private void SetTiltServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 1;
data.cen = (short)(numTiltCen.Value);
data.max = (short)(numTiltMax.Value);
data.min = (short)(numTiltMin.Value);
data.nty = (short)(numTiltNinty.Value);
data.acc = (short)(numTiltAcc.Value);
//data.rev = (sbyte)(cbTiltRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testTiltCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.max);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltMin.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.min);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltNinty.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
angle.angle = 90;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltAcc.Checked)
{
}
}
}
private bool SetPanServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 0;
data.cen = (short)(numPanCen.Value);
data.max = (short)(numPanMax.Value);
data.min = (short)(2 * data.cen - data.max);
data.nty = cbPanRev.Checked ? data.max : data.min;
//data.nty = data.max;
data.acc = (short)(numPanAcc.Value);
//data.rev = (sbyte)(cbPanRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testPanCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testPanMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.pwm = (short)(data.max / 2);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testPanAcc.Checked)
{
}
}
return(msg.cmd == (byte)CommandType.CMD_ACK);
}
private void SetTiltServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 1;
data.cen = (short)(numTiltCen.Value);
data.max = (short)(numTiltMax.Value);
data.min = (short)(numTiltMin.Value);
data.nty = (short)(numTiltNinty.Value);
data.acc = (short)(numTiltAcc.Value);
//data.rev = (sbyte)(cbTiltRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testTiltCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.max);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltMin.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.idx = 1;
pwm.pwm = (short)(data.min);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testTiltNinty.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
angle.idx = 1;
angle.angle = 90;
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testTiltAcc.Checked)
{
}
}
}
private bool SetPanServo(bool save = false)
{
SetServoParamMsgData data = new SetServoParamMsgData();
data.idx = 0;
data.cen = (short)(numPanCen.Value);
data.max = (short)(numPanMax.Value);
data.min = (short)(2 * data.cen - data.max);
data.nty = cbPanRev.Checked ? data.max : data.min;
//data.nty = data.max;
data.acc = (short)(numPanAcc.Value);
//data.rev = (sbyte)(cbPanRev.Checked ? -1 : 1);
data.save = (byte)(save ? 1 : 0);
var msg = link.Call(CommandType.SERVO_SET_SETTING, link.GetBytes(data), CommandType.CMD_ACK);
if (msg.cmd == (byte)CommandType.CMD_ACK)
{
if (testPanCen.Checked)
{
SetServoAngleMsgData angle = new SetServoAngleMsgData();
msg = link.Call(CommandType.SERVO_SET_ANGLE, link.GetBytes(angle));
}
else if (testPanMax.Checked)
{
SetServoPwmMsgData pwm = new SetServoPwmMsgData();
pwm.pwm = (short)(data.max / 2);
msg = link.Call(CommandType.SERVO_SET_PWM, link.GetBytes(pwm));
}
else if (testPanAcc.Checked)
{
}
}
return msg.cmd == (byte)CommandType.CMD_ACK;
}
