private static string UID = "XXYYZZ"; // Change XXYYZZ to the UID of your Stepper Brick
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickStepper stepper = new BrickStepper(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
stepper.SetMotorCurrent(800); // 800mA
stepper.SetStepMode(8); // 1/8 step mode
stepper.SetMaxVelocity(2000); // Velocity 2000 steps/s
// Slow acceleration (500 steps/s^2),
// Fast deacceleration (5000 steps/s^2)
stepper.SetSpeedRamping(500, 5000);
stepper.Enable(); // Enable motor power
stepper.SetSteps(60000); // Drive 60000 steps forward
Console.WriteLine("Press enter to exit");
Console.ReadLine();
stepper.Disable();
ipcon.Disconnect();
}
// Use position reached callback to program random movement
static void PositionReachedCB(BrickStepper sender, int position)
{
int steps;
if(random.Next(0, 2) == 0)
{
steps = random.Next(1000, 5001); // steps (forward)
Console.WriteLine("Driving forward: " + steps + " steps");
}
else
{
steps = random.Next(-5000, -999); // steps (backward)
Console.WriteLine("Driving backward: " + steps + " steps");
}
int vel = random.Next(200, 2001); // steps/s
int acc = random.Next(100, 1001); // steps/s^2
int dec = random.Next(100, 1001); // steps/s^2
Console.WriteLine("Configuration (vel, acc, dec): (" +
vel + ", " + acc + ", " + dec + ")");
sender.SetSpeedRamping(acc, dec);
sender.SetMaxVelocity(vel);
sender.SetSteps(steps);
}
