/// <summary>
/// [Native] Get the state of an NXT motor port.
/// </summary>
/// <param name="port">The port of the selected motor.</param>
/// <returns>Returns a MotorStateOut package.</returns>
public MotorStateOut GetMotorState(MotorPortSingle port)
{
byte[] request = new byte[] {
0x00,
(byte) DirectCommand.GetOutputState,
(byte) port
};
byte[] reply = CompleteRequest(request);
byte motorportout = reply[3];
if (reply[3] != (byte)port)
{
throw new NXTReplyIncorrect();
}
MotorStateOut result = new MotorStateOut();
result.power = reply[4];
result.tachocount = GetInt32(reply, 13);
result.blocktachocount = GetInt32(reply, 17);
result.rotationcount = GetInt32(reply, 21);
return result;
/*
NxtGetOutputStateReply result;
result.power = (sbyte)reply[4];
result.mode = (NxtMotorMode)reply[5];
result.regulationMode = (NxtMotorRegulationMode)reply[6];
result.turnRatio = (sbyte)reply[7];
result.runState = (NxtMotorRunState)reply[8];
result.tachoLimit = Util.GetUInt32(reply, 9);
result.tachoCount = Util.GetInt32(reply, 13);
result.blockTachoCount = Util.GetInt32(reply, 17);
result.rotationCount = Util.GetInt32(reply, 21);
return result;*/
}
/// <summary>
/// [Native] Reset the motor rotation sensor.
/// </summary>
/// <param name="port">The port of the selected motor.</param>
/// <param name="relative">If set to true, the reset's position will be relative to the last
/// movement. Otherwise, it is set at an absolute position.</param>
public void ResetMotorPosition(MotorPortSingle port, bool relative)
{
byte[] request = new byte[] {
(byte) (0x00),
(byte) (DirectCommand.ResetMotorPosition),
(byte) port,
(byte) (relative ? 0xFF : 0x00)
};
CompleteRequest(request);
return;
}
