/// <summary>
/// <para>SETOUTPUTSTATE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 6.</para>
/// </remarks>
/// <param name="motorPort">Motor port</param>
/// <param name="power">Power set point</param>
/// <param name="mode">Mode</param>
/// <param name="regulationMode">Regulation mode</param>
/// <param name="turnRatio">Turn ratio</param>
/// <param name="runState">Run state</param>
/// <param name="tachoLimit">Tacho limit, 0: run forever</param>
public void SetOutputState(NxtMotorPort motorPort, sbyte power, NxtMotorMode mode, NxtMotorRegulationMode regulationMode, sbyte turnRatio, NxtMotorRunState runState, UInt32 tachoLimit)
{
if (power < -100)
{
power = -100;
}
if (power > 100)
{
power = 100;
}
if (turnRatio < -100)
{
turnRatio = -100;
}
if (turnRatio > 100)
{
turnRatio = 100;
}
byte[] request = new byte[12];
request[0] = (byte)(ReplyRequired ? 0x00 : 0x80);
request[1] = (byte)NxtCommand.SetOutputState;
request[2] = (byte)motorPort;
request[3] = (byte)power;
request[4] = (byte)mode;
request[5] = (byte)regulationMode;
request[6] = (byte)turnRatio;
request[7] = (byte)runState;
Util.SetUInt32(tachoLimit, request, 8);
Send(request);
}
/// <summary>
/// <para>SETOUTPUTSTATE</para>
/// </summary>
/// <remarks>
/// <para>Reference: BDK, Appendix 2, p. 6.</para>
/// </remarks>
/// <param name="motorPort">Motor port</param>
/// <param name="power">Power set point</param>
/// <param name="mode">Mode</param>
/// <param name="regulationMode">Regulation mode</param>
/// <param name="turnRatio">Turn ratio</param>
/// <param name="runState">Run state</param>
/// <param name="tachoLimit">Tacho limit, 0: run forever</param>
public void SetOutputState(NxtMotorPort motorPort, sbyte power, NxtMotorMode mode, NxtMotorRegulationMode regulationMode, sbyte turnRatio, NxtMotorRunState runState, UInt32 tachoLimit)
{
if (power < -100) power = -100;
if (power > 100) power = 100;
if (turnRatio < -100) turnRatio = -100;
if (turnRatio > 100) turnRatio = 100;
byte[] request = new byte[12];
request[0] = (byte)(ReplyRequired ? 0x00 : 0x80);
request[1] = (byte)NxtCommand.SetOutputState;
request[2] = (byte)motorPort;
request[3] = (byte)power;
request[4] = (byte)mode;
request[5] = (byte)regulationMode;
request[6] = (byte)turnRatio;
request[7] = (byte)runState;
Util.SetUInt32(tachoLimit, request, 8);
Send(request);
}