private void button_right_Click(object sender, EventArgs e)
{
//Run left motor
if (isConnectedToBrick)
{
if (RB_McRXE.Checked)
{
McMotorC.Run(50, 180);
}
else
{
motorC.Run(50, 90);
}
}
}
private void button_GO_Click(object sender, EventArgs e)
{
sbyte sbPower = 0;
int iPower = 0;
uint uigrader = 0;
long lgrader = 0;
string message = "";
string caption_sbyte = "Fejl i power indtastningen";
bool KraftReady = false;
bool GradReady = false;
DialogResult result;
// Læs http://www.mindsqualls.net/QuickStart_2_0.aspx for mere...
if (!sbyte.TryParse(textBox1.Text, out sbPower))
{
if (int.TryParse(textBox1.Text, out iPower))
{
if (iPower < 0)
{
message = "Motor kraft tallet er for lille! Tallet skal være mellem -128 og 127!";
}
else
{
message = "Motor kraft tallet er for stort! Tallet skal være mellem -128 og 127!";
}
}
else
{
message = "Der skal stå et heltal i 'Motor kraft' feltet! Tallet skal være mellem -128 og 127!";
}
MessageBoxButtons buttons = MessageBoxButtons.OK;
// Displays the MessageBox.
result = MessageBox.Show(message, caption_sbyte, buttons);
KraftReady = false;
}
else
{
KraftReady = true;
}
if (!uint.TryParse(textBox2.Text, out uigrader))
{
if (long.TryParse(textBox2.Text, out lgrader))
{
if (lgrader < 0)
{
message = "Motor grad tallet er for lille! Tallet skal være mellem 0 og 4,294,967,295!";
}
else
{
message = "Motor grad tallet er for stort! Tallet skal være mellem 0 og 4,294,967,295!";
}
}
else
{
message = "Der skal stå et heltal i 'Motor grad' feltet! Tallet skal være mellem 0 og 4,294,967,295!";
}
MessageBoxButtons buttons = MessageBoxButtons.OK;
// Displays the MessageBox.
result = MessageBox.Show(message, caption_sbyte, buttons);
GradReady = false;
}
else
{
GradReady = true;
}
// Power står i textbox1 og degrees står i textbox2
// if (sbyte.Parse(textBox1.Text) < 0 || sbyte.Parse(textBox1.Text) < 0)
if (KraftReady && GradReady)
{
if (motorControlActive)
{
McMotorA.Run(sbyte.Parse(textBox1.Text), uint.Parse(textBox2.Text));
}
else
{
motorA.Run(sbyte.Parse(textBox1.Text), uint.Parse(textBox2.Text));
}
}
}
static void Calibrate()
{
Console.WriteLine("\nProjectX now needs to know from where to where it can navigate on each axis.");
//X
Console.WriteLine("Motor " + MotorXaxis + ", controlling the X-Axis, will now drive to one end of its movement range. Be prepared to press any Key when the end is reached. Press any Key to start.");
Console.ReadKey();
Xmotor.Run(-20, 0);
Console.ReadKey();
Xmotor.Brake(); System.Threading.Thread.Sleep(20);
Xmotor.Poll();
XRange1 = Xmotor.TachoCount.Value;
Console.WriteLine("\nDo you wish this to be the positive or the negative end? ('p'/'n')");
if (Console.ReadKey().KeyChar == 'p')
{
Xinverted = true;
}
Console.WriteLine("Motor " + MotorXaxis + " will now move to the opposite and. Press any key if you're ready.");
Console.ReadKey();
Xmotor.Run(20, 0);
Console.ReadKey();
Xmotor.Brake(); System.Threading.Thread.Sleep(20);
Xmotor.Poll();
XRange2 = Xmotor.TachoCount.Value;
//Y
Console.WriteLine("\nMotor " + MotorYaxis + ", controlling the Y-Axis, will now drive to one end of its movement range. Be prepared to press any Key when the end is reached. Press any Key to start.");
Console.ReadKey();
Ymotor.Run(-20, 0);
Console.ReadKey();
Ymotor.Brake(); System.Threading.Thread.Sleep(20);
Ymotor.Poll();
YRange1 = Ymotor.TachoCount.Value;
Console.WriteLine("\nDo you wish this to be the positive or the negative end? ('p'/'n')");
if (Console.ReadKey().KeyChar == 'p')
{
Yinverted = true;
}
Console.WriteLine("Motor " + MotorYaxis + " will now move to the opposite and. Press any key if you're ready.");
Console.ReadKey();
Ymotor.Run(20, 0);
Console.ReadKey();
Ymotor.Brake(); System.Threading.Thread.Sleep(20);
Ymotor.Poll();
YRange2 = Ymotor.TachoCount.Value;
//Z
Console.WriteLine("\nMotor " + MotorZaxis + ", controlling the Z-Axis, will now drive to one end of its movement range. Be prepared to press any Key when the end is reached. Press any Key to start.");
Console.ReadKey();
Zmotor.Run(-20, 0);
Console.ReadKey();
Zmotor.Brake();
Zmotor.Poll();
ZRange1 = Zmotor.TachoCount.Value;
Console.WriteLine("\nDo you wish this to be the positive or the negative end? ('p'/'n')");
if (Console.ReadKey().KeyChar == 'p')
{
Zinverted = true;
}
Console.WriteLine("Motor " + MotorZaxis + " will now move to the opposite and. Press any key if you're ready.");
Console.ReadKey();
Zmotor.Run(20, 0);
Console.ReadKey();
Zmotor.Brake(); System.Threading.Thread.Sleep(20);
Zmotor.Poll();
ZRange2 = Zmotor.TachoCount.Value;
if (Xinverted)
{
int i = XRange1;
XRange1 = XRange2;
XRange2 = i;
}
if (Yinverted)
{
int i = YRange1;
YRange1 = YRange2;
YRange2 = i;
}
if (Zinverted)
{
int i = ZRange1;
ZRange1 = ZRange2;
ZRange2 = i;
}
}