示例#1
0
        private static void RampUpServo(Servo servo, double desiredSpeed)
        {
            var currentSpeed = servo.Degree;

            if (desiredSpeed < currentSpeed)
            {
                if (currentSpeed - desiredSpeed < ServoStep)
                {
                    servo.Degree = desiredSpeed;
                }
                else
                {
                    servo.Degree = currentSpeed - ServoStep;
                }
            }
            else if (desiredSpeed > currentSpeed)
            {
                if (desiredSpeed - currentSpeed < ServoStep)
                {
                    servo.Degree = desiredSpeed;
                }
                else
                {
                    servo.Degree = currentSpeed + ServoStep;
                }
            }
        }
示例#2
0
        public Serb(Cpu.Pin leftServoPin, Cpu.Pin righServoPin)
        {
            _leftServo         = new Servo(leftServoPin, false);
            _rightServo        = new Servo(righServoPin, true);
            _leftServo.Degree  = LEFTSERVSTOP;
            _rightServo.Degree = RIGHTSERVSTOP;

            _timer = new Timer(UpdateMotors, null, 0, 15);
        }