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); }