public static nxt_result motor_off(NXTBrick.Motor motor)
{
nxt_result result = new nxt_result();
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
// prepare motor's state to set
motorState.Power = (sbyte)0;
motorState.TurnRatio = (sbyte)0;
motorState.Mode = NXTBrick.MotorMode.None;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Idle;
// tacho limit
motorState.TachoLimit = 0;
// set motor's state
if (nxt.SetMotorState(motor, motorState) != true)
{
IrcBot.log += "Failed setting motor state\n";
result.result = false;
result.value = "Failed";
return(result);
}
result.result = true;
result.value = "succed";
return(result);
}
public static nxt_result motor_degree(NXTBrick.Motor motor, int degree)
{
nxt_result result = new nxt_result();
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
if (motor == NXTBrick.Motor.A)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = (sbyte)speed_motors[0];
}
if (motor == NXTBrick.Motor.B)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[1];
motorState.TurnRatio = (sbyte)speed_motors[1];
}
if (motor == NXTBrick.Motor.C)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[2];
motorState.TurnRatio = (sbyte)speed_motors[2];
}
// TODO If al motor's on handel correct speed
if (motor == NXTBrick.Motor.All)
{
// prepare motor's state to set
motorState.Power = (sbyte)speed_motors[0];
motorState.TurnRatio = (sbyte)speed_motors[0];
}
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Running;
// tacho limit
motorState.TachoLimit = degree;
// set motor's state
if (nxt.SetMotorState(motor, motorState) != true)
{
IrcBot.log += "Failed setting motor state\n";
result.result = false;
result.value = "Failed";
return(result);
}
result.result = true;
result.value = "succed";
return(result);
}
