/// <summary>
/// Create a vehicule with 2 motors, one left and one right
/// </summary>
/// <param name="left">Motor port for left motor</param>
/// <param name="right">Motor port for right motor</param>
public Vehicule(BrickPortMotor left, BrickPortMotor right)
{
brick = new Brick();
//brick.Start();
portleft = left;
portright = right;
}
/// <summary>
/// Create a motor
/// </summary>
/// <param name="brick">The brick controlling the motor</param>
/// <param name="port">Motor port</param>
/// <param name="timeout">Timeout</param>
public Motor(Brick brick, BrickPortMotor port, int timeout)
{
_brick = brick;
Port = port;
_periodRefresh = timeout;
_timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Create a vehicule with 2 motors, one left and one right
/// </summary>
/// <param name="left">Motor port for left motor</param>
/// <param name="right">Motor port for right motor</param>
public Vehicule(BrickPortMotor left, BrickPortMotor right)
{
brick = new Brick();
//brick.Start();
portleft = left;
portright = right;
}
/// <summary>
/// Create a vehicule with 2 motors, one left and one right
/// </summary>
/// <param name="left">Motor port for left motor</param>
/// <param name="right">Motor port for right motor</param>
public Vehicule(Brick brick, BrickPortMotor left, BrickPortMotor right)
{
this.brick = brick;
//brick.Start();
portleft = left;
portright = right;
}
public Motor(BrickPortMotor port, int timeout)
{
brick = new Brick();
Port = port;
//brick.Start();
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
private bool IsRunning(BrickPortMotor port)
{
if (brick.BrickPi.Motor[(int)port].Enable == 0)
{
return(false);
}
return(true);
}
public Motor(BrickPortMotor port, int timeout)
{
brick = new Brick();
Port = port;
//brick.Start();
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
private bool IsRunning(BrickPortMotor port)
{
//if (brick.BrickPi.Motor[(int)port].Enable == 0)
try
{
if (_brick.GetMotorStatus((byte)port).Speed == 0)
{
return(false);
}
}
catch (Exception)
{ }
return(true);
}
/// <summary>
/// Create a motor
/// </summary>
/// <param name="brick">The brick controlling the motor</param>
/// <param name="port">Motor port</param>
public Motor(Brick brick, BrickPortMotor port)
: this(brick, port, 1000)
{
}
/// <summary>
/// Create a vehicule with 2 motors, one left and one right
/// </summary>
/// <param name="brick">The brick controlling the motor</param>
/// <param name="left">Motor port for left motor</param>
/// <param name="right">Motor port for right motor</param>
public Vehicule(Brick brick, BrickPortMotor left, BrickPortMotor right)
{
this._brick = brick;
PortLeft = left;
PortRight = right;
}
/// <summary>
/// Create a motor
/// </summary>
/// <param name="port">Motor port</param>
public Motor(BrickPortMotor port) : this(port, 1000)
{
}
private bool IsRunning(BrickPortMotor port)
{
if (brick.BrickPi.Motor[(int)port].Enable == 0)
return false;
return true;
}
private async Task RunMotorSyncDegrees(BrickPortMotor[] ports, int[] speeds, int[] degrees)
{
if ((ports == null) || (speeds == null) || degrees == null)
return;
if ((ports.Length != speeds.Length) && (degrees.Length != speeds.Length))
return;
//make sure we have only positive degrees
for (int i = 0; i < degrees.Length; i++)
if (degrees[i] < 0)
degrees[i] = -degrees[i];
//initialize the speed and enable motors
int[] initval = new int[ports.Length];
for (int i = 0; i < ports.Length; i++)
{
initval[i] = brick.BrickPi.Motor[(int)ports[i]].Encoder;
StartMotor((int)ports[i], speeds[i]);
}
bool nonstop = true;
while(nonstop)
{
bool status = false;
for (int i = 0; i < ports.Length; i++)
{
if (speeds[i] > 0)
{
if (brick.BrickPi.Motor[(int)ports[i]].Encoder >= (initval[i] + degrees[i] * 2))
{
StopMotor((int)ports[i]);
}
} else
{
if (brick.BrickPi.Motor[(int)ports[i]].Encoder <= (initval[i] - degrees[i] * 2))
{
StopMotor((int)ports[i]);
}
}
status |= IsRunning(ports[i]);
}
nonstop = status;
}
}
private async Task RunMotorSyncTime(BrickPortMotor[] ports, int[] speeds, int timeout)
{
if ((ports == null) || (speeds == null))
return;
if (ports.Length != speeds.Length)
return;
//create a timer for the needed time to run
if (timer == null)
timer = new Timer(RunUntil, ports, TimeSpan.FromMilliseconds(timeout), Timeout.InfiniteTimeSpan);
else
timer.Change(TimeSpan.FromMilliseconds(timeout), Timeout.InfiniteTimeSpan);
//initialize the speed and enable motors
for(int i=0; i<ports.Length; i++)
{
StartMotor((int)ports[i], speeds[i]);
}
bool nonstop = true;
while(nonstop)
{
bool status = false;
for (int i=0; i<ports.Length;i++)
{
status |= IsRunning(ports[i]);
}
nonstop = status;
}
}
/// <summary>
/// Create a motor
/// </summary>
/// <param name="port">Motor port</param>
public Motor(BrickPortMotor port)
: this(port, 1000)
{
}
