private static void TestLEDs(ThunderBorg_class myBorg, Logger_class log) { log.WriteLog("------------------------------------------------------------------"); log.WriteLog("Starting LED test..."); log.WriteLog("Setting battery LED monitor to off..."); myBorg.SetLEDBatteryMonitor(false, log); log.WriteLog(); log.WriteLog("Current battery LED monitoring setting: " + myBorg.GetLEDBatteryMonitor(log).ToString()); log.WriteLog(); log.WriteLog("Starting test"); log.WriteLog("Setting all LEDs to 255, 255, 255..."); myBorg.SetLEDs(255, 255, 255, log); log.WriteLog("Getting LED values..."); log.WriteLog("LED1: " + myBorg.BytesToString(myBorg.GetLED1(log))); log.WriteLog("LED2: " + myBorg.BytesToString(myBorg.GetLED2(log))); log.WriteLog(); log.WriteLog("Sleeping for one second..."); System.Threading.Thread.Sleep(1000); log.WriteLog("Setting LED1 to 0, 0, 0..."); myBorg.SetLED1(0, 0, 0, log); log.WriteLog("LED1: " + myBorg.BytesToString(myBorg.GetLED1(log))); log.WriteLog(); log.WriteLog("Sleeping for one second..."); System.Threading.Thread.Sleep(1000); log.WriteLog("Setting LED2 to 0, 0, 0..."); myBorg.SetLED2(0, 0, 0, log); log.WriteLog("LED2: " + myBorg.BytesToString(myBorg.GetLED2(log))); log.WriteLog(); log.WriteLog("Sleeping for one second..."); System.Threading.Thread.Sleep(1000); log.WriteLog("Setting all LEDs to 128, 128, 128..."); myBorg.SetLED1(128, 128, 128, log); myBorg.SetLED2(128, 128, 128, log); log.WriteLog("LED1: " + myBorg.BytesToString(myBorg.GetLED1(log))); log.WriteLog("LED2: " + myBorg.BytesToString(myBorg.GetLED2(log))); log.WriteLog(); log.WriteLog("Sleeping for one second..."); System.Threading.Thread.Sleep(1000); log.WriteLog("Setting back to battery monitoring..."); myBorg.SetLEDBatteryMonitor(true, log); log.WriteLog("Finished test."); }
private static void TestBorg(ThunderBorg_class myBorg, Logger_class log) { myBorg.SetLEDBatteryMonitor(false, log); myBorg.SetMotorA(128, log); System.Threading.Thread.Sleep(1000); int getx = myBorg.GetMotorA(log); log.WriteLog("Reporting speed A: " + getx.ToString()); myBorg.GetDriveFaultA(log); myBorg.AllStop(log); myBorg.SetMotorB(128, log); System.Threading.Thread.Sleep(1000); int gety = myBorg.GetMotorB(log); log.WriteLog("Reporting speed B: " + gety.ToString()); myBorg.GetDriveFaultB(log); myBorg.AllStop(log); myBorg.SetMotorA(-128, log); System.Threading.Thread.Sleep(1000); getx = myBorg.GetMotorA(log); log.WriteLog("Reporting speed A: " + getx.ToString()); myBorg.GetDriveFaultA(log); myBorg.AllStop(log); myBorg.SetMotorB(-128, log); System.Threading.Thread.Sleep(1000); gety = myBorg.GetMotorB(log); log.WriteLog("Reporting speed B: " + gety.ToString()); myBorg.GetDriveFaultB(log); myBorg.AllStop(log); myBorg.SetAllMotors(128, log); System.Threading.Thread.Sleep(1000); myBorg.AllStop(); myBorg.SetAllMotors(-128, log); System.Threading.Thread.Sleep(1000); myBorg.AllStop(); myBorg.GetFailsafe(log); myBorg.SetFailsafe(true, log); myBorg.SetFailsafe(true, log); myBorg.SetFailsafe(false, log); myBorg.SetFailsafe(false, log); myBorg.GetLED1(log); myBorg.GetLED2(log); myBorg.GetLEDBatteryMonitor(log); myBorg.SetLEDBatteryMonitor(false, log); myBorg.GetLEDBatteryMonitor(log); myBorg.SetLED1(255, 255, 255, log); myBorg.SetLED2(255, 255, 255, log); System.Threading.Thread.Sleep(1000); myBorg.SetLEDs(0, 0, 0, log); log.WriteLog("Battery voltage: " + myBorg.GetBatteryVoltage(log).ToString()); myBorg.SetLEDBatteryMonitor(true, log); log.WriteLog("Board ID: 0x" + myBorg.GetBoardID(log).ToString("X2")); myBorg.GetBatteryMonitoringLimits(log); myBorg.SetBatteryMonitoringLimits(7.0M, 35.0M, log); }