary>
/// Initializes a SSC32 object
/// </summary>
/// <param name="servo_channels">List of the servo channels to use</param>
private void Initialize(params int[] servo_channels)
{
if (servo_channels.Length < Servo.MIN_CHANNEL || servo_channels.Length > Servo.MAX_CHANNEL)
{
throw new ArgumentException("Argument count out of range !");
}
// Create as many servos as necessary
servos = new Servo[servo_channels.Length];
for (int i = 0; i < servo_channels.Length; i++)
{
servos[i] = new Servo((byte)servo_channels[i]);
}
// Initialize the flags that indicate if the dummy analog read has been done
firstAnalogReadDone = new bool[Enum.GetNames(typeof(SSC32Inputs)).Length];
for (int i = 0; i < firstAnalogReadDone.Length; i++)
{
firstAnalogReadDone[i] = false;
}
MotionTime = 100;
}
public short GetServo_PW(Servo servoIn)
{
return(servoIn.PulseWidth);
}
public double GetServo_Angle(Servo servoIn)
{
return(((double)servoIn.PulseWidth - (double)Servo.MIN_PULSE_WIDTH) * 180 / (double)(Servo.MAX_PULSE_WIDTH - (double)Servo.MIN_PULSE_WIDTH));
}
public float GetServo_F(Servo servoIn)
{
return(((float)servoIn.PulseWidth - (float)Servo.MIN_PULSE_WIDTH) / ((float)Servo.MAX_PULSE_WIDTH - (float)Servo.MIN_PULSE_WIDTH));
}