private void OnUpdateTachoMotorA(object source, System.Timers.ElapsedEventArgs e)
{
SpawnThread(delegate()
{
MonoBrick.NXT.OutputState state = new MonoBrick.NXT.OutputState();
bool ok = true;
int tacho;
try{
state = brick.MotorA.GetOutputState();
tacho = state.RotationCount;
}
catch (Exception) {
ok = false;
tacho = lastTachoValueMotorA;
}
if (ok && (state.RunState == MonoBrick.NXT.MotorRunState.Idle && lastTachoValueMotorA == tacho) || (state.Speed == 0 && state.RunState == MonoBrick.NXT.MotorRunState.Running))
{
motorATachoTimer.Enabled = false;
//Console.WriteLine("Tacho timer is off");
}
lastTachoValueMotorA = tacho;
Gtk.Application.Invoke(delegate {
motorATachoEntry.Text = tacho.ToString();
});
}, false);
}
/// <summary>
/// Move the motor to a relative position
/// </summary>
/// <param name='speed'>
/// Speed of the motor -100 to 100
/// </param>
/// <param name='degrees'>
/// The relative position of the motor
/// </param>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void On(sbyte speed, UInt32 degrees, bool reply)
{
OutputState state = new OutputState();
state.Speed = speed;
state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated;
state.Regulation = MotorRegulation.Speed;
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = degrees;
SetOutputState(state, reply);
}
/// <summary>
/// Turn the motor off
/// </summary>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void Off(bool reply)
{
OutputState state = new OutputState();
state.Speed = 0;
state.Mode = MotorMode.Break | MotorMode.Regulated;
state.Regulation = MotorRegulation.Speed;
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = 0;
SetOutputState(state, reply);
}
/// <summary>
/// Brake the vehicle (the motor is still on but it does not move)
/// </summary>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void Brake(bool reply)
{
OutputState state = new OutputState();
state.Speed = 0;
state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated;
if (Sync)
{
state.Regulation = MotorRegulation.Sync;
}
else
{
state.Regulation = MotorRegulation.Speed;
}
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = 0;
left.SetOutputState(state, reply);
right.SetOutputState(state, reply);
}
/*public void Forward(sbyte speed, UInt32 degrees){
* Forward(speed,degrees,false);
* }
* public void Forward(sbyte speed, UInt32 degrees, bool reply){
* Move(speed, degrees, reply);
* }*/
private void Move(sbyte speed, UInt32 degrees, bool reply)
{
OutputState state = new OutputState();
state.Speed = speed;
state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated;
if (Sync)
{
state.Regulation = MotorRegulation.Sync;
}
else
{
state.Regulation = MotorRegulation.Speed;
}
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = degrees;
left.SetOutputState(state, reply);
right.SetOutputState(state, reply);
}
/// <summary>
/// Gets the output state of the motor
/// </summary>
/// <returns>
/// The output state
/// </returns>
public OutputState GetOutputState()
{
OutputState motorOutput = new OutputState();
var command = new Command(CommandType.DirecCommand, CommandByte.GetOutputState, true);
command.Append((byte)port);
connection.Send(command);
var reply = connection.Receive();
Error.CheckForError(reply, 25);
motorOutput.Speed = reply.GetSbyte(4);
motorOutput.Mode = (MotorMode)reply[5];
motorOutput.Regulation = (MotorRegulation)reply[6];
motorOutput.TurnRatio = reply.GetSbyte(7);
motorOutput.RunState = (MotorRunState)reply[8];
motorOutput.TachoLimit = reply.GetUInt32(9);
motorOutput.TachoCount = reply.GetInt32(13);
motorOutput.BlockTachoCount = reply.GetInt32(17);
motorOutput.RotationCount = reply.GetInt32(21);
return(motorOutput);
}
/// <summary>
/// Sets the output state of the motor
/// </summary>
/// <param name='state'>
/// Outputstate
/// </param>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void SetOutputState(OutputState state, bool reply)
{
if (state.Speed > 100)
{
state.Speed = 100;
}
if (state.Speed < -100)
{
state.Speed = -100;
}
if (state.TurnRatio > 100)
{
state.TurnRatio = 100;
}
if (state.TurnRatio < -100)
{
state.TurnRatio = 100;
}
if (Reverse)
{
state.Speed = (sbyte)-state.Speed;
}
var command = new Command(CommandType.DirecCommand, CommandByte.SetOutputState, reply);
command.Append((byte)port);
command.Append(state.Speed);
command.Append((byte)state.Mode);
command.Append((byte)state.Regulation);
command.Append(state.TurnRatio);
command.Append((byte)state.RunState);
command.Append(state.TachoLimit);
command.Append((byte)0x00); //why a 5th byte?
