// devices need to be switched on!
public override async Task DiscoverAsync(bool enableTrace)
{
var hub1 = Host.Create <TechnicMediumHub>(BluetoothAddressHub1);
var hub2 = Host.Create <TwoPortHub>(BluetoothAddressHub2);
Log.LogInformation($"Press button on first Hub with address {BluetoothAddressHub1}");
await hub1.ConnectAsync();
Log.LogInformation($"Press button on second Hub with address {BluetoothAddressHub2}");
await hub2.ConnectAsync();
SelectedHub = DirectlyConnectedHub1 = hub1;
DirectlyConnectedHub2 = hub2;
}
public override async Task ExecuteAsync()
{
using TechnicMediumHub technicMediumHub1 = DirectlyConnectedHub1;
using TwoPortHub technicMediumHub2 = DirectlyConnectedHub2;
await technicMediumHub1.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
.AddHub <TechnicMediumHub>(hubBuilder => hubBuilder
.AddDevice <TechnicXLargeLinearMotor>(technicMediumHub1.A)
)
);
await technicMediumHub2.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
.AddHub <TwoPortHub>(hubBuilder => hubBuilder
.AddDevice <TechnicXLargeLinearMotor>(technicMediumHub2.A)
)
);
var motor1 = technicMediumHub1.A.GetDevice <TechnicXLargeLinearMotor>();
var motor2 = technicMediumHub2.A.GetDevice <TechnicXLargeLinearMotor>();
await motor1.SetAccelerationTimeAsync(3000);
await motor1.SetDecelerationTimeAsync(1000);
await motor2.SetAccelerationTimeAsync(3000);
await motor2.SetDecelerationTimeAsync(1000);
await motor1.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
await motor2.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
await Task.Delay(5_000);
await motor1.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await motor2.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.StartSpeedAsync(100, 90, SpeedProfiles.None);
await motor2.StartSpeedAsync(100, 90, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.StartSpeedAsync(-100, 90, SpeedProfiles.None);
await motor2.StartSpeedAsync(-100, 90, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.StartSpeedAsync(0, 90, SpeedProfiles.None);
await motor2.StartSpeedAsync(0, 90, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.GotoPositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await motor2.GotoPositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.GotoPositionAsync(-45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await motor2.GotoPositionAsync(-45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await technicMediumHub1.SwitchOffAsync();
await technicMediumHub2.SwitchOffAsync();
}
