// device needs to be switched on!
public override async Task DiscoverAsync(bool enableTrace)
{
var hub = await Host.CreateByStateAsync <TechnicMediumHub>(ChangeMe_BluetoothAddress);
SelectedHub = DirectlyConnectedHub = hub;
await hub.ConnectAsync();
}
// device needs to be switched on!
public override async Task DiscoverAsync(bool enableTrace)
{
var hub = await Host.DiscoverAsync <TechnicMediumHub>();
SelectedHub = DirectlyConnectedHub = hub;
await hub.ConnectAsync();
}
private static async Task TestTechnicHub(int scanSeconds)
{
var technichub = await TechnicMediumHub.ScanAndConnect(timeout : TimeSpan.FromSeconds(scanSeconds));
if (technichub == null)
{
Log.Error("Technic Medium Hub not found.");
return;
}
Log.Information($"Firmware Version: {technichub.FirmwareVersion}");
Log.Information($"Hardware Version: {technichub.HardwareVersion}");
Log.Information($"RSSI: {technichub.RSSI}");
Log.Information($"Battery Voltage: {technichub.BatteryVoltage}");
Log.Information($"Primary MAC Address: {technichub.PrimaryMACAddress}");
await technichub.LED.SetRGB(100, 0, 0);
await Task.Delay(TimeSpan.FromSeconds(3));
await technichub.LED.SetColor(Color.PINK);
technichub.OnButtonStateChange += async(sender, state) => Log.Information($"ButtonState: {state}");
technichub.OnDeviceAttach += async(sender, device, portId) => { await TestLPF2Device(device); };
var t1 = technichub.FindFirstDevice(LPF2DeviceType.TECHNIC_LARGE_LINEAR_MOTOR) as TachoMotor;
var t2 = technichub.FindFirstDevice(LPF2DeviceType.TECHNIC_XLARGE_LINEAR_MOTOR) as TachoMotor;
if (t1 != null)
{
await t1.SetPower(50);
}
if (t2 != null)
{
await t2.SetPower(50);
}
await Task.Delay(TimeSpan.FromSeconds(5));
if (t1 != null)
{
await t1.Stop();
}
if (t2 != null)
{
await t2.Stop();
}
await Task.Delay(TimeSpan.FromSeconds(60));
await technichub.Disconnect();
}
public override async Task ExecuteAsync()
{
using TechnicMediumHub technicMediumHub1 = DirectlyConnectedHub1;
using TwoPortHub technicMediumHub2 = DirectlyConnectedHub2;
await technicMediumHub1.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
.AddHub <TechnicMediumHub>(hubBuilder => hubBuilder
.AddDevice <TechnicXLargeLinearMotor>(technicMediumHub1.A)
)
);
await technicMediumHub2.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
.AddHub <TwoPortHub>(hubBuilder => hubBuilder
.AddDevice <TechnicXLargeLinearMotor>(technicMediumHub2.A)
)
);
var motor1 = technicMediumHub1.A.GetDevice <TechnicXLargeLinearMotor>();
var motor2 = technicMediumHub2.A.GetDevice <TechnicXLargeLinearMotor>();
await motor1.SetAccelerationTimeAsync(3000);
await motor1.SetDecelerationTimeAsync(1000);
await motor2.SetAccelerationTimeAsync(3000);
await motor2.SetDecelerationTimeAsync(1000);
await motor1.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
await motor2.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
await Task.Delay(5_000);
await motor1.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await motor2.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.StartSpeedAsync(100, 90, SpeedProfiles.None);
await motor2.StartSpeedAsync(100, 90, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.StartSpeedAsync(-100, 90, SpeedProfiles.None);
await motor2.StartSpeedAsync(-100, 90, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.StartSpeedAsync(0, 90, SpeedProfiles.None);
await motor2.StartSpeedAsync(0, 90, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.GotoPositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await motor2.GotoPositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await Task.Delay(5_000);
await motor1.GotoPositionAsync(-45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await motor2.GotoPositionAsync(-45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
await technicMediumHub1.SwitchOffAsync();
await technicMediumHub2.SwitchOffAsync();
}
