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.");
}
static void Main(string[] args)
{
Console.WriteLine("Hello World!");
Logger_class myLog = new Logger_class();
ThunderBorg_class myBorg = new ThunderBorg_class(myLog);
ThunderBorgSettings_class initialSettings = new ThunderBorgSettings_class();
initialSettings.GetCurrentEnvironment(myBorg, myLog);
TestLogger(myLog);
myLog.DefaultLogLevel = ILogger.Priority.Information;
int intCurrentAddress = ThunderBorg_class.ScanForThunderBorg(log: myLog);
byte currentAddress = Convert.ToByte(intCurrentAddress);
ThunderBorg_class.SetNewAddress(33, currentAddress, 1, myLog);
int newIntCurrentAddress = ThunderBorg_class.ScanForThunderBorg(log: myLog);
byte newCurrentAddress = Convert.ToByte(newIntCurrentAddress);
ThunderBorg_class.SetNewAddress(currentAddress, newCurrentAddress, 1, myLog);
myLog.DefaultLogLevel = ILogger.Priority.Medium;
myBorg.SetFailsafe(false, myLog);
//TestBorg(myBorg, myLog);
//TestLEDs(myBorg, myLog);
//myBorg.SetLEDBatteryMonitor(true, myLog);
//myBorg.WaveLEDs(myLog);
//myBorg.TestSpeeds(myLog);
//myBorg.SetLEDBatteryMonitor(false, myLog);
myLog.WriteLog("Place Borg in location with 1 meter clearance in front, then press any key.");
Console.ReadKey(true);
myBorg.TestDistance(0.5M, myLog);
initialSettings.SetCurrentEnvironment(myBorg, myLog);
}
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);
}
