public void Execute(McNxtBrick brick, SortRail sortRail, BallPosition position)
{
int tacho = sortRail.GetTachoToPosition(position);
MotorDirection motorDirection = MotorDirection.Forward;
if (tacho < 0)
{
motorDirection = MotorDirection.Backward;
}
var absTacho = (uint)Math.Abs(tacho);
if (absTacho != 0)
{
Debug.WriteLine("Heading for position {0} with tacho {1}",
position,
tacho);
int resultTacho = MotorHelper.RunAndWaitOnCompletion(
(McNxtMotor)brick.MotorA,
absTacho,
motorDirection);
sortRail.CurrentTacho += resultTacho;
}
}
public void Execute(McNxtBrick brick)
{
brick.MotorC.Run(100, 3200);
Thread.Sleep(6000);
brick.MotorC.Run(-100, 3200);
Thread.Sleep(3000);
}
public void Execute(McNxtBrick brick)
{
brick.MotorB.Run(power: -10, tachoLimit: 25);
Thread.Sleep(1500);
brick.MotorB.Run(power: 10, tachoLimit: 25);
Thread.Sleep(1000);
}
public RobotEngineMc()
{
_brick = new McNxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new McNxtMotor(),
MotorB = new McNxtMotor()
};
_motorSync = new McNxtMotorSync(_brick.MotorA, _brick.MotorB);
}
static void Main(string[] args)
{
//var brick = new NxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
//{
// MotorA = new NxtMotor(),
// MotorB = new NxtMotor(),
// MotorC = new NxtMotor()
//};
//var motorSync = new NxtMotorSync(brick.MotorA, brick.MotorB);
//brick.Connect();
////const int units = 10;
////var realDistance = units / Config.UnitsInMeter;
////var tachoLimit = (ushort)(realDistance * Config.RunTacho);
////motorSync.Run(Config.RunPower, tachoLimit, 0);
//const double angle = 90;
//var tachoLimit = (ushort)(Math.Abs(angle) * Config.TurnTacho);
//motorSync.Run(Config.TurnPower, tachoLimit, (sbyte)(Math.Sign(angle) * 100));
var brick = new McNxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new McNxtMotor(),
MotorB = new McNxtMotor(),
MotorC = new McNxtMotor()
};
var motorSync = new McNxtMotorSync(brick.MotorA, brick.MotorB);
brick.Connect();
//const int units = 10;
//var realDistance = units / Config.UnitsInMeter;
//var tachoLimit = (ushort)(realDistance * Config.RunTacho);
//motorSync.Run(Config.RunPower, tachoLimit, 0);
const double angle = 370;
var tachoLimit = (ushort)(Math.Abs(angle) * Config.TurnTacho);
brick.MotorA.Run((sbyte)(Math.Sign(angle) * Config.TurnPower), tachoLimit);
brick.MotorB.Run((sbyte)(-Math.Sign(angle) * Config.TurnPower), tachoLimit);
}
public SortRobot()
{
_brick = new McNxtBrick(NxtCommLinkType.USB, 0)
{
MotorA = new McNxtMotor(),
MotorB = new McNxtMotor(),
MotorC = new McNxtMotor(),
Sensor3 = new Nxt2ColorSensor()
};
Brick.Connect();
Brick.CommLink.KeepAlive();
if (!Brick.IsMotorControlRunning())
{
Brick.StartMotorControl();
}
}
public Nxt2Color Execute(McNxtBrick brick)
{
var colorSensor = brick.Sensor3 as Nxt2ColorSensor;
Nxt2Color? color = null;
if (colorSensor != null)
{
colorSensor.SetColorDetectorMode();
colorSensor.Poll();
color = colorSensor.Color;
Thread.Sleep(500);
if (color != null)
Debug.WriteLine("Color {0}", color.Value);
}
return color.Value;
}
static void SetupUSBConnection()
{
brick = new McNxtBrick(NxtCommLinkType.USB, 0);
Console.WriteLine("\nUSB connection set up.");
}
static void SetupBluetoothConnection()
{
Console.WriteLine("\n\nEnter your Bluetooth COM-Port (Default: 40)");
byte comport = Convert.ToByte(Console.ReadLine());
brick = new McNxtBrick(NxtCommLinkType.Bluetooth, comport);
Console.WriteLine("\nBluetooth connection set up at port " + comport + ".");
}
