internal GoPiGo(I2cDevice device)
{
if (device == null) throw new ArgumentNullException(nameof(device));
DirectAccess = device;
_motorController = new MotorController(this);
_encoderController = new EncoderController(this);
}
internal GoPiGo()
{
this.Driver = new I2cDriver(ProcessorPin.Pin2, ProcessorPin.Pin3);
this.I2CController = Driver.Connect(GoPiGoAddress);
_motorController = new MotorController(this);
_encoderController = new EncoderController(this);
}
private void InitMotorControl()
{
_motorControl = _kernel.Get <IMotorController>();
_motorControl.MotorPin1 = ConnectorPin.P1Pin11;
_motorControl.MotorPin2 = ConnectorPin.P1Pin13;
_motorControl.Initialize();
}
// ----- Follower ------//
/**
* Set the control mode and output value so that this motor controller will
* follow another motor controller. Currently supports following Victor SPX
* and Talon SRX.
*
* @param masterToFollow
* Motor Controller object to follow.
* @param followerType
* Type of following control. Use AuxOutput1 to follow the master
* device's auxiliary output 1.
* Use PercentOutput for standard follower mode.
*/
public void Follow(IMotorController masterToFollow, FollowerType followerType)
{
int id32 = masterToFollow.GetBaseID();
int id24 = id32;
id24 >>= 16;
id24 = (short)id24;
id24 <<= 8;
id24 |= (id32 & 0xFF);
Set(ControlMode.Follower, id24);
switch (followerType)
{
case FollowerType.PercentOutput:
Set(ControlMode.Follower, (double)id24);
break;
case FollowerType.AuxOutput1:
/* follow the motor controller, but set the aux flag
* to ensure we follow the processed output */
Set(ControlMode.Follower, (double)id24, DemandType.AuxPID, 0);
break;
default:
NeutralOutput();
break;
}
}
private void InitMotorControl()
{
_motorControl = _kernel.Get<IMotorController>();
_motorControl.MotorPin1 = ConnectorPin.P1Pin11;
_motorControl.MotorPin2 = ConnectorPin.P1Pin13;
_motorControl.Initialize();
}
public RemoteSensoredGearbox(float unitsPerRevolution, IMotorController master, IFollower[] followers, RemoteFeedbackDevice remoteFeedbackDevice) : base(master, followers)
{
_unitsPerRevolution = unitsPerRevolution;
_rotationsPerUnit = 1f / _unitsPerRevolution;
_remoteFeedbackDevice = remoteFeedbackDevice;
_motor.ConfigSelectedFeedbackSensor(_remoteFeedbackDevice, 0);
}
protected RemoteSensoredGearbox(float unitsPerRevolution, IMotorController master) : base(master)
{
_unitsPerRevolution = unitsPerRevolution;
_rotationsPerUnit = 1f / _unitsPerRevolution;
_remoteFeedbackDevice = RemoteFeedbackDevice.RemoteFeedbackDevice_None;
/* child class takes care of sensor */
}
public void SetMotor(int axis, IMotorController motorController)
{
if (axis > 2)
{
throw new ArgumentOutOfRangeException("axis");
}
motor[axis] = motorController;
}
public DeviceController(IMotorController motorController, IHallEffectController hallEffectController, IObjectDetectionController objectDetectionController, ITiltController tiltController, ITofController tofController, IButtonController buttonController)
{
this.motorController = motorController;
this.hallEffectController = hallEffectController;
this.objectDetectionController = objectDetectionController;
this.tiltController = tiltController;
this.tofController = tofController;
this.buttonController = buttonController;
}
internal GoPiGo(I2cDevice device)
{
if (device == null)
{
throw new ArgumentNullException(nameof(device));
}
DirectAccess = device;
_motorController = new MotorController(this);
_encoderController = new EncoderController(this);
}
public Linkage(IMotorController master, IFollower[] followers)
{
_motor = master;
_followers = new IFollower[followers.Length];
for (int i = 0; i < _followers.Length; ++i)
{
_followers[i] = followers[i];
}
Setup();
}
public Tank(IMotorController m1, IMotorController m2, bool leftInvert, bool rightInvert)
{
/* Create 2 single motor gearboxes */
Gearbox temp1 = new Gearbox(m1);
Gearbox temp2 = new Gearbox(m2);
_left = temp1;
_right = temp2;
