public void stopDrive()
{
DriveOutput.Power = 0;
DriveOutput.TurnRatio = 0;
DriveOutput.TachoLimit = 0;
BT.SendCommand(DriveOutput.ToCommand());
}
/* Driving Control */
public void startDrive(int speed, Direction d)
{
if (d == Direction.reverse)
{
speed = -speed;
}
DriveOutput.Power = speed;
DriveOutput.TurnRatio = speed;
DriveOutput.RunState = SetOutputState.RunStateType.Running;
Console.WriteLine("Drive Speed: " + DriveOutput.getPower());
BT.SendCommand(DriveOutput.ToCommand());
}
public void speedAdjust(int newSpeed)
{
int power = DriveOutput.getPower();
if (power != 0) // Don't drive motor if currently stopped
{
/* Exactly the same as 'start drive' */
if (power < 0)
{
newSpeed = -newSpeed;
}
DriveOutput.Power = newSpeed;
DriveOutput.TurnRatio = newSpeed;
DriveOutput.RunState = SetOutputState.RunStateType.Running;
BT.SendCommand(DriveOutput.ToCommand());
}
}
