static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletPerformanceDC pdc = new BrickletPerformanceDC(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register velocity reached callback to function VelocityReachedCB
pdc.VelocityReachedCallback += VelocityReachedCB;
// Enable velocity reached callback
pdc.SetVelocityReachedCallbackConfiguration(true);
// The acceleration has to be smaller or equal to the maximum
// acceleration of the DC motor, otherwise the velocity reached
// callback will be called too early
pdc.SetMotion(4096, 4096); // Slow acceleration (12.5 %/s)
pdc.SetVelocity(32767); // Full speed forward (100 %)
// Enable motor power
pdc.SetEnabled(true);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
// Stop motor before disabling motor power
pdc.SetMotion(4096, 16384); // Fast decceleration (50 %/s) for stopping
pdc.SetVelocity(0); // Request motor stop
Thread.Sleep(2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
pdc.SetEnabled(false); // Disable motor power
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Performance DC Bricklet
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletPerformanceDC pdc = new BrickletPerformanceDC(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
pdc.SetDriveMode(BrickletPerformanceDC.DRIVE_MODE_DRIVE_COAST);
pdc.SetPWMFrequency(10000); // Use PWM frequency of 10 kHz
pdc.SetMotion(4096, 4096); // Slow ac-/deceleration (12.5 %/s)
pdc.SetVelocity(32767); // Full speed forward (100 %)
pdc.SetEnabled(true); // Enable motor power
Console.WriteLine("Press enter to exit");
Console.ReadLine();
// Stop motor before disabling motor power
pdc.SetMotion(4096, 16384); // Fast decceleration (50 %/s) for stopping
pdc.SetVelocity(0); // Request motor stop
Thread.Sleep(2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
pdc.SetEnabled(false); // Disable motor power
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Performance DC Bricklet
// Use velocity reached callback to swing back and forth
// between full speed forward and full speed backward
static void VelocityReachedCB(BrickletPerformanceDC sender, short velocity)
{
if (velocity == 32767)
{
Console.WriteLine("Velocity: Full speed forward, now turning backward");
sender.SetVelocity(-32767);
}
else if (velocity == -32767)
{
Console.WriteLine("Velocity: Full speed backward, now turning forward");
sender.SetVelocity(32767);
}
else
{
// Can only happen if another program sets velocity
Console.WriteLine("Error");
}
}
