public async Task ExecuteAsync(TachoMotor motor)
{
if (motor is null)
{
throw new ArgumentNullException(nameof(motor));
}
_logger.LogInformation("Start Linear Mid Calibration");
await motor.TryLockDeviceForCombinedModeNotificationSetupAsync(motor.ModeIndexSpeed, motor.ModeIndexPosition);
await motor.SetupNotificationAsync(motor.ModeIndexSpeed, true, 1);
await motor.SetupNotificationAsync(motor.ModeIndexPosition, true, 1);
await motor.UnlockFromCombinedModeNotificationSetupAsync(true);
_logger.LogInformation("Start CW");
await motor.StartPowerAsync((sbyte)(CW *MaxPower));
await motor.SpeedObservable.Where(x => x.SI == 0).FirstAsync().GetAwaiter();
_logger.LogInformation("Reached End by detecting no speed movement.");
var cwVal = motor.Position;
_logger.LogInformation($"CW End at {cwVal}.");
_logger.LogInformation("Start CCW");
await motor.StartPowerAsync((sbyte)(CCW *MaxPower));
await motor.SpeedObservable.Where(x => x.SI == 0).FirstAsync().GetAwaiter();
_logger.LogInformation("Reached End by detecting no speed movement.");
var ccwVal = motor.Position;
_logger.LogInformation($"CW End at {ccwVal}.");
await motor.StopByBrakeAsync();
var range = Math.Abs(cwVal - ccwVal);
var extend = (uint)(range / 2);
_logger.LogInformation($"Total Range: {range} Extend from center: {extend}");
await motor.StartSpeedForDegreesAsync(extend, (sbyte)(CW *Speed), MaxPower, SpecialSpeed.Hold, SpeedProfiles.None);
await motor.SpeedObservable.Where(x => x.SI == 0).FirstAsync().GetAwaiter();
await motor.SetZeroAsync();
_logger.LogInformation($"Moved to center. Reset Position.");
await motor.UnlockFromCombinedModeNotificationSetupAsync(false);
RangeResult = range;
ExtendResult = extend;
_logger.LogInformation($"End Linear Mid Calibration");
}
public async Task ExecuteAsync(TachoMotor motor, sbyte startSpeed, sbyte endSpeed, int steps, int milliseconds, CancellationTokenSource cts = default)
{
_logger.LogInformation($"Start execute {nameof(LinearSpeedChange)} ({startSpeed} - {endSpeed} over {steps} steps and {milliseconds}ms)");
_startSpeed = startSpeed;
_motor = motor ?? throw new ArgumentNullException(nameof(motor));
IterationStep = (sbyte)((endSpeed - startSpeed) / steps);
_logger.LogInformation($"+ IterationStep: {IterationStep}");
await IterativeExecuteAsync(steps, milliseconds / steps, cts);
_logger.LogInformation($"Finished {nameof(LinearSpeedChange)} ");
}
private void MotorStart(object sender, EventArgs e)
{
Button btn = (Button)sender;
if (HardwareController.State)
{
TachoMotor motor = HardwareController.MotorList["ev3-ports:" + btn.Name.TrimStart("btn_".ToCharArray())];
if (btn.Text == "Start")
{
motor.run_forever(((TrackBar)btn.Parent.Controls[btn.Name.Replace("btn", "tkb")]).Value);
}
else
{
motor.stop("coast");
}
}
}
public static void Main(string[] args)
{
try
{
// LcdConsole.WriteLine("Hello world");
// LcdConsole.WriteLine("Hello world2");
// return;
Led.Left.Red.Brightness = 0;
Led.Left.Green.Brightness = 0;
// var touchSensor = new TouchSensor(0);
// touchSensor.Changed += b => Console.WriteLine($"Changed: {b}");
/*
* while (true)
* {
* var key = Console.Read();
* Console.WriteLine("You typed: " + key);
* }
*/
Button.Back.Pressed += () =>
{
Environment.Exit(0);
};
// var gyroSensor = new GyroSensor(1);
// gyroSensor.Changed += value => Console.WriteLine(value);
// var lightSensor = new NxtLightSensor(1);
// lightSensor.Mode = NxtLightSensorMode.Reflect;
// lightSensor.Changed += value => Console.WriteLine(value);
// var ultrasonicSensor = new NxtUltrasonicSensor(1);
// ultrasonicSensor.Mode = NxtUltrasonicSensorMode.CentimetersContinuous;
// ultrasonicSensor.Changed += value => Console.WriteLine(value);
var ledSensor = new Ev3InfraredSensor(1);
ledSensor.Mode = Ev3InfraredSensorMode.Proximity;
ledSensor.Value0Changed += value => Console.WriteLine(value);
var motor = new TachoMotor(0);
motor.Speed = 500;
for (var i = 0; i < 5; i++)
{
motor.RunToAbsolutePosition(180);
Thread.Sleep(3000);
motor.RunToAbsolutePosition(0);
Thread.Sleep(3000);
}
/*
* for (var i = 0; i < 100; i++)
* {
* Led.Left.Red.Brightness = (byte)(255 - Led.Left.Red.Brightness);
* Led.Left.Green.Brightness = (byte)(255 - Led.Left.Green.Brightness);
* Thread.Sleep(1);
* }
* Console.WriteLine("Set led 2");
*/
}
catch (Exception e)
{
Console.WriteLine(e);
}
}
