/// <summary>
/// Repeatedly checks the state of the switch and resets it necessary
/// </summary>
private static void MainLoop(Motor motor)
{
var touchSensor = new TouchSensor(SensorPort.In1);
while (true) {
// there are a few states that the switch and the arm can be in
// our default is the arm down, and the switch off
// if someone flips the switch, we'll move our arm up until it completes its motion
// at that point, the switch will be off again and we'll move the arm back
// Our "switch" is off when the touch sensor is pressed (inverse)
var switchStatus = !touchSensor.IsPressed ();
// When our switch is on, we need to turn it back off
if (switchStatus) {
// if the motor hasn't moved backwards to push the switch off, we'll do that
if (motor.GetTachoCount () > -120) {
// LcdConsole.WriteLine ("(On) Extending arm");
motor.On (-20);
System.Threading.Thread.Sleep (50);
} else { // if it's moved all the way back, stop pushing it
// LcdConsole.WriteLine ("(On) Arm fully extended");
motor.Off ();
}
} else { // When it's off, we're happy
// if the arm isn't fully retracted, it's time to put it back to zero
if (motor.GetTachoCount () < -20) {
// LcdConsole.WriteLine ("(Off) Reset the arm");
motor.On (20);
System.Threading.Thread.Sleep (200);
} else { // if it is, we're done
// LcdConsole.WriteLine ("(Off) Arm fully reset");
motor.Off ();
}
}
if (switchStatus != PreviouslySwitched && !PreviouslySwitched) {
Action<string> foo = delegate(string x) {
HttpWebRequest request = (HttpWebRequest)WebRequest.Create ("http://crappychatws.azurewebsites.net/api/lego");
request.Proxy = null;
request.GetResponse ();
LcdConsole.WriteLine(x);
};
foo.BeginInvoke ("Someone flipped my switch >_<", null, null);
}
PreviouslySwitched = switchStatus;
}
}
public static void Main(string[] args)
{
Motor motor = new Motor (MotorPort.OutA);
motor.ResetTacho();
motor.MoveTo(25,1000,true);
System.Threading.Thread.Sleep(3000);
Console.WriteLine(motor.GetTachoCount().ToString());
/*motor.MoveTo(75,0,false,true);
LcdConsole.WriteLine(motor.GetTachoCount().ToString());
System.Threading.Thread.Sleep(3000);
LcdConsole.WriteLine ("Done executing motor test");*/
}
public static void Main (string[] args)
{
Motor motor = new Motor(MotorPort.OutA);
motor.ResetTacho();
PositionPID PID = new PositionPID(motor, 4000, true, 50, P, I, D, 5000);
var waitHandle = PID.Run();
Console.WriteLine("Moving motor A to position 4000");
Console.WriteLine("Waiting for controller to finish");
//Wait for controller to finish - you can do other stuff here
waitHandle.WaitOne();
Console.WriteLine("Done");
Console.WriteLine("Motor position: " + motor.GetTachoCount());
}
protected override float CalculateError()
{
float currentPosition = ((float)motor.GetTachoCount());
return((float)(target - currentPosition));
}
/*
* This method moves a motor in absolute positions.
* Although it can be used with any motor, only the
* sensor arm and the cube arm are in fact using it.
*/
public static void Move(Motor a, int abspos, sbyte speed = 30)
{
int relpos;
WaitHandle handle;
relpos = a.GetTachoCount () - abspos;
try {
if (relpos < 0)
handle = a.SpeedProfile (speed, 4, (uint)-relpos-8, 4, true);
else
handle = a.SpeedProfile ((sbyte)-speed, 4, (uint) relpos-8, 4, true);
handle.WaitOne ();
}
catch (WaitHandleCannotBeOpenedException e) {
Console.WriteLine (e.ToString ());
}
}
public static RGBColor[] CountFacelets(Motor a, EV3ColorSensor sensor)
{
RGBColor[] colors = new RGBColor[8];
a.ResetTacho();
for (int count = 0; count < 8;)
if (count == a.GetTachoCount () / 45 % 8)
colors [count++] = sensor.ReadRGB ();
return colors;
}
public static void Main (string[] args)
{
Motor motorA = new Motor (MotorPort.OutA);
Motor motorD = new Motor (MotorPort.OutD);
WaitHandle motorWaitHandle;
motorA.Off();
motorD.Off();
//Power control
LcdConsole.WriteLine("Set power to 50");
motorA.SetPower(50);
Thread.Sleep(3000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Speed control
LcdConsole.WriteLine("Set speed to 50");
motorA.SetSpeed(50);
Thread.Sleep(1000);
LcdConsole.WriteLine("Speed: " + motorA.GetSpeed());
Thread.Sleep(2000);
LcdConsole.WriteLine("Break");
motorA.Brake();
//Position control of single motor
Thread.Sleep(3000);
motorA.ResetTacho();
LcdConsole.WriteLine("Moving motor A to 2000 ");
motorWaitHandle = motorA.SpeedProfile(50, 200, 1600, 200,true);
//you could do something else here
LcdConsole.WriteLine("Waiting for motor A to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done moving motor");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
//Individual position control of both motors
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
LcdConsole.WriteLine("Moving motors A to 2000");
LcdConsole.WriteLine("Moving motor B to 1000");
WaitHandle[] handles = new WaitHandle[2];
handles[0] = motorA.SpeedProfile(50, 200, 1600, 200,true);
handles[1] = motorD.SpeedProfile(50,200,600,200,true);
//you could do something else here
LcdConsole.WriteLine("Waiting for both motors to stop");
WaitHandle.WaitAll(handles);
LcdConsole.WriteLine("Done moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
motorA.Off();
motorD.Off();
//Motor synchronisation position control
Thread.Sleep(3000);
motorA.ResetTacho();
motorD.ResetTacho();
MotorSync sync = new MotorSync(MotorPort.OutA, MotorPort.OutD);
LcdConsole.WriteLine("Sync motors to move 3000 steps forward");
motorWaitHandle = sync.StepSync(40,0, 3000, true);
//you could do something else here
LcdConsole.WriteLine("Waiting for sync to stop");
motorWaitHandle.WaitOne();
LcdConsole.WriteLine("Done sync moving both motors");
LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount());
LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount());
sync.Off();
}