using System;
using System.Threading;         // 追加
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;  // 追加、参照設定にも追加
using GHI.Pins;
using BoeBotLib;

namespace GripperTest
{
    public class Program
    {
        DigitalOut LED1 = new DigitalOut(CPU.P22);
        public static void Main()
        {
            new Program().main2();
        }
        private void main()
        {
            ServoMotor Griper = new ServoMotor(Cpu.PWMChannel.PWM_0);
            CPU.delay(2000);
        }

        private void main2()
        {
            ServoMotor Griper = new ServoMotor(Cpu.PWMChannel.PWM_0);
            ServoMotor Rightsv = new ServoMotor(Cpu.PWMChannel.PWM_1);
            ServoMotor Leftsv = new ServoMotor(Cpu.PWMChannel.PWM_3);

            Rightsv.SetSpeed(1400);     // 前進
            Leftsv.SetSpeed(1600);
            Rightsv.Start();
            Leftsv.Start();
            CPU.delay(2000);
            Rightsv.Stop();  //1525
            Leftsv.Stop();
            CPU.delay(1000);
            Griper.update(300, 20000);    // 5.5cm開く
            Griper.Start();
            CPU.delay(300);    //
            Griper.update(700, 20000);    // 4.0cmまで閉める
            CPU.delay(500);
            Rightsv.SetSpeed(1600);     // 後退
            Leftsv.SetSpeed(1400); 
            Rightsv.Start();
            Leftsv.Start();
            CPU.delay(1000);
            Rightsv.Stop();
            Leftsv.Stop();
            Griper.update(300, 20000);    // 5.5cm開く
            CPU.delay(1000);
            Griper.Stop();      // 止める
            Rightsv.Start();
            Leftsv.Start(); 
            CPU.delay(1000);
            Rightsv.Stop();
            Leftsv.Stop();

            Rightsv.Dispose();
            Leftsv.Dispose();
            Griper.Dispose();
        }
    }
}

 1 
 2 
 3 
 4 
 5 
 6 
 7 
 8 
 9 
10 
11 
12 
13 
14 
15 
16 
17 
18 
19 
20 
21 
22 
23 
24 
25 
26 
27 
28 
29 
30 
31 
32 
33 
34 
35 
36 
37 
38 
39 
40 
41 
42 
43 
44 
45 
46 
47 
48 
49 
50 
51 
52 
53 
54 
55 
56 
57 
58 
59 
60 
61 
62 
63