public Robot()
{
_controller = new MotorHat2348();
_leftMotor = _controller.CreateDCMotor(1);
_leftMotor.SetSpeed(60);
_rightMotor = _controller.CreateDCMotor(2);
_rightMotor.SetSpeed(60);
}
/// <summary>
/// Creates a <see cref="PwmDCMotor"/> object for the specified channel and adds it to the list of Motors.
/// </summary>
/// <param name="driverChannel">A motor driver channel from 1 to 4.</param>
/// <returns>The created DCMotor object.</returns>
/// <remarks>
/// The driverChannel parameter refers to the motor driver channels M1, M2, M3 or M4.
/// </remarks>
public PwmDCMotor CreateDCMotor(byte driverChannel)
{
PwmDCMotor value;
var actualDriverChannel = driverChannel - 1;
if ((driverChannel < 1) || (driverChannel > 4))
{
throw new InvalidOperationException("CreateDCMotor parameter 'driverChannel' must be between 1 and 4.");
}
if (motorChannelsUsed[actualDriverChannel] == true)
{
throw new MotorHatException(string.Format("Channel {0} aleady in assigned.", driverChannel));
}
EnsureInitialized();
value = new PwmDCMotor(this._pwm, (byte)actualDriverChannel);
motorChannelsUsed[actualDriverChannel] = true;
motors.Add(value);
return(value);
}
