static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDCV2 dc = new BrickletDCV2(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// The acceleration has to be smaller or equal to the maximum
// acceleration of the DC motor, otherwise the velocity reached
// callback will be called too early
dc.SetMotion(4096,
16384); // Slow acceleration (12.5 %/s), fast decceleration (50 %/s) for stopping
dc.SetVelocity(32767); // Full speed forward (100 %)
// Register velocity reached callback to function VelocityReachedCB
dc.VelocityReachedCallback += VelocityReachedCB;
// Enable motor power
dc.SetEnabled(true);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
dc.SetVelocity(0); // Stop motor before disabling motor power
Thread.Sleep(2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
dc.SetEnabled(false); // Disable motor power
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your DC Bricklet 2.0
// Use velocity reached callback to swing back and forth
// between full speed forward and full speed backward
static void VelocityReachedCB(BrickletDCV2 sender, short velocity)
{
if (velocity == 32767)
{
Console.WriteLine("Velocity: Full speed forward, now turning backward");
sender.SetVelocity(-32767);
}
else if (velocity == -32767)
{
Console.WriteLine("Velocity: Full speed backward, now turning forward");
sender.SetVelocity(32767);
}
else
{
// Can only happen if another program sets velocity
Console.WriteLine("Error");
}
}
private static string UID = "XYZ"; // Change XYZ to the UID of your DC Bricklet 2.0
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDCV2 dc = new BrickletDCV2(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
dc.SetDriveMode(BrickletDCV2.DRIVE_MODE_DRIVE_COAST);
dc.SetPWMFrequency(10000); // Use PWM frequency of 10 kHz
dc.SetMotion(4096,
16384); // Slow acceleration (12.5 %/s), fast decceleration (50 %/s) for stopping
dc.SetVelocity(32767); // Full speed forward (100 %)
dc.SetEnabled(true); // Enable motor power
Console.WriteLine("Press enter to exit");
Console.ReadLine();
dc.SetVelocity(0); // Stop motor before disabling motor power
Thread.Sleep(2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
dc.SetEnabled(false); // Disable motor power
ipcon.Disconnect();
}
