public void ResetMotorPosition(NXTOutputPort outputPort, bool relativeToLastMovement, bool sendResponse = true)
{
byte[] command = new byte[4];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.RESETMOTORPOSITION;
command[2] = (byte)outputPort;
command[3] = (byte)(relativeToLastMovement ? 1 : 0);
SendCommand(command, reply);
}
public void OutputState(NXTOutputPort outputPort, sbyte powerSet, NXTOutputMode mode, NXTOutputRegulationMode regMode, sbyte turnRatio, NXTOutputRunState runState, ulong tachoLimit)
{
Log("--------- Output State ----------------");
Log("Output Port\t= " + outputPort.ToString());
Log("Power Set\t= " + powerSet.ToString());
Log("Output Mode\t= " + mode.ToString());
Log("Regulation Mode\t= " + regMode.ToString());
Log("Turn State\t= " + turnRatio.ToString());
Log("Run State\t= " + runState.ToString());
Log("Tacho Limit\t= " + tachoLimit.ToString());
Log("---------------------------------------");
}
public void GetOutputState(NXTOutputPort outputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[25];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.GETOUTPUTSTATE;
command[2] = (byte)outputPort;
SendCommand(command, reply);
if (!sendResponse)
{
return;
}
}
public void SetOutputState(NXTOutputPort outputPort, sbyte powerSet, NXTOutputMode mode, NXTOutputRegulationMode regMode, sbyte turnRatio, NXTOutputRunState runState, ulong tachoLimit, bool sendResponse = false)
{
byte[] command = new byte[13];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.SETOUTPUTSTATE;
command[2] = (byte)outputPort;
command[3] = (byte)powerSet;
command[4] = (byte)mode;
command[5] = (byte)regMode;
command[6] = (byte)turnRatio;
command[7] = (byte)runState;
command[8] = (byte)(tachoLimit);
command[9] = (byte)(tachoLimit >> 8);
command[10] = (byte)(tachoLimit >> 16);
command[11] = (byte)(tachoLimit >> 24);
command[12] = (byte)(tachoLimit >> 32);
SendCommand(command, reply);
}
public void readconfig(String newFilename)
{
this.filename = newFilename;
this.commands.Clear();
int counter = 0;
string line;
Command cmd = null;
// Read the file and display it line by line.
System.IO.StreamReader file = new System.IO.StreamReader(this.filename);
while ((line = file.ReadLine()) != null)
{
Console.WriteLine(line);
counter++;
if (line[0] == '[')
{
cmd = new Command(line);
continue;
}
// Grabbing the port
string[] words = line.Split(',');
NXTOutputPort port = NXTOutputPort.PortA;
int direction = Convert.ToInt16(words[1]);
int power = Convert.ToInt16(words[2]);
if (words[0].Equals("0"))
{
port = NXTOutputPort.PortA;
}
else if (words[0].Equals("1"))
{
port = NXTOutputPort.PortB;
}
else if (words[0].Equals("2"))
{
port = NXTOutputPort.PortC;
}
cmd.motors[(int)port].port = port;
cmd.motors[(int)port].direction = direction;
cmd.motors[(int)port].power = power;
//After last motor add command to list
if (port == NXTOutputPort.PortC)
{
addcommand(cmd);
}
}
file.Close();
// Suspend the screen.
Console.ReadLine();
}
public void SetOutputState(NXTOutputPort outputPort, sbyte powerSet, NXTOutputMode mode, NXTOutputRegulationMode regMode, sbyte turnRatio, NXTOutputRunState runState, ulong tachoLimit, bool sendResponse=false)
{
byte[] command = new byte[13];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.SETOUTPUTSTATE;
command[2] = (byte)outputPort;
command[3] = (byte)powerSet;
command[4] = (byte)mode;
command[5] = (byte)regMode;
command[6] = (byte)turnRatio;
command[7] = (byte)runState;
command[8] = (byte)(tachoLimit);
command[9] = (byte)(tachoLimit >> 8);
command[10] = (byte)(tachoLimit >> 16);
command[11] = (byte)(tachoLimit >> 24);
command[12] = (byte)(tachoLimit >> 32);
SendCommand(command, reply);
}
public void ResetMotorPosition(NXTOutputPort outputPort, bool relativeToLastMovement, bool sendResponse = true)
{
byte[] command = new byte[4];
byte[] reply = new byte[3];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.RESETMOTORPOSITION;
command[2] = (byte)outputPort;
command[3] = (byte)(relativeToLastMovement ? 1 : 0);
SendCommand(command, reply);
}
public void GetOutputState(NXTOutputPort outputPort, bool sendResponse = true)
{
byte[] command = new byte[3];
byte[] reply = new byte[25];
command[0] = sendResponse ? (byte)NXTCommandType.DIRECT_RESPONSE : (byte)NXTCommandType.DIRECT_NORESPONSE;
command[1] = (byte)NXTCommandCode.GETOUTPUTSTATE;
command[2] = (byte)outputPort;
SendCommand(command, reply);
if (!sendResponse) return;
}
public Motor(NXTOutputPort port, int direction, int power)
{
this.port = port;
this.direction = direction;
this.power = power;
}
public Motor(NXTOutputPort port, int direction, int power)
{
this.port = port;
this.direction = direction;
this.power = power;
}
