private static string UID = "XYZ"; // Change to your UID
// Use velocity reached callback to swing back and forth between
// full speed forward and full speed backward
static void ReachedCB(BrickDC sender, short velocity)
{
if (velocity == 32767)
{
System.Console.WriteLine("Velocity: Full Speed forward, turning backward");
sender.SetVelocity(-32767);
}
else if (velocity == -32767)
{
System.Console.WriteLine("Velocity: Full Speed backward, turning forward");
sender.SetVelocity(32767);
}
else
{
// Can only happen if another program sets velocity
System.Console.WriteLine("Error");
}
}
// Use velocity reached callback to swing back and forth between
// full speed forward and full speed backward
static void ReachedCB(BrickDC sender, short velocity)
{
if(velocity == 32767)
{
System.Console.WriteLine("Velocity: Full Speed forward, turning backward");
sender.SetVelocity(-32767);
}
else if(velocity == -32767)
{
System.Console.WriteLine("Velocity: Full Speed backward, turning forward");
sender.SetVelocity(32767);
}
else
{
// Can only happen if another program sets velocity
System.Console.WriteLine("Error");
}
}
private static string UID = "XXYYZZ"; // Change XXYYZZ to the UID of your DC Brick
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickDC dc = new BrickDC(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
dc.SetDriveMode(BrickDC.DRIVE_MODE_DRIVE_COAST);
dc.SetPWMFrequency(10000); // Use PWM frequency of 10kHz
dc.SetAcceleration(5000); // Slow acceleration
dc.SetVelocity(32767); // Full speed forward
dc.Enable(); // Enable motor power
Console.WriteLine("Press enter to exit");
Console.ReadLine();
dc.Disable(); // Disable motor power
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change to your UID
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickDC dc = new BrickDC(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
dc.SetPWMFrequency(10000); // Use PWM frequency of 10kHz
dc.SetDriveMode(1); // Use 1 = Drive/Coast instead of 0 = Drive/Brake
dc.Enable();
dc.SetAcceleration(5000); // Slow acceleration
dc.SetVelocity(32767); // Full speed forward
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
dc.Disable();
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change to your UID
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickDC dc = new BrickDC(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
dc.SetPWMFrequency(10000); // Use PWM frequency of 10kHz
dc.SetDriveMode(1); // Use 1 = Drive/Coast instead of 0 = Drive/Brake
dc.Enable();
dc.SetAcceleration(5000); // Slow acceleration
dc.SetVelocity(32767); // Full speed forward
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
dc.Disable();
ipcon.Disconnect();
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickDC dc = new BrickDC(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register "velocity reached callback" to ReachedCB
// ReachedCB will be called every time a velocity set with
// SetVelocity is reached
dc.VelocityReached += ReachedCB;
dc.Enable();
// The acceleration has to be smaller or equal to the maximum acceleration
// of the DC motor, otherwise ReachedCB will be called too early
dc.SetAcceleration(5000); // Slow acceleration
dc.SetVelocity(32767); // Full speed forward
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
dc.Disable();
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change to your UID
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickDC dc = new BrickDC(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register "velocity reached callback" to ReachedCB
// ReachedCB will be called every time a velocity set with
// SetVelocity is reached
dc.VelocityReached += ReachedCB;
dc.Enable();
// The acceleration has to be smaller or equal to the maximum acceleration
// of the DC motor, otherwise ReachedCB will be called too early
dc.SetAcceleration(5000); // Slow acceleration
dc.SetVelocity(32767); // Full speed forward
System.Console.WriteLine("Press enter to exit");
System.Console.ReadLine();
dc.Disable();
ipcon.Disconnect();
}
