public void OutputState(NXTOutputPort outputPort, sbyte powerSet, NXTOutputMode mode, NXTOutputRegulationMode regMode, sbyte turnRatio, NXTOutputRunState runState, ulong tachoLimit)
{
Log("--------- Output State ----------------");
Log("Output Port\t= " + outputPort.ToString());
Log("Power Set\t= " + powerSet.ToString());
Log("Output Mode\t= " + mode.ToString());
Log("Regulation Mode\t= " + regMode.ToString());
Log("Turn State\t= " + turnRatio.ToString());
Log("Run State\t= " + runState.ToString());
Log("Tacho Limit\t= " + tachoLimit.ToString());
Log("---------------------------------------");
}
/// <summary>
/// Initializes a new instance of the <see cref="MotorState"/> class.
/// </summary>
///
/// <param name="power">Power, [-100, 100].</param>
/// <param name="turnRatio">Turn ratio, [-100, 100].</param>
/// <param name="mode">Mode (bit field).</param>
/// <param name="regulation">Regulation mode.</param>
/// <param name="runState">Run state.</param>
/// <param name="tachoLimit">The value determines motor's run limit.</param>
///
public MotorState(int power, int turnRatio, NXTOutputMode mode,
NXTOutputRegulationMode regulation, NXTOutputRunState runState, int tachoLimit)
{
Power = power;
TurnRatio = turnRatio;
Mode = mode;
Regulation = regulation;
RunState = runState;
TachoLimit = tachoLimit;
TachoCount = 0;
BlockTachoCount = 0;
RotationCount = 0;
}
public void SetOutputState(NXTOutputPort outputPort, sbyte powerSet, NXTOutputMode mode, NXTOutputRegulationMode regMode, sbyte turnRatio, NXTOutputRunState runState, ulong tachoLimit, bool sendResponse = false)
{
byte[] command = new byte[13];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.SETOUTPUTSTATE;
command[2] = (byte)outputPort;
command[3] = (byte)powerSet;
command[4] = (byte)mode;
command[5] = (byte)regMode;
command[6] = (byte)turnRatio;
command[7] = (byte)runState;
command[8] = (byte)(tachoLimit);
command[9] = (byte)(tachoLimit >> 8);
command[10] = (byte)(tachoLimit >> 16);
command[11] = (byte)(tachoLimit >> 24);
command[12] = (byte)(tachoLimit >> 32);
SendCommand(command, reply);
}
public void SetOutputState(NXTOutputPort outputPort, sbyte powerSet, NXTOutputMode mode, NXTOutputRegulationMode regMode, sbyte turnRatio, NXTOutputRunState runState, ulong tachoLimit, bool sendResponse=false)
{
byte[] command = new byte[13];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.SETOUTPUTSTATE;
command[2] = (byte)outputPort;
command[3] = (byte)powerSet;
command[4] = (byte)mode;
command[5] = (byte)regMode;
command[6] = (byte)turnRatio;
command[7] = (byte)runState;
command[8] = (byte)(tachoLimit);
command[9] = (byte)(tachoLimit >> 8);
command[10] = (byte)(tachoLimit >> 16);
command[11] = (byte)(tachoLimit >> 24);
command[12] = (byte)(tachoLimit >> 32);
SendCommand(command, reply);
}
/// <summary>
/// Initializes a new instance of the <see cref="MotorState"/> class.
/// </summary>
///
/// <param name="power">Power, [-100, 100].</param>
/// <param name="turnRatio">Turn ratio, [-100, 100].</param>
/// <param name="mode">Mode (bit field).</param>
/// <param name="regulation">Regulation mode.</param>
/// <param name="runState">Run state.</param>
/// <param name="tachoLimit">The value determines motor's run limit.</param>
///
public MotorState(int power, int turnRatio, NXTOutputMode mode,
NXTOutputRegulationMode regulation, NXTOutputRunState runState, int tachoLimit)
{
Power = power;
TurnRatio = turnRatio;
Mode = mode;
Regulation = regulation;
RunState = runState;
TachoLimit = tachoLimit;
TachoCount = 0;
BlockTachoCount = 0;
RotationCount = 0;
}
