public static void Main()
{
// Start everything
hal.OnInterrupt += hal_OnInterrupt;
acc.setRange(enRange.range2g);
acc.setUpInterrupt();
acc.clearInterrupt();
dataReady.OnInterrupt += dataReady_OnInterrupt;
motorDrive.Start();
byte[] outBuffer = System.Text.Encoding.UTF8.GetBytes("Motor active");
acc.setUpAccelRate(200);
Debug.Print(NI.IPAddress.ToString());
//Int16 a = -1;
//a = 0;
//a = 1;
//
// Ramp up the rotor speed
//
int speedNow = 0x3c;
Thread.Sleep(6000);
while (speedNow < maxSpeed)
{
speedNow++;
motorDrive.Duration = (UInt32)((double)speedNow * 980d / 512d + 1000);
if (speedNow > 70)
{
Thread.Sleep(750); // Was 2000
}
else
{
Thread.Sleep(150);
}
}
// Snooze
Thread.Sleep(Timeout.Infinite);
}
public static void Main()
{
// Start everything
blueComms.Open();
blueComms.DataReceived += blueComms_DataReceived;
hal.OnInterrupt += hal_OnInterrupt;
acc.setRange(enRange.range2g);
acc.setUpInterrupt();
acc.clearInterrupt();
dataReady.OnInterrupt += dataReady_OnInterrupt;
motorDrive.Start();
byte[] outBuffer = System.Text.Encoding.UTF8.GetBytes("Motor active");
blueComms.Write(outBuffer, 0, outBuffer.Length);
acc.setUpAccelRate(200);
//Int16 a = -1;
//a = 0;
//a = 1;
//
// Ramp up the rotor speed
//
int speedNow = 0x3c;
Thread.Sleep(6000);
while (speedNow < maxSpeed)
{
speedNow++;
motorDrive.Duration = (UInt32)((double)speedNow * 980d / 512d + 1000);
Thread.Sleep(150);
}
// Snooze
Thread.Sleep(Timeout.Infinite);
}
public static void Main()
{
int setTime = 20000;
int col0 = 100;
int cyc0 = 137;
int deltaCol = 10;
int deltaCyc = 10;
//
// Set the initial values
//
GlobalVariables.receivedMessage[1] = (byte)cyc0;
GlobalVariables.receivedMessage[3] = (byte)col0;
// Start everything
hal.OnInterrupt += hal_OnInterrupt;
acc.setUpAccelRate(200);
acc.setRange(enRange.range4g);
Thread.Sleep(100);
acc.setUpInterrupt();
Thread.Sleep(100);
accelInt.OnInterrupt += accelInt_OnInterrupt;
acc.clearInterrupt();
Thread.Sleep(100);
acc.clearInterrupt();
Thread.Sleep(100);
// Start the pwms.
motorDrive.Start();
servo1.Start();
servo2.Start();
servo3.Start();
//
// Slowly ramp up the rotor
//
int curSpeed = 0;
while (curSpeed <= maxSpeed)
{
curSpeed += 1;
Thread.Sleep(500);
GlobalVariables.throttleByte[0] = (byte)curSpeed;
Debug.Print(curSpeed.ToString());
}
Thread.Sleep(setTime);
//
// Go through a set sequence
//
GlobalVariables.receivedMessage[1] = (byte)(cyc0 + 0);
GlobalVariables.receivedMessage[3] = (byte)(col0 + deltaCol);
Thread.Sleep(setTime);
GlobalVariables.receivedMessage[1] = (byte)(cyc0 + 0);
GlobalVariables.receivedMessage[3] = (byte)(col0 - deltaCol);
Thread.Sleep(setTime);
GlobalVariables.receivedMessage[1] = (byte)(cyc0 + deltaCyc);
GlobalVariables.receivedMessage[3] = (byte)(col0 + 0);
Thread.Sleep(setTime);
GlobalVariables.receivedMessage[1] = (byte)(cyc0 + deltaCyc);
GlobalVariables.receivedMessage[3] = (byte)(col0 + deltaCol);
Thread.Sleep(setTime);
GlobalVariables.receivedMessage[1] = (byte)(cyc0 + deltaCyc);
GlobalVariables.receivedMessage[3] = (byte)(col0 - deltaCol);
Thread.Sleep(setTime);
GlobalVariables.receivedMessage[1] = (byte)(cyc0 - deltaCyc);
GlobalVariables.receivedMessage[3] = (byte)(col0 + 0);
Thread.Sleep(setTime);
GlobalVariables.receivedMessage[1] = (byte)(cyc0 - deltaCyc);
GlobalVariables.receivedMessage[3] = (byte)(col0 + deltaCol);
Thread.Sleep(setTime);
GlobalVariables.receivedMessage[1] = (byte)(cyc0 - deltaCyc);
GlobalVariables.receivedMessage[3] = (byte)(col0 - deltaCol);
Thread.Sleep(setTime);
Thread.Sleep(Timeout.Infinite);
}