public void WriteMotorFromSocket(string data)
{
MotorInformation mjr = JsonUtility.FromJson <MotorInformation>(data);
if (mjr.side == "front")
{
motor0.WriteMotor(mjr.thrust);
motor3.WriteMotor(mjr.thrust);
}
else if (mjr.side == "back")
{
motor1.WriteMotor(mjr.thrust);
motor2.WriteMotor(mjr.thrust);
}
else if (mjr.side == "left")
{
motor0.WriteMotor(mjr.thrust);
motor1.WriteMotor(mjr.thrust);
}
else if (mjr.side == "right")
{
motor2.WriteMotor(mjr.thrust);
motor3.WriteMotor(mjr.thrust);
}
else
{
throw new System.NotSupportedException();
}
}
public static MockMotor Create()
{
var motor = new MockMotor();
var info = new MotorInformation(Axis.X, motor);
motor.Information = info;
return(motor);
}
public static async Task <GameManager> CreateAsync()
{
var commandInterpreterConstructor = CommandInterpreter.CreateAsync();
ChessLogic logic = new ChessLogic();
var stepCountPinX = new GpioPinWrapper(5, Windows.Devices.Gpio.GpioPinDriveMode.InputPullUp);
var stepClearPinX = new GpioPinWrapper(13, Windows.Devices.Gpio.GpioPinDriveMode.Output, Windows.Devices.Gpio.GpioPinValue.Low);
var motorInformationX = new MotorInformation(Axis.X, stepCountPinX);
var motorDriverX = new MotorDrv(20, 21, motorInformationX);
var motorLocatorX = new MotorLocator(stepClearPinX, motorDriverX.Information);
var positionSignalerX = new PositionSignaler(motorLocatorX);
var motorMoverX = new MotorMover(50, positionSignalerX, motorLocatorX, motorDriverX);
var stepCountPinY = new GpioPinWrapper(6, Windows.Devices.Gpio.GpioPinDriveMode.InputPullUp);
var stepClearPinY = new GpioPinWrapper(19, Windows.Devices.Gpio.GpioPinDriveMode.Output, Windows.Devices.Gpio.GpioPinValue.Low);
var motorInformationY = new MotorInformation(Axis.Y, stepCountPinY);
var motorDriverY = new MotorDrv(24, 23, motorInformationY);
var motorLocatorY = new MotorLocator(stepClearPinY, motorDriverY.Information);
var positionSignalerY = new PositionSignaler(motorLocatorY);
var motorMoverY = new MotorMover(50, positionSignalerY, motorLocatorY, motorDriverY);
var topInterrupterX = new PhotoInterrupter(17, 1, 150);
var bottomInterrupterX = new PhotoInterrupter(27, -1, -150);
var motorCalibratorX = new MotorCalibrator(-23, 23, motorMoverX, motorInformationX, topInterrupterX, bottomInterrupterX);
var topInterrupterY = new PhotoInterrupter(25, 1, 150);
var bottomInterrupterY = new PhotoInterrupter(22, -1, -150);
var motorCalibratorY = new MotorCalibrator(-17, 17, motorMoverY, motorInformationY, topInterrupterY, bottomInterrupterY);
var preciseMoverX = new PreciseMotorMover(motorMoverX);
var gridMoverX = new GridMotorMover(preciseMoverX, motorCalibratorX);
var preciseMoverY = new PreciseMotorMover(motorMoverY);
var gridMoverY = new GridMotorMover(preciseMoverY, motorCalibratorY);
var magnetDriver = new MagnetDrv(26);
var movePerformer = new MovePerformer(gridMoverX, gridMoverY, magnetDriver);
var motorCalibrationTask = movePerformer.CalibrateAsync();
var movePlanner = new MovePlanner(logic.Board);
var moveManager = new MoveManager(movePlanner, movePerformer);
GameManager manager = new GameManager(await commandInterpreterConstructor, logic, moveManager);
await motorCalibrationTask;
#if DEBUG
manager.DebugMovePerformer = movePerformer;
#endif
return(manager);
}
public static MotorInformation GetMotorInformation(Dictionary <AxisTypes, MotorParameter> motorParaMap, MotorInfoMap <MotorInfoUnit> motorInfoMap)
{
var res = new MotorInformation();
foreach (var m in motorParaMap.Keys)
{
res.PosInfo[m] = ConvertBackDistance(motorParaMap[m], motorInfoMap[m].Counter);
res.EncoderInfo[m] = ConvertBackDistance(motorParaMap[m], motorInfoMap[m].Encoder);
res.SpeedInfo[m] = ConvertBackSpeed(motorParaMap[m], motorInfoMap[m].Speed);
res.StatusInfo[m] = MotorStatus.FromRegContent((uint)motorInfoMap[m].Status);
}
return(res);
}
