private void setSpeedCommon(MotorInstance inst, float percent)
{
try
{
// Direction is a bitmask and can only be set for both motors.
byte dir = 0x02;
if (percent < 0)
{
dir = 0x01;
percent = Math.Abs(percent);
}
/*
* if (inst == MotorInstance.A)
* {
* dir <<= 2;
* direction = (byte)((direction & 0x3) | dir);
* }
* else
* {
* direction = (byte)((direction & 0xC) | dir);
* }
*
* byte[] dirBuffer = new byte[] { DirectionSet, direction, Nothing };
*
* motorController.Write(dirBuffer);
*/
byte speed = (byte)Math.Floor(percent * 255);
byte[] setSpeedBuffer = new byte[] { (inst == MotorInstance.A)?MotorSetA : MotorSetB, dir, speed };
motorController.Write(setSpeedBuffer);
}
catch (Exception e)
{
Debug.WriteLine("Exception: " + e.Message + "\n" + e.StackTrace);
throw;
}
}
private void setSpeedCommon(MotorInstance inst, float percent)
{
try
{
// Direction is a bitmask and can only be set for both motors at once (though you can set different directions for each)
byte dir = 0x02;
if (percent < 0)
{
dir = 0x01;
percent = Math.Abs(percent);
}
byte speed = (byte)Math.Floor(percent * 255);
byte[] setSpeedBuffer = new byte[] { (inst == MotorInstance.A) ? MotorSetA : MotorSetB, dir, speed };
motorController.Write(setSpeedBuffer);
}
catch (Exception e)
{
Debug.WriteLine("Exception: " + e.Message + "\n" + e.StackTrace);
throw;
}
}