private void OnUpdateTachoMotorA(object source, System.Timers.ElapsedEventArgs e) { SpawnThread(delegate() { MonoBrick.NXT.OutputState state = new MonoBrick.NXT.OutputState(); bool ok = true; int tacho; try{ state = brick.MotorA.GetOutputState(); tacho = state.RotationCount; } catch (Exception) { ok = false; tacho = lastTachoValueMotorA; } if (ok && (state.RunState == MonoBrick.NXT.MotorRunState.Idle && lastTachoValueMotorA == tacho) || (state.Speed == 0 && state.RunState == MonoBrick.NXT.MotorRunState.Running)) { motorATachoTimer.Enabled = false; //Console.WriteLine("Tacho timer is off"); } lastTachoValueMotorA = tacho; Gtk.Application.Invoke(delegate { motorATachoEntry.Text = tacho.ToString(); }); }, false); }
/// <summary> /// Move the motor to a relative position /// </summary> /// <param name='speed'> /// Speed of the motor -100 to 100 /// </param> /// <param name='degrees'> /// The relative position of the motor /// </param> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void On(sbyte speed, UInt32 degrees, bool reply) { OutputState state = new OutputState(); state.Speed = speed; state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated; state.Regulation = MotorRegulation.Speed; state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = degrees; SetOutputState(state, reply); }
/// <summary> /// Turn the motor off /// </summary> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void Off(bool reply) { OutputState state = new OutputState(); state.Speed = 0; state.Mode = MotorMode.Break | MotorMode.Regulated; state.Regulation = MotorRegulation.Speed; state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = 0; SetOutputState(state, reply); }
/// <summary> /// Brake the vehicle (the motor is still on but it does not move) /// </summary> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void Brake(bool reply) { OutputState state = new OutputState(); state.Speed = 0; state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated; if (Sync) { state.Regulation = MotorRegulation.Sync; } else { state.Regulation = MotorRegulation.Speed; } state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = 0; left.SetOutputState(state, reply); right.SetOutputState(state, reply); }
/*public void Forward(sbyte speed, UInt32 degrees){ * Forward(speed,degrees,false); * } * public void Forward(sbyte speed, UInt32 degrees, bool reply){ * Move(speed, degrees, reply); * }*/ private void Move(sbyte speed, UInt32 degrees, bool reply) { OutputState state = new OutputState(); state.Speed = speed; state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated; if (Sync) { state.Regulation = MotorRegulation.Sync; } else { state.Regulation = MotorRegulation.Speed; } state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = degrees; left.SetOutputState(state, reply); right.SetOutputState(state, reply); }
/// <summary> /// Gets the output state of the motor /// </summary> /// <returns> /// The output state /// </returns> public OutputState GetOutputState() { OutputState motorOutput = new OutputState(); var command = new Command(CommandType.DirecCommand, CommandByte.GetOutputState, true); command.Append((byte)port); connection.Send(command); var reply = connection.Receive(); Error.CheckForError(reply, 25); motorOutput.Speed = reply.GetSbyte(4); motorOutput.Mode = (MotorMode)reply[5]; motorOutput.Regulation = (MotorRegulation)reply[6]; motorOutput.TurnRatio = reply.GetSbyte(7); motorOutput.RunState = (MotorRunState)reply[8]; motorOutput.TachoLimit = reply.GetUInt32(9); motorOutput.TachoCount = reply.GetInt32(13); motorOutput.BlockTachoCount = reply.GetInt32(17); motorOutput.RotationCount = reply.GetInt32(21); return(motorOutput); }
/// <summary> /// Sets the output state of the motor /// </summary> /// <param name='state'> /// Outputstate /// </param> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void SetOutputState(OutputState state, bool reply) { if (state.Speed > 100) { state.Speed = 100; } if (state.Speed < -100) { state.Speed = -100; } if (state.TurnRatio > 100) { state.TurnRatio = 100; } if (state.TurnRatio < -100) { state.TurnRatio = 100; } if (Reverse) { state.Speed = (sbyte)-state.Speed; } var command = new Command(CommandType.DirecCommand, CommandByte.SetOutputState, reply); command.Append((byte)port); command.Append(state.Speed); command.Append((byte)state.Mode); command.Append((byte)state.Regulation); command.Append(state.TurnRatio); command.Append((byte)state.RunState); command.Append(state.TachoLimit); command.Append((byte)0x00); //why a 5th byte? connection.Send(command); if (reply) { var brickReply = connection.Receive(); Error.CheckForError(brickReply, 3); } }
