/// <summary>
/// Post Configure Sensor Connection with body and return the response port.
/// </summary>
public virtual PortSet <DefaultUpdateResponseType, Fault> ConnectToBrick(MotorState state)
{
ConnectToBrick op = new ConnectToBrick();
op.Body = new MotorConfig(state.MotorPort);
op.Body.Name = state.Name;
op.Body.PollingFrequencyMs = state.PollingFrequencyMs;
this.PostUnknownType(op);
return(op.ResponsePort);
}
/// <summary>
/// Clone the LEGO NXT Motor State
/// </summary>
/// <returns></returns>
internal MotorState Clone()
{
MotorState clone = new MotorState();
clone.Connected = this.Connected;
clone.CurrentEncoderDegrees = this.CurrentEncoderDegrees;
clone.CurrentEncoderTimeStamp = this.CurrentEncoderTimeStamp;
clone.CurrentMotorRpm = this.CurrentMotorRpm;
clone.AvgEncoderPollingRateMs = this.AvgEncoderPollingRateMs;
clone.CurrentPower = this.CurrentPower;
clone.PollingFrequencyMs = this.PollingFrequencyMs;
clone.MotorPort = this.MotorPort;
clone.Name = this.Name;
clone.ResetableEncoderDegrees = this.ResetableEncoderDegrees;
clone.ReversePolarity = this.ReversePolarity;
clone.TargetEncoderDegrees = this.TargetEncoderDegrees;
clone.TargetPower = this.TargetPower;
clone.TargetStopState = this.TargetStopState;
return(clone);
}
/// <summary>
/// LEGO NXT Motor Configuration.
/// </summary>
/// <param name="state"></param>
public MotorConfig(MotorState state)
{
this.MotorPort = state.MotorPort;
this.Name = state.Name;
this.PollingFrequencyMs = state.PollingFrequencyMs;
}
/// <summary>
/// Configure Device Connection
/// </summary>
/// <param name="state"></param>
public ConnectToBrick(MotorState state)
: base(new MotorConfig(state))
{
}