/// <summary>
/// Runs the given motor several random different speeds.
/// </summary>
/// <param name="m"></param>
private void TestMotor(Motor m)
{
m.info.controller.setJrkParameter(jrkParameter.PARAMETER_FEEDBACK_MODE, 0);
m.info.controller.reinitialize();
System.Console.WriteLine("Status:");
foreach (String s in m.GetStatus())
{
System.Console.WriteLine(s);
}
Random rng = new Random();
sbyte speed;
//for (int i = 0; i < 5; i++)
{
//speed = (sbyte)(rng.Next(101));//only test half speed max
speed = -100;
if (backwards)
{
speed *= -1;
}
m.RequestSpeed(speed);
System.Console.WriteLine("Target speed: " + (2047 + speed * 20) + " ");
//System.Threading.Thread.Sleep(10000000);
List <String> output = m.GetStatus();
System.Console.WriteLine("Motor target: " + output.ElementAt(0) + " current: " + output.ElementAt(1)
+ " duty cycle: " + output.ElementAt(2));
System.Console.WriteLine();
}
//m.RequestSpeed(0);//set motor to stop
//stop the motor when done testing
// m.KillMotors();
}
private void RunMotor(sbyte speed)
{
if (killed)
{
return;
}
changingMotor.info.controller.setJrkParameter(jrkParameter.PARAMETER_FEEDBACK_MODE, 0);
changingMotor.info.controller.reinitialize();
{
if (backwards)
{
speed *= -1;
}
changingMotor.RequestSpeed(speed);
}
}
private void RunMotor(Motor m)
{
if (killed)
{
return;
}
m.info.controller.setJrkParameter(jrkParameter.PARAMETER_FEEDBACK_MODE, 0);
m.info.controller.reinitialize();
sbyte speed;
{
speed = -25;
if (backwards)
{
speed *= -1;
}
m.RequestSpeed(speed);
}
}
/// <summary>
/// Runs the given motor several random different speeds.
/// </summary>
/// <param name="m"></param>
private void TestMotor(Motor m)
{
m.info.controller.setJrkParameter(jrkParameter.PARAMETER_FEEDBACK_MODE, 0);
m.info.controller.reinitialize();
System.Console.WriteLine("Status:");
foreach (String s in m.GetStatus())
{
System.Console.WriteLine(s);
}
Random rng = new Random();
sbyte speed;
//for (int i = 0; i < 5; i++)
{
//speed = (sbyte)(rng.Next(101));//only test half speed max
speed = -30;
if (backwards)
{
speed *= -1;
}
m.RequestSpeed(speed);
System.Console.WriteLine("Target speed: " + (2047 + speed * 20) + " ");
//System.Threading.Thread.Sleep(10000000);
List<String> output = m.GetStatus();
System.Console.WriteLine("Motor target: " + output.ElementAt(0) + " current: " + output.ElementAt(1)
+ " duty cycle: " + output.ElementAt(2));
System.Console.WriteLine();
}
//m.RequestSpeed(0);//set motor to stop
//stop the motor when done testing
// m.KillMotors();
}
private void RunMotor(Motor m)
{
if (killed)
{
return;
}
m.info.controller.setJrkParameter(jrkParameter.PARAMETER_FEEDBACK_MODE, 0);
m.info.controller.reinitialize();
sbyte speed;
{
speed = -25;
if (backwards)
{
speed *= -1;
}
m.RequestSpeed(speed);
}
}
