private void StartMotor()
{
KickstartActive = false;
if (MotorPower == 0)
{
StopMotor();
}
else
{
SetMotorPower(MotorPower);
if (MaxRunTimeMs > 0)
{
AlarmHandler.UnregisterAlarm(StartMotor);
AlarmHandler.RegisterAlarm(MaxRunTimeMs, StopMotor);
}
}
}
/// <summary>
/// Sets the power of the motor.<br/>
/// Value range for Power is 0-255. Power will be scaled using the MinPower and MaxPower settings.
/// </summary>
/// <param name="Power">Power of the gear motor.</param>
public void SetPower(int Power)
{
if (this.Power != Power)
{
MotorPower = Power;
if (!KickstartActive)
{
if (KickstartPower > 0 && Power < KickstartPower && KickstartDurationMs > 0)
{
KickstartActive = true;
SetValue(KickstartPower);
AlarmHandler.RegisterAlarm(KickstartDurationMs, StartMotor);
}
else
{
StartMotor();
}
}
}
}
/// <summary>
/// Updates the output of the toy.
/// </summary>
public override void UpdateOutputs()
{
if (Output != null)
{
int P = FadingCurve.MapValue(GetResultingValue().Limit(0, 255));
if (P != 0)
{
P = ((int)((double)(MaxPower >= MinPower ? MaxPower - MinPower : MinPower - MaxPower) / 255 * P) + MinPower).Limit(MinPower, MaxPower);
}
if (P == 0)
{
TurnedOffAfterMaxRunTime = false;
}
if (!TurnedOffAfterMaxRunTime)
{
if (CurrentMotorPower == 0)
{
//Motor is currently off
if (P > 0)
{
//need to turn the motor on
if (KickstartDurationMs > 0 && KickstartPower > 0 && P <= KickstartPower)
{
//Kickstart is defined, start with kickstart
TargetMotorPower = P;
if (!KickstartActive)
{
CurrentMotorPower = KickstartPower;
Output.Value = (byte)CurrentMotorPower;
KickstartActive = true;
AlarmHandler.RegisterAlarm(KickstartDurationMs, KickStartEnd);
}
}
else
{
//Just turn the motor on
CurrentMotorPower = P;
TargetMotorPower = P;
Output.Value = (byte)P;
KickstartActive = false;
}
if (MaxRunTimeMs > 0)
{
AlarmHandler.RegisterAlarm(MaxRunTimeMs, MaxRunTimeMotorStop);
}
}
}
else if (KickstartActive)
{
//Motor is in kickstart phase
if (P > 0)
{
//Need to change the motor power
TargetMotorPower = P;
}
else
{
//Turn off motor
AlarmHandler.UnregisterAlarm(KickStartEnd);
AlarmHandler.UnregisterAlarm(MaxRunTimeMotorStop);
TargetMotorPower = 0;
CurrentMotorPower = 0;
Output.Value = 0;
}
}
else
{
//Motor is on
if (P == 0)
{
//Turn of motor
AlarmHandler.UnregisterAlarm(KickStartEnd);
AlarmHandler.UnregisterAlarm(MaxRunTimeMotorStop);
TargetMotorPower = 0;
CurrentMotorPower = 0;
Output.Value = 0;
}
else if (P != CurrentMotorPower)
{
//Power has changed
CurrentMotorPower = P;
TargetMotorPower = P;
Output.Value = (byte)P;
}
}
}
}
}