static void Main(string[] args)
{
Console.WriteLine("Hello World!");
Logger_class myLog = new Logger_class();
ThunderBorg myBorg = new ThunderBorg(myLog);
TestBorg(myBorg, myLog);
}
public ThunderBorg(Logger_class log = null, bool tryOtherBus = false)
{
if (log != null)
{
this._log = log;
log.WriteLog("Finding ThunderBorg...");
_TBorgAddress = ThunderBorg.ScanForThunderBorg(1, log);
}
else
{
_TBorgAddress = ThunderBorg.ScanForThunderBorg();
}
if (log != null)
{
log.WriteLog("Loding ThunderBorg on bus " + _bus.ToString("X2") + ", address " + _TBorgAddress.ToString("X2"));
}
}
private static void TestBorg(ThunderBorg myBorg, Logger_class log)
{
myBorg.SetMotorA(128, log);
System.Threading.Thread.Sleep(1000);
int getx = myBorg.GetMotorA(log);
log.WriteLog("Reporting speed A: " + getx.ToString());
myBorg.GetDriveFaultA(log);
myBorg.AllStop(log);
myBorg.SetMotorB(128, log);
System.Threading.Thread.Sleep(1000);
int gety = myBorg.GetMotorB(log);
log.WriteLog("Reporting speed B: " + gety.ToString());
myBorg.GetDriveFaultB(log);
myBorg.AllStop(log);
myBorg.SetMotorA(-128, log);
System.Threading.Thread.Sleep(1000);
getx = myBorg.GetMotorA(log);
log.WriteLog("Reporting speed A: " + getx.ToString());
myBorg.GetDriveFaultA(log);
myBorg.AllStop(log);
myBorg.SetMotorB(-128, log);
System.Threading.Thread.Sleep(1000);
gety = myBorg.GetMotorB(log);
log.WriteLog("Reporting speed B: " + gety.ToString());
myBorg.GetDriveFaultB(log);
myBorg.AllStop(log);
myBorg.SetAllMotors(128, log);
System.Threading.Thread.Sleep(1000);
myBorg.AllStop();
myBorg.SetAllMotors(-128, log);
System.Threading.Thread.Sleep(1000);
myBorg.AllStop();
myBorg.GetFailsafe(log);
myBorg.SetFailsafe(true, log);
myBorg.SetFailsafe(true, log);
myBorg.SetFailsafe(false, log);
myBorg.SetFailsafe(false, log);
myBorg.GetLED1(log);
myBorg.GetLED2(log);
myBorg.GetLEDBatteryMonitor(log);
myBorg.SetLEDBatteryMonitor(false, log);
myBorg.GetLEDBatteryMonitor(log);
myBorg.SetLED1(255, 255, 255, log);
System.Threading.Thread.Sleep(1000);
myBorg.SetLED1(0, 0, 0, log);
//for (int i = 0; i < 255; i = i + 10)
// {
// for (int j = 0; j < 255; j = j + 10)
// {
// for (int k = 0; k < 255; k = k + 10)
// {
// myBorg.SetLEDs(Convert.ToByte(i), Convert.ToByte(j), Convert.ToByte(k), log);
// }
// }
// }
log.WriteLog("Battery voltage: " + myBorg.GetBatteryVoltage(log).ToString());
myBorg.SetLEDBatteryMonitor(true, log);
log.WriteLog("Board ID: 0x" + myBorg.GetBoardID(log).ToString("X2"));
myBorg.GetBatteryMonitoringLimits(log);
myBorg.SetBatteryMonitoringLimits(7.0M, 35.0M, log);
}