private void OnUpdateTachoMotorA(object source, System.Timers.ElapsedEventArgs e){ SpawnThread(delegate() { MonoBrick.NXT.OutputState state = new MonoBrick.NXT.OutputState(); bool ok = true; int tacho; try{ state = brick.MotorA.GetOutputState(); tacho = state.RotationCount; } catch(Exception){ ok = false; tacho = lastTachoValueMotorA; } if(ok && (state.RunState == MonoBrick.NXT.MotorRunState.Idle && lastTachoValueMotorA == tacho) || (state.Speed == 0 && state.RunState == MonoBrick.NXT.MotorRunState.Running)){ motorATachoTimer.Enabled = false; //Console.WriteLine("Tacho timer is off"); } lastTachoValueMotorA = tacho; Gtk.Application.Invoke (delegate { motorATachoEntry.Text = tacho.ToString(); }); },false); }
/// <summary> /// Sets the output state of the motor /// </summary> /// <param name='state'> /// Outputstate /// </param> public void SetOutputState(OutputState state) { SetOutputState(state, false); }
/*public void Forward(sbyte speed, UInt32 degrees){ Forward(speed,degrees,false); } public void Forward(sbyte speed, UInt32 degrees, bool reply){ Move(speed, degrees, reply); }*/ private void Move(sbyte speed, UInt32 degrees, bool reply){ OutputState state = new OutputState(); state.Speed = speed; state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated; if(Sync) state.Regulation = MotorRegulation.Sync; else{ state.Regulation = MotorRegulation.Speed; } state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = degrees; left.SetOutputState(state,reply); right.SetOutputState(state,reply); }
/// <summary> /// Brake the vehicle (the motor is still on but it does not move) /// </summary> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void Brake(bool reply){ OutputState state = new OutputState(); state.Speed = 0; state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated; if(Sync) state.Regulation = MotorRegulation.Sync; else{ state.Regulation = MotorRegulation.Speed; } state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = 0; left.SetOutputState(state,reply); right.SetOutputState(state,reply); }
/// <summary> /// Gets the output state of the motor /// </summary> /// <returns> /// The output state /// </returns> public OutputState GetOutputState() { OutputState motorOutput = new OutputState(); var command = new Command(CommandType.DirecCommand, CommandByte.GetOutputState,true); command.Append((byte)port); connection.Send(command); var reply = connection.Receive(); Error.CheckForError(reply,25); motorOutput.Speed = reply.GetSbyte(4); motorOutput.Mode = (MotorMode)reply[5]; motorOutput.Regulation = (MotorRegulation)reply[6]; motorOutput.TurnRatio = reply.GetSbyte(7); motorOutput.RunState = (MotorRunState)reply[8]; motorOutput.TachoLimit = reply.GetUInt32(9); motorOutput.TachoCount = reply.GetInt32(13); motorOutput.BlockTachoCount = reply.GetInt32(17); motorOutput.RotationCount = reply.GetInt32(21); return motorOutput; }
/// <summary> /// Turn the motor off /// </summary> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void Off(bool reply) { OutputState state = new OutputState(); state.Speed = 0; state.Mode = MotorMode.Break | MotorMode.Regulated; state.Regulation = MotorRegulation.Speed; state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = 0; SetOutputState(state, reply); }
/// <summary> /// Move the motor to a relative position /// </summary> /// <param name='speed'> /// Speed of the motor -100 to 100 /// </param> /// <param name='degrees'> /// The relative position of the motor /// </param> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void On(sbyte speed, UInt32 degrees,bool reply){ OutputState state = new OutputState(); state.Speed = speed; state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated; state.Regulation = MotorRegulation.Speed; state.TurnRatio = 100; state.RunState = MotorRunState.Running; state.TachoLimit = degrees; SetOutputState(state, reply); }
/// <summary> /// Sets the output state of the motor /// </summary> /// <param name='state'> /// Outputstate /// </param> /// <param name='reply'> /// If set to <c>true</c> the brick will send a reply /// </param> public void SetOutputState(OutputState state, bool reply){ if(state.Speed > 100){ state.Speed = 100; } if(state.Speed < -100){ state.Speed = -100; } if(state.TurnRatio > 100){ state.TurnRatio = 100; } if(state.TurnRatio < -100){ state.TurnRatio = 100; } if (Reverse) state.Speed = (sbyte)-state.Speed; var command = new Command(CommandType.DirecCommand,CommandByte.SetOutputState, reply); command.Append((byte)port); command.Append(state.Speed); command.Append((byte)state.Mode); command.Append((byte)state.Regulation); command.Append(state.TurnRatio); command.Append((byte)state.RunState); command.Append(state.TachoLimit); command.Append((byte) 0x00);//why a 5th byte? connection.Send(command); if(reply){ var brickReply = connection.Receive(); Error.CheckForError(brickReply,3); } }
/// <summary> /// Sets the output state of the motor /// </summary> /// <param name='state'> /// Outputstate /// </param> public void SetOutputState(OutputState state){ SetOutputState(state,false); }