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Add MoveHub Support with Internal Motor and Tilt Sensor (#134)
* Added support for MoveHub * Added example for MoveHub * Renamed DeviceTypes and HubType for MoveHub for clarity * Changed MoveHub Tilt Sensor to disable percentage and removed workaround on port value single encoder when percentage was bigger than an sbyte * No calibration support (unclear behavior, safer for now) * Add support for Virtual Port AttachedHubIO messages during device connection Co-authored-by: cornelius munz <[email protected]
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25 changes: 25 additions & 0 deletions
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examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubColors.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| using System; | ||
| using System.Threading.Tasks; | ||
| using SharpBrick.PoweredUp; | ||
|
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| namespace Example | ||
| { | ||
| public class ExampleMoveHubColors : BaseExample | ||
| { | ||
| public override async Task ExecuteAsync() | ||
| { | ||
| using (var moveHub = Host.FindByType<MoveHub>()) | ||
| { | ||
| await moveHub.RgbLight.SetRgbColorsAsync(0x00, 0xff, 0x00); | ||
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| await Task.Delay(2000); | ||
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| await moveHub.RgbLight.SetRgbColorsAsync(0xff, 0x00, 0x00); | ||
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| await Task.Delay(2000); | ||
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| await moveHub.SwitchOffAsync(); | ||
| } | ||
| } | ||
| } | ||
| } |
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examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubExternalMediumLinearMotorControl.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| using System.Threading.Tasks; | ||
| using SharpBrick.PoweredUp; | ||
|
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| namespace Example | ||
| { | ||
| public class ExampleMoveHubExternalMediumLinearMotorControl : BaseExample | ||
| { | ||
| public override async Task ExecuteAsync() | ||
| { | ||
| using (var moveHub = Host.FindByType<MoveHub>()) | ||
| { | ||
| // This is if you have a linear motor plugged into port D (ie. R2D2) | ||
| var externalMotor = moveHub.D.GetDevice<MediumLinearMotor>(); | ||
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| await externalMotor.SetAccelerationTimeAsync(3000); | ||
| await externalMotor.SetDecelerationTimeAsync(1000); | ||
| await externalMotor.StartSpeedForTimeAsync(2000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile); | ||
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| await Task.Delay(50000); | ||
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| await moveHub.SwitchOffAsync(); | ||
| } | ||
| } | ||
| } | ||
| } |
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examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubInternalTachoMotorControl.cs
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| @@ -0,0 +1,35 @@ | ||
| using System.Threading.Tasks; | ||
| using SharpBrick.PoweredUp; | ||
|
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| namespace Example | ||
| { | ||
| public class ExampleMoveHubInternalTachoMotorControl : BaseExample | ||
| { | ||
| public override async Task ExecuteAsync() | ||
| { | ||
| using (var moveHub = Host.FindByType<MoveHub>()) | ||
| { | ||
| var internalMotor = moveHub.MotorAtAB; | ||
| await internalMotor.StartSpeedAsync(50, 100); | ||
| await internalMotor.StartSpeedForTimeAsync(2000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile); | ||
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| await Task.Delay(3000); | ||
| await internalMotor.StopByBrakeAsync(); | ||
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| var leftMotor = moveHub.LeftMotorAtB; | ||
| var rightMotor = moveHub.RightMotorAtA; | ||
| await leftMotor.StartSpeedAsync(10, 100); | ||
| await leftMotor.StartSpeedForTimeAsync(1000, 10, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile); | ||
| await rightMotor.StartSpeedAsync(90, 100); | ||
| await rightMotor.StartSpeedForTimeAsync(1000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile); | ||
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| await Task.Delay(2000); | ||
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| await leftMotor.StopByBrakeAsync(); | ||
| await rightMotor.StopByBrakeAsync(); | ||
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| await moveHub.SwitchOffAsync(); | ||
