public static void Main (string[] args)
{
Motor motor = new Motor(MotorPort.OutA);
motor.ResetTacho();
PositionPID PID = new PositionPID(motor, 4000, true, 50, P, I, D, 5000);
var waitHandle = PID.Run();
Console.WriteLine("Moving motor A to position 4000");
Console.WriteLine("Waiting for controller to finish");
//Wait for controller to finish - you can do other stuff here
waitHandle.WaitOne();
Console.WriteLine("Done");
Console.WriteLine("Motor position: " + motor.GetTachoCount());
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrickFirmware.IO.Motor"/> class.
/// </summary>
/// <param name="port">Port.</param>
public Motor(MotorPort port)
{
this.BitField = MotorPortToBitfield(port);
Reverse = false;
controller = new PositionPID (port, 0, false, 100, standardPValue, standardIValue, standardIValue, controllerSampleTime);
}
public void MoveTo(sbyte maxPower, Int32 position, bool brake, float P, float I, float D, bool waitForCompletion = true)
{
controller.Cancel ();
controller = new PositionPID (PortList [0], position, brake, maxPower, P, I, D, controllerSampleTime);
controller.Run (waitForCompletion);
}
/// <summary>
/// Moves the motor to an absolute position
/// </summary>
/// <param name='maxPower'>
/// maxPower of the motor 0 to 100
/// </param>
/// <param name='position'>
/// Absolute position
/// </param>
/// <param name='brake'>
/// Set to <c>true</c> if the motor should brake when done
/// </param>
/// <param name='waitForCompletion'>
/// Set to <c>true</c> to wait for movement to be completed before returning
/// </param>
public void MoveTo(sbyte maxPower, Int32 position, bool brake, bool waitForCompletion = true)
{
var controller = new PositionPID(PortList[0], position, brake, maxPower, 0.1f, 80.1f, 1.05f, 40);
controller.Run(true);
}
