public virtual void Sit()
{
//TODO: Make the right moves
MotorSync m = new MotorSync(MotorPort.OutA, MotorPort.OutD);
m.TimeSync(99, 0, 700, true);
}
public static void Main(string[] args)
{
ButtonEvents buts = new ButtonEvents();
bool run = true;
buts.EscapePressed += () =>
{
run = false;
};
MotorSync motori = new MotorSync(MotorPort.OutB, MotorPort.OutD);
EV3IRSensor ir = new EV3IRSensor(SensorPort.In3, IRMode.Proximity);
Thread bg = new Thread(Scan);
bg.Start();
while (run && ir.Read() > 80)
{
LcdConsole.WriteLine(ir.Read().ToString());
Thread.Sleep(200);
}
bg.Abort();
motori.Brake();
motori.Off();
}
public virtual void Stay()
{
Motor m = new Motor(MotorPort.OutC);
m.SpeedProfileTime(-30, 70, 4000, 70, true);
System.Threading.Thread.Sleep(4000);
//TODO: Make the right moves
MotorSync ms = new MotorSync(MotorPort.OutA, MotorPort.OutD);
ms.TimeSync(-99, 0, 1000, true);
}
private void Move(sbyte speed, uint steps)
{
var motorSync = new MotorSync(Constants.MOTOR_LEFT_PORT, Constants.MOTOR_RIGHT_PORT);
WaitHandle waitHandle = motorSync.StepSync(speed, 0, steps, true);
waitHandle.WaitOne();
motorSync.Off();
Thread.Sleep(100);
}
public static void Main(string[] args)
{
Buttons btns = new Buttons();
Motor motor = new Motor(MotorPort.OutA);
MotorSync motorSync = new MotorSync(MotorPort.OutA, MotorPort.OutD);
LcdConsole.WriteLine("Use Motor on A");
LcdConsole.WriteLine("Use Motor on D");
LcdConsole.WriteLine("Press Ent. to start");
btns.GetKeypress();
motor.ResetTacho();
LcdConsole.WriteLine("Running forward with 20");
motor.On(20);
System.Threading.Thread.Sleep(2500);
LcdConsole.WriteLine("Printing motor speed: " + motor.GetSpeed());
System.Threading.Thread.Sleep(2500);
LcdConsole.WriteLine("Running backwards with 70");
motor.On(-70);
System.Threading.Thread.Sleep(3000);
LcdConsole.WriteLine("Reverse direction");
motor.Reverse = true;
System.Threading.Thread.Sleep(3000);
LcdConsole.WriteLine("Brake");
motor.Reverse = false;
motor.Brake();
System.Threading.Thread.Sleep(3000);
LcdConsole.WriteLine("Off");
motor.Off();
System.Threading.Thread.Sleep(3000);
LcdConsole.WriteLine("Move to zero");
motor.MoveTo(40, 0, true);
LcdConsole.WriteLine("Motor at position: " + motor.GetTachoCount());
System.Threading.Thread.Sleep(2000);
LcdConsole.WriteLine("Creating a step profile");
motor.SpeedProfileStep(40, 100, 1500, 100, true);
motor.Off();
LcdConsole.WriteLine("Motor at position: " + motor.GetTachoCount());
System.Threading.Thread.Sleep(2000);
LcdConsole.WriteLine("Motor " + motorSync.BitField + " synchronised forward for 2500 steps");
motorSync.On(50, 0, 2500, true);
motorSync.Off();
LcdConsole.WriteLine("Motor " + motorSync.BitField + " synchronised with second motor moving at half speed");
motorSync.On(-20, 50, 2500, false); //coast when done
LcdConsole.WriteLine("Done executing motor test");
}
public static void Scan()
{
MotorSync m = new MotorSync(MotorPort.OutB, MotorPort.OutD);
WaitHandle wh;
while (true)
{
wh = m.StepSync(50, -200, 300, true);
wh.WaitOne();
wh = m.StepSync(50, 200, 600, true);
wh.WaitOne();
wh = m.StepSync(50, -200, 300, true);
wh.WaitOne();
wh = m.StepSync(100, 0, 500, true);
wh.WaitOne();
}
}
public Movement()
{
Log.Debug("Movement init started");
sync = new MotorSync(MotorPort.OutA, MotorPort.OutD);
this.Brake();
}
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();
}
