Feature/add medium linear motor #105
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| using System; | ||
| using System.Threading.Tasks; | ||
| using SharpBrick.PoweredUp; | ||
|
|
||
| namespace Example | ||
| { | ||
| public class ExampleTwoPortHubMediumLinearMotor : BaseExample | ||
| { | ||
| public override async Task ExecuteAsync() | ||
| { | ||
| using (var twoPortHub = Host.FindByType<TwoPortHub>()) | ||
| { | ||
| await twoPortHub.VerifyDeploymentModelAsync(modelBuilder => modelBuilder | ||
| .AddHub<TwoPortHub>(hubBuilder => hubBuilder | ||
| .AddDevice<MediumLinearMotor>(twoPortHub.A) | ||
| ) | ||
| ); | ||
|
|
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| var motor = twoPortHub.A.GetDevice<MediumLinearMotor>(); | ||
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| await motor.SetAccelerationTimeAsync(3000); | ||
| await motor.SetDecelerationTimeAsync(1000); | ||
| await motor.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile); | ||
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| await Task.Delay(10_000); | ||
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| await motor.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None); | ||
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| await Task.Delay(10_000); | ||
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| await motor.StartSpeedAsync(100, 90, SpeedProfiles.None); | ||
| await Task.Delay(2000); | ||
| await motor.StartSpeedAsync(-100, 90, SpeedProfiles.None); | ||
| await Task.Delay(2000); | ||
| await motor.StartSpeedAsync(0, 90, SpeedProfiles.None); | ||
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| await Task.Delay(10_000); | ||
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| await twoPortHub.SwitchOffAsync(); | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| using System; | ||
| using System.Collections.Generic; | ||
| using System.Linq; | ||
| using SharpBrick.PoweredUp.Protocol; | ||
| using SharpBrick.PoweredUp.Utils; | ||
|
|
||
| namespace SharpBrick.PoweredUp | ||
| { | ||
| public class MediumLinearMotor : TachoMotor, IPoweredUpDevice | ||
| { | ||
| public MediumLinearMotor() | ||
| : base() | ||
| { } | ||
| public MediumLinearMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId) | ||
| : base(protocol, hubId, portId) | ||
| { } | ||
|
|
||
| public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType) | ||
| => @" | ||
| 0B-00-43-00-01-07-03-06-00-07-00 | ||
| 07-00-43-00-02-06-00 | ||
| 12-00-44-00-00-00-50-4F-57-45-52-00-00-00-00-00-00-00 | ||
| 0E-00-44-00-00-01-00-00-C8-C2-00-00-C8-42 | ||
| 0E-00-44-00-00-02-00-00-C8-C2-00-00-C8-42 | ||
| 0E-00-44-00-00-03-00-00-C8-C2-00-00-C8-42 | ||
| 0B-00-44-00-00-04-50-43-54-00-00 | ||
| 08-00-44-00-00-05-00-10 | ||
| 0A-00-44-00-00-80-01-00-01-00 | ||
| 12-00-44-00-01-00-53-50-45-45-44-00-00-00-00-00-00-00 | ||
| 0E-00-44-00-01-01-00-00-C8-C2-00-00-C8-42 | ||
| 0E-00-44-00-01-02-00-00-C8-C2-00-00-C8-42 | ||
| 0E-00-44-00-01-03-00-00-C8-C2-00-00-C8-42 | ||
| 0B-00-44-00-01-04-50-43-54-00-00 | ||
| 08-00-44-00-01-05-10-10 | ||
| 0A-00-44-00-01-80-01-00-04-00 | ||
| 12-00-44-00-02-00-50-4F-53-00-00-00-00-00-00-00-00-00 | ||
| 0E-00-44-00-02-01-00-00-B4-C3-00-00-B4-43 | ||
| 0E-00-44-00-02-02-00-00-C8-C2-00-00-C8-42 | ||
| 0E-00-44-00-02-03-00-00-B4-C3-00-00-B4-43 | ||
| 0B-00-44-00-02-04-44-45-47-00-00 | ||
| 08-00-44-00-02-05-08-08 | ||
| 0A-00-44-00-02-80-01-02-04-00 | ||
| ".Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s)); | ||
| } | ||
| } |
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I usually add the test run to the Program.cs commented out ... like that it can be easier discovered. Fix it on the next PR.
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Ok, good idea! Will take care of that in the next PR