Ejemplo n.º 1
0
        public void WriteMessage(MindstormMessage message)
        {
            if (socket == null || !socket.IsConnected || socket.OutputStream == null)
            {
                throw new IOException("Mindstor communication - output socket error.");
            }

            socket.OutputStream.Write(message.Payload, 0, message.Payload.Length);
        }
Ejemplo n.º 2
0
        public static MindstormMessage GetMotorMessage(int motor, int speed, int step)
        {
            if (speed > 100)
            {
                speed = 100;
            }

            if (speed < -100)
            {
                speed = -100;
            }

            var message = new MindstormMessage(14)
            {
                Payload =
                {
                    [0] = 12,
                    [1] = 0,
                    [2] = MindstormCommands.DirectCommandNoReply,
                    [3] = MindstormCommands.SetOutputState,
                    [4] = (byte)motor
                }
            };

            if (speed == 0)
            {
                message.Payload[5] = 0;
                message.Payload[6] = 0;
                message.Payload[7] = 0;
                message.Payload[8] = 0;
                message.Payload[9] = 0;
            }
            else
            {
                message.Payload[5] = (byte)speed;
                message.Payload[6] = MindstormCommands.MotorOn + MindstormCommands.Brake;
                message.Payload[7] = MindstormCommands.RegulationModeMotorSpeed;
                message.Payload[8] = 0x00;
                message.Payload[9] = MindstormCommands.MotorRunStateRunning;
            }

            message.Payload[10] = (byte)step;
            message.Payload[11] = (byte)(step >> 8);
            message.Payload[12] = (byte)(step >> 16);
            message.Payload[13] = (byte)(step >> 24);

            return(message);
        }
Ejemplo n.º 3
0
        public static MindstormMessage GetResetMessage(int motor)
        {
            var message = new MindstormMessage(6)
            {
                Payload =
                {
                    [0] = 4,
                    [1] = 0,
                    [2] = MindstormCommands.DirectCommandNoReply,
                    [3] = MindstormCommands.ResetMotorPosition,
                    [4] = (byte)motor,
                    [5] = 0
                }
            };

            return(message);
        }
Ejemplo n.º 4
0
        public static MindstormMessage GetToneMessage(int frequency, int duration)
        {
            var message = new MindstormMessage(8)
            {
                Payload =
                {
                    [0] = 6,
                    [1] = 0,
                    [2] = MindstormCommands.DirectCommandNoReply,
                    [3] = MindstormCommands.PlayTone,
                    [4] = (byte)frequency,
                    [5] = (byte)(frequency >> 8),
                    [6] = (byte)duration,
                    [7] = (byte)(duration >> 8)
                }
            };

            return(message);
        }