/// <summary> Sends a command to run the motor at a given <c>Power</c> in a given <c>Direction</c>.
/// The minimum speed is 0 and the maximum speed is 100. </summary>
/// <param name="Direction"> The direction to run the motor. </param>
/// <param name="Power"> The power to run the motor with. </param>
/// <returns> If the method completed with success the returning value is
/// <see cref="wclErrors.WCL_E_SUCCESS" />. If the method failed the returning value is
/// one of the Bluetooth Framework error code. </returns>
/// <seealso cref="wclWeDoMotorDirection"/>
public Int32 Run(wclWeDoMotorDirection Direction, Byte Power)
{
if (Direction == wclWeDoMotorDirection.mdUnknown || Power > 100)
{
return(wclErrors.WCL_E_INVALID_ARGUMENT);
}
if (!Attached)
{
return(wclBluetoothErrors.WCL_E_BLUETOOTH_DEVICE_NOT_INSTALLED);
}
if (Direction == wclWeDoMotorDirection.mdDrifting || Power == 0)
{
return(Drift());
}
if (Direction == wclWeDoMotorDirection.mdBraking)
{
return(Brake());
}
Int32 Res = SendPower(ConvertUnsignedMotorPowerToSigned(Direction, Power));
if (Res == wclErrors.WCL_E_SUCCESS)
{
FDirection = Direction;
}
return(Res);
}
private SByte ConvertUnsignedMotorPowerToSigned(wclWeDoMotorDirection Direction, Byte Power)
{
SByte Res = (SByte)Math.Min(Math.Max(Power, MOTOR_MIN_SPEED), MOTOR_MAX_SPEED);
if (Direction == wclWeDoMotorDirection.mdLeft)
{
Res = (SByte)(-Res);
}
return(Res);
}
/// <summary> Sends a command to stop (drift/float) the motor. </summary>
/// <returns> If the method completed with success the returning value is
/// <see cref="wclErrors.WCL_E_SUCCESS" />. If the method failed the returning value is
/// one of the Bluetooth Framework error code. </returns>
public Int32 Drift()
{
if (!Attached)
{
return(wclBluetoothErrors.WCL_E_BLUETOOTH_DEVICE_NOT_INSTALLED);
}
Int32 Res = SendPower(MOTOR_POWER_DRIFT);
if (Res == wclErrors.WCL_E_SUCCESS)
{
FDirection = wclWeDoMotorDirection.mdDrifting;
}
return(Res);
}
/// <summary> Creates new motor class object. </summary>
/// <param name="Hub"> The Hub object that owns the device. If this parameter is <c>null</c>
/// the <seealso cref="wclEInvalidArgument"/> exception raises. </param>
/// <param name="ConnectionId"> The device's Connection ID. </param>
/// <seealso cref="wclWeDoHub"/>
/// <exception cref="wclEInvalidArgument"> The exception raises when the <c>Hub</c>
/// parameter is <c>null</c>. </exception>
public wclWeDoMotor(wclWeDoHub Hub, Byte ConnectionId)
: base(Hub, ConnectionId)
{
FDirection = wclWeDoMotorDirection.mdBraking;
FPower = 0;
}