/// <summary>
/// Repeatedly checks the state of the switch and resets it necessary
/// </summary>
private static void MainLoop(Motor motor)
{
var touchSensor = new TouchSensor(SensorPort.In1);
while (true) {
// there are a few states that the switch and the arm can be in
// our default is the arm down, and the switch off
// if someone flips the switch, we'll move our arm up until it completes its motion
// at that point, the switch will be off again and we'll move the arm back
// Our "switch" is off when the touch sensor is pressed (inverse)
var switchStatus = !touchSensor.IsPressed ();
// When our switch is on, we need to turn it back off
if (switchStatus) {
// if the motor hasn't moved backwards to push the switch off, we'll do that
if (motor.GetTachoCount () > -120) {
// LcdConsole.WriteLine ("(On) Extending arm");
motor.On (-20);
System.Threading.Thread.Sleep (50);
} else { // if it's moved all the way back, stop pushing it
// LcdConsole.WriteLine ("(On) Arm fully extended");
motor.Off ();
}
} else { // When it's off, we're happy
// if the arm isn't fully retracted, it's time to put it back to zero
if (motor.GetTachoCount () < -20) {
// LcdConsole.WriteLine ("(Off) Reset the arm");
motor.On (20);
System.Threading.Thread.Sleep (200);
} else { // if it is, we're done
// LcdConsole.WriteLine ("(Off) Arm fully reset");
motor.Off ();
}
}
if (switchStatus != PreviouslySwitched && !PreviouslySwitched) {
Action<string> foo = delegate(string x) {
HttpWebRequest request = (HttpWebRequest)WebRequest.Create ("http://crappychatws.azurewebsites.net/api/lego");
request.Proxy = null;
request.GetResponse ();
LcdConsole.WriteLine(x);
};
foo.BeginInvoke ("Someone flipped my switch >_<", null, null);
}
PreviouslySwitched = switchStatus;
}
}
public static void Main(string[] args)
{
InfoDialog dialog = new InfoDialog ("Attach a motor to port A", true);
dialog.Show ();//Wait for enter to be pressed
Motor motor = new Motor (MotorPort.OutA);
motor.SetSpeed (50);
Thread.Sleep (3000);
motor.Off ();
Lcd.Instance.Clear ();
}
public static void Main(string[] args)
{
Console.WriteLine ("Resetting the motors");
TouchSensor ts = new TouchSensor(SensorPort.In2);
Motor motorFwd = new Motor(MotorPort.OutB);
Motor motorTurn = new Motor(MotorPort.OutC);
Motor motorSwitch = new Motor(MotorPort.OutA);
Motor motorArm = new Motor(MotorPort.OutD);
motorArm.On (-60);
ButtonEvents buts = new ButtonEvents();
bool keepGoing = true;
while (keepGoing) {
buts.EscapePressed += () => {
keepGoing = false;
};
if (ts.IsPressed ()) {
keepGoing = false;
}
}
motorArm.Off ();
switchMode ();
keepGoing = true;
TouchSensor ts2 = new TouchSensor(SensorPort.In4);
motorArm.On (-60);
while (keepGoing) {
buts.EscapePressed += () => {
keepGoing = false;
};
if (ts2.IsPressed ()) {
keepGoing = false;
}
}
motorArm.Off ();
switchMode ();
motorArm.ResetTacho ();
motorFwd.ResetTacho ();
motorSwitch.ResetTacho ();
motorTurn.ResetTacho ();
}
public static void switchMode()
{
Motor motorSwitch = new Motor(MotorPort.OutA);
if (extensionMode) {
LcdConsole.WriteLine ("Switching to height adjustment");
motorSwitch.On (30, 1550, true);
extensionMode = false;
} else {
LcdConsole.WriteLine ("Switching to extension mode");
motorSwitch.On (-30, 1500, true);
extensionMode = true;
}
motorSwitch.Off ();
}
public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
Motor motor = new Motor (MotorPort.OutA);
// pull the arm back slightly to the starting position
ResetArmLocation (motor);
// a loop needs to run to watch the arm and reset the switch if someone is rude enough to push it
Task.Factory.StartNew(() => MainLoop(motor));
// Setup the down button to terminate the app
ButtonEvents buts = new ButtonEvents ();
buts.DownPressed += () => {
motor.Off();
terminateProgram.Set();
};
terminateProgram.WaitOne();
}
/// <summary>
/// Resets the useless arm to its initial location (down)
/// </summary>
private static void ResetArmLocation(Motor motor)
{
LcdConsole.WriteLine ("Resetting the arm");
motor.On (20);
// there is a ramp up time for the motor. if the speed is checked
// to fast then it will still be zero
System.Threading.Thread.Sleep (200);
// we'll be using the tachometer to track rotations so lets reset it
motor.ResetTacho ();
System.Threading.Thread.Sleep (100);
while (motor.GetSpeed() > 0) {
// just keeps us from moving on until the arm is fully reset
// hacky I know
}
LcdConsole.WriteLine ("Arm reset");
motor.Off();
}
public static void Main (string[] args)
{
Motor motorA = new Motor (MotorPort.OutA);
Motor motorD = new Motor (MotorPort.OutD);
WaitHandle motorWaitHandle;
motorA.Off();
motorD.Off();
//Power control
LcdConsole.WriteLine("Set power to 50");
motorA.SetPower(50);
Thread.Sleep(3000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Speed control
LcdConsole.WriteLine("Set speed to 50");
motorA.SetSpeed(50);
Thread.Sleep(1000);
LcdConsole.WriteLine("Speed: " + motorA.GetSpeed());
Thread.Sleep(2000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Position control of single motor
Thread.Sleep(3000);
motorA.ResetTacho();
LcdConsole.WriteLine("Moving motor A to 2000 ");
motorWaitHandle = motorA.SpeedProfile(50, 200, 1600, 200,true);
//you could do something else here
LcdConsole.WriteLine("Waiting for motor A to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done moving motor");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
//Individual position control of both motors
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
LcdConsole.WriteLine("Moving motors A to 2000");
LcdConsole.WriteLine("Moving motor B to 1000");
WaitHandle[] handles = new WaitHandle[2];
handles[0] = motorA.SpeedProfile(50, 200, 1600, 200,true);
handles[1] = motorD.SpeedProfile(50,200,600,200,true);
//you could do something else here
LcdConsole.WriteLine("Waiting for both motors to stop");
WaitHandle.WaitAll(handles);
LcdConsole.WriteLine("Done moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
motorA.Off();
motorD.Off();
//Motor synchronisation position control
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
MotorSync sync = new MotorSync(MotorPort.OutA, MotorPort.OutD);
LcdConsole.WriteLine("Sync motors to move 3000 steps forward");
motorWaitHandle = sync.StepSync(40,0, 3000, true);
//you could do something else here
LcdConsole.WriteLine("Waiting for sync to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done sync moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
sync.Off();
}