| } | ||
| } | ||
| } | ||
| } |
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examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubTiltSensor.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,55 @@ | ||
| using System; | ||
| using System.Threading.Tasks; | ||
| using Microsoft.Extensions.Logging; | ||
| using SharpBrick.PoweredUp; | ||
|
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| namespace Example | ||
| { | ||
| public class ExampleMoveHubTiltSensor : BaseExample | ||
| { | ||
| public override async Task ExecuteAsync() | ||
| { | ||
| using (var moveHub = Host.FindByType<MoveHub>()) | ||
| { | ||
| var device = moveHub.TiltSensor; | ||
| await device.TiltConfigOrientationAsync(TiltConfigOrientation.Front); | ||
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| // Note that you can only have 1 notification running at a time | ||
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| await device.SetupNotificationAsync(device.ModeIndexTwoAxisFull, true, 1); | ||
| using var twoAxisFullSubscription = device.TwoAxisFullObservable.Subscribe(x => Log.LogWarning($"Two Axis Values - Roll: {x.roll}, Pitch: {x.pitch}")); | ||
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| Console.WriteLine("Press any key to continue"); | ||
| Console.ReadKey(); | ||
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| await device.SetupNotificationAsync(device.ModeIndexTwoAxisState, true, 1); | ||
| using var twoAxisStateSubscription = device.TwoAxisStateObservable.Subscribe(x => Log.LogWarning($"Two Axis State: {x}")); | ||
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| Console.WriteLine("Press any key to continue"); | ||
| Console.ReadKey(); | ||
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| await device.SetupNotificationAsync(device.ModeIndexThreeAxisState, true, 1); | ||
| using var threeAxisStateSubscription = device.ThreeAxisStateObservable.Subscribe(x => Log.LogWarning($"Three Axis State: {x}")); | ||
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| Console.WriteLine("Press any key to continue"); | ||
| Console.ReadKey(); | ||
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| await device.SetupNotificationAsync(device.ModeIndexThreeAxisFull, true, 1); | ||
| using var threeAxisFullSubscription = device.ThreeAxisFullObservable.Subscribe(x => Log.LogWarning($"Three Axis Values - Roll: {x.roll}, Pitch: {x.pitch}, Yaw: {x.yaw}")); | ||
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| Console.WriteLine("Press any key to continue"); | ||
| Console.ReadKey(); | ||
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| // This configures a minimum threshold for an impact to be registered (should be a light tap) and subscribes to the count of impacts | ||
| await device.TiltConfigImpactAsync(10, 1270); | ||
| await device.SetupNotificationAsync(device.ModeIndexImpacts, true, deltaInterval: 1); | ||
| using var impactSubscription = device.ImpactsObservable.Subscribe(x => Log.LogWarning($"Impact Count: {x.SI}")); | ||
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| Console.WriteLine("Press any key to continue"); | ||
| Console.ReadKey(); | ||
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| await moveHub.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; | ||
|
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| namespace SharpBrick.PoweredUp | ||
| { | ||
| public class MoveHubInternalMotor : TachoMotor, IPoweredUpDevice | ||
| { | ||
| public MoveHubInternalMotor() | ||
| : base() | ||
| { } | ||
| public MoveHubInternalMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId) | ||
| : base(protocol, hubId, portId) | ||
| { } | ||
|
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| public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType) | ||
| => @" | ||
| 0B-00-43-00-01-0F-03-06-00-07-00 | ||
| 07-00-43-00-02-06-00 | ||
| 11-00-44-00-00-00-50-4F-57-45-52-00-00-00-00-00-00 | ||
| 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 | ||
| 0A-00-44-00-00-04-50-43-54-00 | ||
| 08-00-44-00-00-05-00-10 | ||
| 0A-00-44-00-00-80-01-00-01-00 | ||
| 11-00-44-00-01-00-53-50-45-45-44-00-00-00-00-00-00 | ||
| 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 | ||
| 0A-00-44-00-01-04-50-43-54-00 | ||
| 08-00-44-00-01-05-10-10 | ||
| 0A-00-44-00-01-80-01-00-04-00 | ||
| 11-00-44-00-02-00-50-4F-53-00-00-00-00-00-00-00-00 | ||
| 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 | ||
| 0A-00-44-00-02-04-44-45-47-00 | ||
| 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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