Esempio n. 1
0
        /// <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();
        }
Esempio n. 2
0
 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);
     }
 }
Esempio n. 3
0
 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);
     }
 }
Esempio n. 4
0
        /// <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();
        }
Esempio n. 5
0
 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);
     }
 }