public static void Main(string[] args)
{
Motor motor = new Motor (MotorPort.OutA);
motor.ResetTacho();
motor.MoveTo(25,1000,true);
System.Threading.Thread.Sleep(3000);
Console.WriteLine(motor.GetTachoCount().ToString());
/*motor.MoveTo(75,0,false,true);
LcdConsole.WriteLine(motor.GetTachoCount().ToString());
System.Threading.Thread.Sleep(3000);
LcdConsole.WriteLine ("Done executing motor test");*/
}
public static void Main (string[] args)
{
Motor motor = new Motor(MotorPort.OutA);
motor.ResetTacho();
PositionPID PID = new PositionPID(motor, 4000, true, 50, P, I, D, 5000);
var waitHandle = PID.Run();
Console.WriteLine("Moving motor A to position 4000");
Console.WriteLine("Waiting for controller to finish");
//Wait for controller to finish - you can do other stuff here
waitHandle.WaitOne();
Console.WriteLine("Done");
Console.WriteLine("Motor position: " + motor.GetTachoCount());
}
public static void Main(string[] args)
{
Console.WriteLine ("Resetting the motors");
TouchSensor ts = new TouchSensor(SensorPort.In2);
Motor motorFwd = new Motor(MotorPort.OutB);
Motor motorTurn = new Motor(MotorPort.OutC);
Motor motorSwitch = new Motor(MotorPort.OutA);
Motor motorArm = new Motor(MotorPort.OutD);
motorArm.On (-60);
ButtonEvents buts = new ButtonEvents();
bool keepGoing = true;
while (keepGoing) {
buts.EscapePressed += () => {
keepGoing = false;
};
if (ts.IsPressed ()) {
keepGoing = false;
}
}
motorArm.Off ();
switchMode ();
keepGoing = true;
TouchSensor ts2 = new TouchSensor(SensorPort.In4);
motorArm.On (-60);
while (keepGoing) {
buts.EscapePressed += () => {
keepGoing = false;
};
if (ts2.IsPressed ()) {
keepGoing = false;
}
}
motorArm.Off ();
switchMode ();
motorArm.ResetTacho ();
motorFwd.ResetTacho ();
motorSwitch.ResetTacho ();
motorTurn.ResetTacho ();
}
public virtual void Pee()
{
//Lift leg
Motor motor = new Motor(MotorPort.OutA);
motor.ResetTacho();
motor.SetSpeed(20);
System.Threading.Thread.Sleep(2500);
motor.Brake();
//System.Threading.Thread.Sleep(2500);
//Make peeing sound
MakeSound(DogSound.Pee);
LcdConsole.WriteLine("Peeing");
//Reset bladder
BladderLevel = 0;
}
public static RGBColor[] CountFacelets(Motor a, EV3ColorSensor sensor)
{
RGBColor[] colors = new RGBColor[8];
a.ResetTacho();
for (int count = 0; count < 8;)
if (count == a.GetTachoCount () / 45 % 8)
colors [count++] = sensor.ReadRGB ();
return colors;
}
/// <summary>
/// Resets the useless arm to its initial location (down)
/// </summary>
private static void ResetArmLocation(Motor motor)
{
LcdConsole.WriteLine ("Resetting the arm");
motor.On (20);
// there is a ramp up time for the motor. if the speed is checked
// to fast then it will still be zero
System.Threading.Thread.Sleep (200);
// we'll be using the tachometer to track rotations so lets reset it
motor.ResetTacho ();
System.Threading.Thread.Sleep (100);
while (motor.GetSpeed() > 0) {
// just keeps us from moving on until the arm is fully reset
// hacky I know
}
LcdConsole.WriteLine ("Arm reset");
motor.Off();
}
public static void Main (string[] args)
{
Motor motorA = new Motor (MotorPort.OutA);
Motor motorD = new Motor (MotorPort.OutD);
WaitHandle motorWaitHandle;
motorA.Off();
motorD.Off();
//Power control
LcdConsole.WriteLine("Set power to 50");
motorA.SetPower(50);
Thread.Sleep(3000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Speed control
LcdConsole.WriteLine("Set speed to 50");
motorA.SetSpeed(50);
Thread.Sleep(1000);
LcdConsole.WriteLine("Speed: " + motorA.GetSpeed());
Thread.Sleep(2000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Position control of single motor
Thread.Sleep(3000);
motorA.ResetTacho();
LcdConsole.WriteLine("Moving motor A to 2000 ");
motorWaitHandle = motorA.SpeedProfile(50, 200, 1600, 200,true);
//you could do something else here
LcdConsole.WriteLine("Waiting for motor A to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done moving motor");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
//Individual position control of both motors
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
LcdConsole.WriteLine("Moving motors A to 2000");
LcdConsole.WriteLine("Moving motor B to 1000");
WaitHandle[] handles = new WaitHandle[2];
handles[0] = motorA.SpeedProfile(50, 200, 1600, 200,true);
handles[1] = motorD.SpeedProfile(50,200,600,200,true);
//you could do something else here
LcdConsole.WriteLine("Waiting for both motors to stop");
WaitHandle.WaitAll(handles);
LcdConsole.WriteLine("Done moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
motorA.Off();
motorD.Off();
//Motor synchronisation position control
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
MotorSync sync = new MotorSync(MotorPort.OutA, MotorPort.OutD);
LcdConsole.WriteLine("Sync motors to move 3000 steps forward");
motorWaitHandle = sync.StepSync(40,0, 3000, true);
//you could do something else here
LcdConsole.WriteLine("Waiting for sync to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done sync moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
sync.Off();
}
