protected override void ApplyOutput(float output) { if (output == 0.0f && brake) { motor.Brake(); } else { motor.SetPower((sbyte)output); } }
protected override void ApplyOutput(float output) { //output = -output; //Console.WriteLine("****** output ****" + output); if (output == 0.0f && brake) { motor.Brake(); } else { motor.SetPower((sbyte)output); } }
public virtual void Pee() { //Lift leg Motor motor = new Motor(MotorPort.OutA); motor.ResetTacho(); motor.SetSpeed(20); System.Threading.Thread.Sleep(2500); motor.Brake(); //System.Threading.Thread.Sleep(2500); //Make peeing sound MakeSound(DogSound.Pee); LcdConsole.WriteLine("Peeing"); //Reset bladder BladderLevel = 0; }
public static void Main (string[] args) { Motor motorA = new Motor (MotorPort.OutA); Motor motorD = new Motor (MotorPort.OutD); WaitHandle motorWaitHandle; motorA.Off(); motorD.Off(); //Power control LcdConsole.WriteLine("Set power to 50"); motorA.SetPower(50); Thread.Sleep(3000); LcdConsole.WriteLine("Break"); motorA.Brake(); //Speed control LcdConsole.WriteLine("Set speed to 50"); motorA.SetSpeed(50); Thread.Sleep(1000); LcdConsole.WriteLine("Speed: " + motorA.GetSpeed()); Thread.Sleep(2000); LcdConsole.WriteLine("Break"); motorA.Brake(); //Position control of single motor Thread.Sleep(3000); motorA.ResetTacho(); LcdConsole.WriteLine("Moving motor A to 2000 "); motorWaitHandle = motorA.SpeedProfile(50, 200, 1600, 200,true); //you could do something else here LcdConsole.WriteLine("Waiting for motor A to stop"); motorWaitHandle.WaitOne(); LcdConsole.WriteLine("Done moving motor"); LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount()); //Individual position control of both motors Thread.Sleep(3000); motorA.ResetTacho(); motorD.ResetTacho(); LcdConsole.WriteLine("Moving motors A to 2000"); LcdConsole.WriteLine("Moving motor B to 1000"); WaitHandle[] handles = new WaitHandle[2]; handles[0] = motorA.SpeedProfile(50, 200, 1600, 200,true); handles[1] = motorD.SpeedProfile(50,200,600,200,true); //you could do something else here LcdConsole.WriteLine("Waiting for both motors to stop"); WaitHandle.WaitAll(handles); LcdConsole.WriteLine("Done moving both motors"); LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount()); LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount()); motorA.Off(); motorD.Off(); //Motor synchronisation position control Thread.Sleep(3000); motorA.ResetTacho(); motorD.ResetTacho(); MotorSync sync = new MotorSync(MotorPort.OutA, MotorPort.OutD); LcdConsole.WriteLine("Sync motors to move 3000 steps forward"); motorWaitHandle = sync.StepSync(40,0, 3000, true); //you could do something else here LcdConsole.WriteLine("Waiting for sync to stop"); motorWaitHandle.WaitOne(); LcdConsole.WriteLine("Done sync moving both motors"); LcdConsole.WriteLine("Position A: " + motorA.GetTachoCount()); LcdConsole.WriteLine("Position D: " + motorD.GetTachoCount()); sync.Off(); }