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);
}
