/// <summary>
/// <para>Run the motor and end coasting (spinning freely).</para>
/// </summary>
/// <param name="power">The power for the motor</param>
/// <param name="tachoLimit">The duration in degrees, 0 = unlimited</param>
public void RunAndCoast(sbyte power, uint tachoLimit)
{
// Translate motor-port to MotorControl-format.
MotorControlMotorPort portMotorControl;
switch (Port)
{
case NxtMotorPort.PortA:
portMotorControl = MotorControlMotorPort.PortA;
break;
case NxtMotorPort.PortB:
portMotorControl = MotorControlMotorPort.PortB;
break;
case NxtMotorPort.PortC:
portMotorControl = MotorControlMotorPort.PortC;
break;
default:
throw new NxtException("Unknown port.");
}
// Translate power to MotorControl-format.
if (power > 100)
{
power = 100;
}
if (power < -100)
{
power = -100;
}
int powerTemp = power;
if (powerTemp < 0)
{
powerTemp = 100 - powerTemp;
}
string powerMotorControl = powerTemp.ToString().PadLeft(3, '0');
// Translate tachoLimit to MotorControl-format.
string tachoLimitMotorControl = tachoLimit.ToString().PadLeft(6, '0');
// Call MotorControl.
char speedRegulation = '1';
MotorControlProxy.CLASSIC_MOTORCMD(this.Brick.CommLink, portMotorControl, powerMotorControl, tachoLimitMotorControl, speedRegulation);
}
/// <summary>
/// <para>Run the motors (in sync).</para>
/// </summary>
/// <param name="power">The poser</param>
/// <param name="tachoLimit">The tacho limit in degrees, 0 means unlimited</param>
/// <param name="turnRatio">Turn ratio is not upported by MotorControl and is ignored</param>
public override void Run(sbyte power, ushort tachoLimit, sbyte turnRatio)
{
MotorControlMotorPort motorControlPort;
if (motorX.Port == NxtMotorPort.PortA && motorY.Port == NxtMotorPort.PortB)
{
motorControlPort = MotorControlMotorPort.PortsAB;
}
else if (motorX.Port == NxtMotorPort.PortA && motorY.Port == NxtMotorPort.PortC)
{
motorControlPort = MotorControlMotorPort.PortsAC;
}
else if (motorX.Port == NxtMotorPort.PortB && motorY.Port == NxtMotorPort.PortC)
{
motorControlPort = MotorControlMotorPort.PortsBC;
}
else
{
throw new NxtException("Unknown port combination of ports.");
}
// Translate power to MotorControl-format.
if (power > 100)
{
power = 100;
}
if (power < -100)
{
power = -100;
}
int powerTmp = power;
if (powerTmp < 0)
{
powerTmp = 100 - powerTmp;
}
char mode = '7';
MotorControlProxy.CONTROLLED_MOTORCMD(
this.motorX.Brick.CommLink,
motorControlPort,
powerTmp.ToString().PadLeft(3, '0'),
tachoLimit.ToString().PadLeft(6, '0'),
mode);
}