connection.Send(command);
if (reply)
{
var brickReply = connection.Receive();
Error.CheckForError(brickReply, 3);
}
}
private void OnUpdateTachoMotorA(object source, System.Timers.ElapsedEventArgs e){
SpawnThread(delegate()
{
MonoBrick.NXT.OutputState state = new MonoBrick.NXT.OutputState();
bool ok = true;
int tacho;
try{
state = brick.MotorA.GetOutputState();
tacho = state.RotationCount;
}
catch(Exception){
ok = false;
tacho = lastTachoValueMotorA;
}
if(ok && (state.RunState == MonoBrick.NXT.MotorRunState.Idle && lastTachoValueMotorA == tacho) || (state.Speed == 0 && state.RunState == MonoBrick.NXT.MotorRunState.Running)){
motorATachoTimer.Enabled = false;
//Console.WriteLine("Tacho timer is off");
}
lastTachoValueMotorA = tacho;
Gtk.Application.Invoke (delegate {
motorATachoEntry.Text = tacho.ToString();
});
},false);
}
/// <summary>
/// Sets the output state of the motor
/// </summary>
/// <param name='state'>
/// Outputstate
/// </param>
public void SetOutputState(OutputState state)
{
SetOutputState(state, false);
}
/*public void Forward(sbyte speed, UInt32 degrees){
Forward(speed,degrees,false);
}
public void Forward(sbyte speed, UInt32 degrees, bool reply){
Move(speed, degrees, reply);
}*/
private void Move(sbyte speed, UInt32 degrees, bool reply){
OutputState state = new OutputState();
state.Speed = speed;
state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated;
if(Sync)
state.Regulation = MotorRegulation.Sync;
else{
state.Regulation = MotorRegulation.Speed;
}
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = degrees;
left.SetOutputState(state,reply);
right.SetOutputState(state,reply);
}
/// <summary>
/// Brake the vehicle (the motor is still on but it does not move)
/// </summary>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void Brake(bool reply){
OutputState state = new OutputState();
state.Speed = 0;
state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated;
if(Sync)
state.Regulation = MotorRegulation.Sync;
else{
state.Regulation = MotorRegulation.Speed;
}
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = 0;
left.SetOutputState(state,reply);
right.SetOutputState(state,reply);
}
/// <summary>
/// Gets the output state of the motor
/// </summary>
/// <returns>
/// The output state
/// </returns>
public OutputState GetOutputState() {
OutputState motorOutput = new OutputState();
var command = new Command(CommandType.DirecCommand, CommandByte.GetOutputState,true);
command.Append((byte)port);
connection.Send(command);
var reply = connection.Receive();
Error.CheckForError(reply,25);
motorOutput.Speed = reply.GetSbyte(4);
motorOutput.Mode = (MotorMode)reply[5];
motorOutput.Regulation = (MotorRegulation)reply[6];
motorOutput.TurnRatio = reply.GetSbyte(7);
motorOutput.RunState = (MotorRunState)reply[8];
motorOutput.TachoLimit = reply.GetUInt32(9);
motorOutput.TachoCount = reply.GetInt32(13);
motorOutput.BlockTachoCount = reply.GetInt32(17);
motorOutput.RotationCount = reply.GetInt32(21);
return motorOutput;
}
/// <summary>
/// Turn the motor off
/// </summary>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void Off(bool reply)
{
OutputState state = new OutputState();
state.Speed = 0;
state.Mode = MotorMode.Break | MotorMode.Regulated;
state.Regulation = MotorRegulation.Speed;
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = 0;
SetOutputState(state, reply);
}
/// <summary>
/// Move the motor to a relative position
/// </summary>
/// <param name='speed'>
/// Speed of the motor -100 to 100
/// </param>
/// <param name='degrees'>
/// The relative position of the motor
/// </param>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void On(sbyte speed, UInt32 degrees,bool reply){
OutputState state = new OutputState();
state.Speed = speed;
state.Mode = MotorMode.Break | MotorMode.On | MotorMode.Regulated;
state.Regulation = MotorRegulation.Speed;
state.TurnRatio = 100;
state.RunState = MotorRunState.Running;
state.TachoLimit = degrees;
SetOutputState(state, reply);
}
/// <summary>
/// Sets the output state of the motor
/// </summary>
/// <param name='state'>
/// Outputstate
/// </param>
/// <param name='reply'>
/// If set to <c>true</c> the brick will send a reply
/// </param>
public void SetOutputState(OutputState state, bool reply){
if(state.Speed > 100){
state.Speed = 100;
}
if(state.Speed < -100){
state.Speed = -100;
}
if(state.TurnRatio > 100){
state.TurnRatio = 100;
}
if(state.TurnRatio < -100){
state.TurnRatio = 100;
}
if (Reverse)
state.Speed = (sbyte)-state.Speed;
var command = new Command(CommandType.DirecCommand,CommandByte.SetOutputState, reply);
command.Append((byte)port);
command.Append(state.Speed);
command.Append((byte)state.Mode);
command.Append((byte)state.Regulation);
command.Append(state.TurnRatio);
command.Append((byte)state.RunState);
command.Append(state.TachoLimit);
command.Append((byte) 0x00);//why a 5th byte?
connection.Send(command);
if(reply){
var brickReply = connection.Receive();
Error.CheckForError(brickReply,3);
}
}
/// <summary>
/// Sets the output state of the motor
/// </summary>
/// <param name='state'>
/// Outputstate
/// </param>
public void SetOutputState(OutputState state){
SetOutputState(state,false);
}
