public static void Scan()
{
MotorSync m = new MotorSync(MotorPort.OutB, MotorPort.OutD);
WaitHandle wh;
while (true)
{
wh = m.StepSync(50, -200, 300, true);
wh.WaitOne();
wh = m.StepSync(50, 200, 600, true);
wh.WaitOne();
wh = m.StepSync(50, -200, 300, true);
wh.WaitOne();
wh = m.StepSync(100, 0, 500, true);
wh.WaitOne();
}
}
private void Move(sbyte speed, uint steps)
{
var motorSync = new MotorSync(Constants.MOTOR_LEFT_PORT, Constants.MOTOR_RIGHT_PORT);
WaitHandle waitHandle = motorSync.StepSync(speed, 0, steps, true);
waitHandle.WaitOne();
motorSync.Off();
Thread.Sleep(100);
}
// Kretanje Bobota prilikom trazenja predmeta
static void SearchMove()
{
while (true)
{
motorWH = motors.StepSync(C.scanTurnSpeed, C.left, C.scanTurnSteps, true);
motorWH.WaitOne();
motorWH = motors.StepSync(C.scanTurnSpeed, C.right, C.scanTurnSteps * 2, true);
motorWH.WaitOne();
motorWH = motors.StepSync(C.scanTurnSpeed, C.left, C.scanTurnSteps, true);
motorWH.WaitOne();
motorWH = motors.StepSync(C.scanForwardSpeed, 0, C.scanForwardSteps, true);
motorWH.WaitOne();
progress++;
}
}
public static void Main(string[] args)
{
Motor motorA = new Motor(MotorPort.OutA);
Motor motorD = new Motor(MotorPort.OutD);
WaitHandle motorWaitHandle;
motorA.Off();
motorD.Off();
//Power control
LcdConsole.WriteLine("Set power to 50");
motorA.SetPower(50);
Thread.Sleep(3000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Speed control
LcdConsole.WriteLine("Set speed to 50");
motorA.SetSpeed(50);
Thread.Sleep(1000);
LcdConsole.WriteLine("Speed: " + motorA.GetSpeed());
Thread.Sleep(2000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Position control of single motor
Thread.Sleep(3000);
motorA.ResetTacho();
LcdConsole.WriteLine("Moving motor A to 2000 ");
motorWaitHandle = motorA.SpeedProfile(50, 200, 1600, 200, true);
//you could do something else here
LcdConsole.WriteLine("Waiting for motor A to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done moving motor");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
//Individual position control of both motors
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
LcdConsole.WriteLine("Moving motors A to 2000");
LcdConsole.WriteLine("Moving motor B to 1000");
WaitHandle[] handles = new WaitHandle[2];
handles[0] = motorA.SpeedProfile(50, 200, 1600, 200, true);
handles[1] = motorD.SpeedProfile(50, 200, 600, 200, true);
//you could do something else here
LcdConsole.WriteLine("Waiting for both motors to stop");
WaitHandle.WaitAll(handles);
LcdConsole.WriteLine("Done moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
motorA.Off();
motorD.Off();
//Motor synchronisation position control
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
MotorSync sync = new MotorSync(MotorPort.OutA, MotorPort.OutD);
LcdConsole.WriteLine("Sync motors to move 3000 steps forward");
motorWaitHandle = sync.StepSync(40, 0, 3000, true);
//you could do something else here
LcdConsole.WriteLine("Waiting for sync to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done sync moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
sync.Off();
}