/// <summary>
/// LEGO NXT Command: Set Output State
/// </summary>
/// <param name="motorPort"></param>
/// <param name="powerSetPoint"></param>
/// <param name="mode"></param>
/// <param name="regulationMode"></param>
/// <param name="turnRatio"></param>
/// <param name="runState"></param>
/// <param name="rotationLimit"></param>
public LegoSetOutputState(NxtMotorPort motorPort,
int powerSetPoint,
LegoOutputMode mode,
LegoRegulationMode regulationMode,
int turnRatio,
RunState runState,
long rotationLimit)
: base(3, LegoCommand.NxtDirectCommand, (byte)LegoCommandCode.SetOutputState, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00)
{
this.MotorPort = motorPort;
this.PowerSetPoint = powerSetPoint;
this.Mode = mode;
this.RegulationMode = regulationMode;
this.TurnRatio = turnRatio;
this.RunState = runState;
this.EncoderLimit = rotationLimit;
}
/// <summary>
/// Sends a command to the motor connected to the specified port.
/// </summary>
/// <param name="motorPort">The port where the motor is connected to.</param>
/// <param name="power">
/// Power (also referred as speed) set point. Range: -100-100.
/// The absolute value of <paramref name="power"/> is used as a percentage of the full power capabilities of the motor.
/// The sign of <paramref name="power"/> specifies rotation direction.
/// Positive values for <paramref name="power"/> instruct the firmware to turn the motor forward,
/// while negative values instruct the firmware to turn the motor backward.
/// "Forward" and "backward" are relative to a standard orientation for a particular type of motor.
/// Note that direction is not a meaningful concept for outputs like lamps.
/// Lamps are affected only by the absolute value of <paramref name="power"/>.
/// </param>
/// <param name="mode">Motor mode (bit-field).</param>
/// <param name="regulation">Regulation mode.</param>
/// <param name="turnRatio">
/// This property specifies the proportional turning ratio for synchronized turning using two motors. Range: -100-100.
/// <remarks>
/// Negative <paramref name="turnRatio"/> values shift power towards the left motor,
/// whereas positive <paramref name="turnRatio"/> values shift power towards the right motor.
/// In both cases, the actual power applied is proportional to the <paramref name="power"/> set-point,
/// such that an absolute value of 50% for <paramref name="turnRatio"/> normally results in one motor stopping,
/// and an absolute value of 100% for <paramref name="turnRatio"/> normally results in the two motors
/// turning in opposite directions at equal power.
/// </remarks>
/// </param>
/// <param name="runState">Motor run state.</param>
/// <param name="tachoLimit">
/// Tacho limit. This property specifies the rotational distance in
/// degrees that you want to turn the motor. Range: 0-4294967295, O: run forever.
/// The sign of the <paramref name="power"/> property specifies the direction of rotation.
/// </param>
public void SetOutputState(MotorPort motorPort, sbyte power, MotorModes mode, LegoRegulationMode regulation,
sbyte turnRatio, RunState runState, UInt32 tachoLimit )
{
var data = CommandHelper.InitializeData(LegoCommandCode.SetOutputState, CommandType.DirectCommandWithoutResponse, 13);
data[ 2 ] = (byte) motorPort;
data[ 3 ] = (byte) power;
data[ 4 ] = (byte) mode;
data[ 5 ] = (byte) regulation;
data[ 6 ] = (byte) turnRatio;
data[ 7 ] = (byte) runState;
data[ 8 ] = (byte) ( tachoLimit & 0xFF ); // Byte 8-12: tacho limit ULONG
data[ 9 ] = (byte) ( tachoLimit >> 8 );
data[ 10 ] = (byte) ( tachoLimit >> 16 );
data[ 11 ] = (byte) ( tachoLimit >> 24 );
Transmit( data ); // Return package: 0:0x02, 1:Command, 2:StatusByte
}
