static void Reverse()
{
motorPair.Brake();
// set to reverse
brick.MotorA = new NxtMotor(true);
brick.MotorC = new NxtMotor(true);
motorPair = new NxtMotorSync(brick.MotorA, brick.MotorC);
motorPair.Run(75, 0, 0);
Thread.Sleep(1000);
motorPair.Brake();
}
private void Backward()
{
textBox1.Text += "Backward" + Environment.NewLine;
if (motorPair != null)
motorPair.Brake();
nxt.MotorB = new NxtMotor(true);
nxt.MotorC = new NxtMotor(true);
nxt.MotorB.ResetMotorPosition(true);
nxt.MotorC.ResetMotorPosition(true);
motorPair = new NxtMotorSync(nxt.MotorB, nxt.MotorC);
motorPair.Run(100, 0, 0);
nxtStatus[Motion.Forward] = false;
nxtStatus[Motion.Back] = true;
nxtStatus[Motion.TurnLeft] = false;
nxtStatus[Motion.TurnRight] = false;
nxtStatus[Motion.Brake] = false;
}
static void Main()
{
Init();
brick = new NxtBrick(NxtCommLinkType.USB, 0);
//brick = new NxtBrick(NxtCommLinkType.Bluetooth, 40);
var sound = new NxtSoundSensor();
var touch = new NxtTouchSensor();
var sonar = new NxtUltrasonicSensor();
brick.MotorA = new NxtMotor();
brick.MotorC = new NxtMotor();
motorPair = new NxtMotorSync(brick.MotorA, brick.MotorC);
brick.Sensor1 = sonar;
brick.Sensor3 = touch;
brick.Sensor4 = sound;
sound.PollInterval = 50;
sound.OnPolled += sound_OnPolled;
sonar.PollInterval = 50;
sonar.ThresholdDistanceCm = 25;
sonar.OnPolled += sonar_OnPolled;
sonar.OnWithinThresholdDistanceCm += OnWithinThreshold;
sonar.ContinuousMeasurementCommand();
touch.PollInterval = 50;
touch.OnPressed += OnCollision;
brick.Connect();
motorPair.Run(75, 0, 0);
Console.WriteLine("Press any key to stop.");
Console.ReadKey();
brick.Disconnect();
}
public Form1()
{
InitializeComponent();
var brick = new NxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new NxtMotor(),
MotorB = new NxtMotor(),
MotorC = new NxtMotor()
};
var motorSync = new NxtMotorSync(brick.MotorA, brick.MotorB);
brick.Connect();
const int units = 100;
var realDistance = units / Config.UnitsInMeter;
var tachoLimit = (ushort)(realDistance * Config.RunTacho);
motorSync.Run(Config.RunPower, tachoLimit, 0);
//brick.Disconnect();
////_brick = new NxtBrick(NxtCommLinkType.Bluetooth, 3)
////{
//// MotorA = new NxtMotor(),
//// MotorB = new NxtMotor()
////};
////_motorSync = new NxtMotorSync(_brick.MotorA, _brick.MotorB);
////do
////{
//// _brick.Connect();
//// Thread.Sleep(1000);
////} while (!_brick.IsConnected);
////for (int i = 0; i < 1; ++i)
////{
//// _motorSync.ResetMotorPosition(true);
//// _motorSync.Idle();
//// _motorSync.Run(50, 4040, 100);
//// Thread.Sleep(10*1000);
////}
//McNxtBrick brick = new McNxtBrick(NxtCommLinkType.Bluetooth, 3);
//// Attach motors to port B and C on the NXT.
//brick.MotorA = new McNxtMotor();
//brick.MotorB = new McNxtMotor();
//// Syncronize the two motors.
//McNxtMotorSync motorPair = new McNxtMotorSync(brick.MotorA, brick.MotorB);
//// Connect to the NXT.
//brick.Connect();
//// If not already running, start the MotorControl program.
//if (brick.IsMotorControlRunning())
// brick.StartMotorControl();
//// Run the motor-pair at 75% power, for a 3600 degree run.
//motorPair.Run(75, 3600, 100);
////for (int i = 0; i < 3; ++i)
////{
//// uint tacho = 2000;
//// brick.MotorA.Run(50, tacho);
//// brick.MotorB.Run(-50, tacho);
//// Thread.Sleep(10 * 1000);
////}
//// Disconnect from the NXT.
//brick.Disconnect();
}