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);
}
// On motor "Set state" button click
private void setMotorStateButton_Click(object sender, EventArgs e)
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState( );
// prepare motor's state to set
motorState.Power = (sbyte)powerUpDown.Value;
motorState.TurnRatio = (sbyte)turnRatioUpDown.Value;
motorState.Mode = ((modeOnCheck.Checked) ? NXTBrick.MotorMode.On : NXTBrick.MotorMode.None) |
((modeBrakeCheck.Checked) ? NXTBrick.MotorMode.Brake : NXTBrick.MotorMode.None) |
((modeRegulatedBox.Checked) ? NXTBrick.MotorMode.Regulated : NXTBrick.MotorMode.None);
motorState.Regulation = regulationModes[regulationModeCombo.SelectedIndex];
motorState.RunState = runStates[runStateCombo.SelectedIndex];
// tacho limit
try
{
motorState.TachoLimit = Math.Max(0, Math.Min(100000, int.Parse(tachoLimitBox.Text)));
}
catch
{
motorState.TachoLimit = 1000;
tachoLimitBox.Text = motorState.TachoLimit.ToString( );
}
// set motor's state
if (nxt.SetMotorState(GetSelectedMotor( ), motorState, false) != true)
{
System.Diagnostics.Debug.WriteLine("Failed setting motor state");
}
}
private void RightForward()
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 70;
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 360;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
}
private void LeftBackwards()
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = -70;
motorState.TurnRatio = -50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 360;
nxt.SetMotorState(NXTBrick.Motor.C, motorState);
}
private void MoveArm(int angle, int power, int turnRatio)
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = power;
motorState.TurnRatio = turnRatio;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = angle;
nxt.SetMotorState(NXTBrick.Motor.A, motorState);
}
private void OneStepRight(int tacho)
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 75;
motorState.TurnRatio = 100;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Speed;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = tacho;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
}
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);
}
