public PhysicalActuator(IConfig config)
{
if (config == null)
{
throw new ArgumentNullException(nameof(config));
}
_hitTime = config.Read <int>("Robot.Actuator.Hit.Time");
_hitDelayAfter = config.Read <int>("Robot.Actuator.Hit.DelayAfter");
var host = config.Read <string>("Robot.Actuator.Host");
var port = config.Read <int>("Robot.Actuator.Port");
var uidMaster = config.Read <string>("Robot.Actuator.UidMaster");
var uidRelay1 = config.Read <string>("Robot.Actuator.UidRelay1");
var uidRelay2 = config.Read <string>("Robot.Actuator.UidRelay2");
_ipcon = new IPConnection(); // Create IP connection
_ipcon.Connect(host, port); // Connect to brickd. Don't use device before ipcon is connected
var master = new BrickMaster(uidMaster, _ipcon);
_or1 = new BrickletIndustrialQuadRelay(uidRelay1, _ipcon);
_or2 = new BrickletIndustrialQuadRelay(uidRelay2, _ipcon);
// Get current stack voltage (unit is mV)
int stackVoltage = master.GetStackVoltage();
_logger.Info($"Stack Voltage: {stackVoltage / 1000.0:F} V");
// Get current stack current (unit is mA)
int stackCurrent = master.GetStackCurrent();
_logger.Info($"Stack Current: {stackCurrent / 1000.0:F} A");
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Industrial Quad Relay Bricklet
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletIndustrialQuadRelay iqr =
new BrickletIndustrialQuadRelay(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Turn relays alternating on/off 10 times with 100 ms delay
for (int i = 0; i < 10; i++)
{
Thread.Sleep(100);
iqr.SetValue(1 << 0);
Thread.Sleep(100);
iqr.SetValue(1 << 1);
Thread.Sleep(100);
iqr.SetValue(1 << 2);
Thread.Sleep(100);
iqr.SetValue(1 << 3);
}
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
private static int VALUE_B_OFF = (1 << 1) | (1 << 3); // Pin 1 and 3 high
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletIndustrialQuadRelay iqr = new BrickletIndustrialQuadRelay(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
iqr.SetMonoflop(VALUE_A_ON, 15, 1500); // Set pins to high for 1.5 seconds
ipcon.Disconnect();
}
private void EnumerateCB(IPConnection sender, string UID, string connectedUID, char position,
short[] hardwareVersion, short[] firmwareVersion,
int deviceIdentifier, short enumerationType)
{
if (enumerationType == IPConnection.ENUMERATION_TYPE_CONNECTED ||
enumerationType == IPConnection.ENUMERATION_TYPE_AVAILABLE)
{
if (deviceIdentifier == BrickletIndustrialQuadRelay.DEVICE_IDENTIFIER)
{
try
{
brickletIndustrialQuadRelay = new BrickletIndustrialQuadRelay(UID, ipcon);
Log("Industrial Quad Relay initialized");
}
catch (TinkerforgeException e)
{
Log("Industrial Quad Relay init failed: " + e.Message);
brickletIndustrialQuadRelay = null;
}
}
}
}
private void ConnectWorker_DoWork(object sender, DoWorkEventArgs e)
{
string[] argument = e.Argument as string[];
ipcon = new IPConnection();
try
{
relay = new BrickletIndustrialQuadRelay(argument[2], ipcon);
}
catch (ArgumentOutOfRangeException)
{
e.Result = ConnectResult.NO_DEVICE;
return;
}
try
{
ipcon.Connect(argument[0], Convert.ToInt32(argument[1]));
}
catch (System.IO.IOException)
{
e.Result = ConnectResult.NO_CONNECTION;
return;
}
catch (ArgumentOutOfRangeException)
{
e.Result = ConnectResult.NO_CONNECTION;
return;
}
try
{
string uid;
string connectedUid;
char position;
byte[] hardwareVersion;
byte[] firmwareVersion;
int deviceIdentifier;
relay.GetIdentity(out uid, out connectedUid, out position,
out hardwareVersion, out firmwareVersion, out deviceIdentifier);
if (deviceIdentifier != BrickletIndustrialQuadRelay.DEVICE_IDENTIFIER)
{
ipcon.Disconnect();
e.Result = ConnectResult.NO_DEVICE;
return;
}
}
catch (TinkerforgeException)
{
try
{
ipcon.Disconnect();
}
catch (NotConnectedException)
{
}
e.Result = ConnectResult.NO_DEVICE;
return;
}
e.Result = ConnectResult.SUCCESS;
}
public void TestConnection()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickMaster master = new BrickMaster(_uidMaster, ipcon); // Create device object
BrickletIndustrialQuadRelay or1 = new BrickletIndustrialQuadRelay(_uidRelay1, ipcon);
BrickletIndustrialQuadRelay or2 = new BrickletIndustrialQuadRelay(_uidRelay2, ipcon);
BrickletTemperatureIR tir = new BrickletTemperatureIR(_uidTemp, ipcon);
ipcon.Connect(_host, _port); // Connect to brickd
// Don't use device before ipcon is connected
// Get current stack voltage (unit is mV)
int stackVoltage = master.GetStackVoltage();
Console.WriteLine("Stack Voltage: " + stackVoltage / 1000.0 + " V");
// Get current stack current (unit is mA)
int stackCurrent = master.GetStackCurrent();
Console.WriteLine("Stack Current: " + stackCurrent / 1000.0 + " A");
short chipTemp = tir.GetAmbientTemperature();
Console.WriteLine("Chibi master address: " + chipTemp / 10 + "°/C");
int delay = 50;
while (true)
{
ConsoleKeyInfo insertKey = Console.ReadKey();
int result = insertKey.KeyChar;
// UP
if (result.Equals(32))
{
or1.SetValue(1 << 0);
Thread.Sleep(delay);
or1.SetValue(1 << 0);
Thread.Sleep(delay);
}
// DOWN
if (result.Equals(32))
{
or1.SetValue(1 << 0);
Thread.Sleep(delay);
or1.SetValue(1 << 0);
Thread.Sleep(delay);
}
// LEFT
if (result.Equals(97))
{
or1.SetValue(1 << 0);
Thread.Sleep(delay);
or1.SetValue(1 << 0);
Thread.Sleep(delay);
}
// RIGHT
if (result.Equals(32))
{
or1.SetValue(1 << 0);
Thread.Sleep(delay);
or1.SetValue(1 << 0);
Thread.Sleep(delay);
}
// START
if (result.Equals(115))
{
or2.SetValue(1);
Thread.Sleep(delay);
or2.SetValue(0);
Thread.Sleep(delay);
}
// SELECT
if (result.Equals(83))
{
or2.SetValue(4);
Thread.Sleep(delay);
or2.SetValue(0);
Thread.Sleep(delay);
}
// A
if (result.Equals(97))
{
or2.SetValue(2);
Thread.Sleep(delay);
or2.SetValue(0);
Thread.Sleep(delay);
}
// B
if (result.Equals(98))
{
or2.SetValue(8);
Thread.Sleep(delay);
or2.SetValue(0);
Thread.Sleep(delay);
}
Console.WriteLine(result);
// ESC for EXIT
if (result.Equals(27))
{
break;
}
}
ipcon.Disconnect();
}