_left.SetInverted(leftInvert);
_right.SetInverted(rightInvert);
_gearBoxes = new Gearbox[] { _left, _right };
}
/** Contstructor that takes 4 SimpleMotorcontrollers */
public Mecanum(IMotorController m1, IMotorController m2, IMotorController m3, IMotorController m4)
{
//GroupMotorControllers.Register(m1); // commented out to compile
/* Creat 4 single motor gearboxes */
Gearbox temp1 = new Gearbox(m1);
Gearbox temp2 = new Gearbox(m2);
Gearbox temp3 = new Gearbox(m3);
Gearbox temp4 = new Gearbox(m4);
_1 = temp1;
_2 = temp2;
_3 = temp3;
_4 = temp4;
}
//--------------------- Constructors -----------------------------//
/** Contstructor that takes 4 SimpleMotorcontrollers */
public Mecanum(IMotorController m1, IMotorController m2, IMotorController m3, IMotorController m4)
{
/* Creat 4 single motor gearboxes */
Gearbox temp1 = new Gearbox(m1);
Gearbox temp2 = new Gearbox(m2);
Gearbox temp3 = new Gearbox(m3);
Gearbox temp4 = new Gearbox(m4);
_1 = temp1;
_2 = temp2;
_3 = temp3;
_4 = temp4;
_gearBoxes = new Gearbox[] { _1, _2, _3, _4 };
}
private static void Main(string[] args)
{
var kernel = new StandardKernel(new Bindings());
kernel.Load(Assembly.GetExecutingAssembly());
motorControl = kernel.Get <IMotorController>();
motorControl.MotorPin1 = ConnectorPin.P1Pin11;
motorControl.MotorPin2 = ConnectorPin.P1Pin13;
motorControl.Initialize();
RegisterStopSwitches();
motorControl.StartTestRun();
while (true)
{
}
}
internal static void Unregister(IMotorController motorController)
{
_mcs.Remove((object)motorController);
}
internal static void Register(IMotorController motorController)
{
_mcs.Add(motorController);
}
/**
* Set the control mode and output value so that this motor controller will
* follow another motor controller. Currently supports following Victor SPX
* and Talon SRX.
*/
public void Follow(IMotorController masterToFollow)
{
Follow(masterToFollow, FollowerType.PercentOutput);
}
internal GoPiGo(I2cDevice device)
{
Device = device;
_motorController = new MotorController(this);
_encoderController = new EncoderController(this);
}
public Gearbox(IMotorController mc0, IFollower mc1, IFollower mc2, IFollower mc3) : base(mc0, mc1, mc2, mc3)
{
}
public HardwareProxy(IMotorController motor, ILaser laser, IAssistantIO blowing)
{
this.Motor = motor;
this.Laser = laser;
this.Blowing = blowing;
}
public Linkage(IMotorController mc0, IFollower mc1) : this(mc0, new IFollower[] { mc1 })
{
}
public Linkage(IMotorController mc0, IFollower mc1, IFollower mc2, IFollower mc3) : this(mc0, new IFollower[] { mc1, mc2, mc3 })
{
}
public FeedbackControlSystem(IMotorController motorController, IHallEffectController hallEffectController)
{
this.motorController = motorController;
this.hallEffectController = hallEffectController;
}
protected RemoteSensoredGearbox(float unitsPerRevolution, IMotorController master, IFollower[] followers) : base(master, followers)
{
_unitsPerRevolution = unitsPerRevolution;
_rotationsPerUnit = 1f / _unitsPerRevolution;
/* child class takes care of sensor */
}
//--------------------- Constructors -----------------------------//
/* Multiple constructors that take 1 to 4 motors per gearbox */
public Linkage(IMotorController mc0)
{
_motor = mc0;
Setup();
}
public Gearbox(IMotorController mc0) : base(mc0)
{
}
public void Follow(IMotorController masterToFollow)
{
_master = (IMotorController)(masterToFollow);
}
public RemoteSensoredGearbox(float unitsPerRevolution, IMotorController mc0, IFollower mc1, IFollower mc2, RemoteFeedbackDevice remoteFeedbackDevice) : this(unitsPerRevolution, mc0, new IFollower[] { mc1, mc2 }, remoteFeedbackDevice)
{
}
public Gearbox(IMotorController master, IFollower[] followers) : base(master, followers)
{
}
public CommandServer(IMotorController motorController, IPacketParser packetParser)
{
_motorController = motorController;
_packetParser = packetParser;
}
public Gearbox(IMotorController mc0, IFollower mc1) : base(mc0, mc1)
{
}
