AForge.Robotics.TeRK.Qwerk.Servos.SetPositions C# (CSharp) Метод

            public int[] SetPositions( bool[] mask, int[] positions )
            {
                if ( ( mask.Length != Count ) || ( positions.Length != Count ) )
                {
                    throw new ArgumentException( "Incorrect length of mask or positions array." );
                }

                // check controller
                if ( servoController == null )
                {
                    throw new NotConnectedException( "Qwerk's service is not connected." );
                }

                try
                {
                    TeRKIceLib.ServoCommand command = CreateCommand( );

                    for ( int i = 0; i < Count; i++ )
                    {
                        command.servoMask[i]      = mask[i];
                        command.servoModes[i]     = TeRKIceLib.ServoMode.ServoMotorPositionControl;
                        command.servoPositions[i] = positions[i];
                        command.servoSpeeds[i]    = DefaultSpeed;
                    }

                    // execute servos' command
                    TeRKIceLib.ServoState state = servoController.execute( command );
                    return state.servoPositions;
                }
                catch
                {
                    throw new ConnectionLostException( "Connection is lost." );
                }
            }