sharpbrick · tthiery · Dec 31, 2020 · Oct 5, 2020 · Oct 5, 2020 · Oct 5, 2020
diff --git a/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubColors.cs b/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubColors.cs
@@ -0,0 +1,25 @@
+using System;
+using System.Threading.Tasks;
+using SharpBrick.PoweredUp;
+
+namespace Example
+{
+    public class ExampleMoveHubColors : BaseExample
+    {
+        public override async Task ExecuteAsync()
+        {
+            using (var moveHub = Host.FindByType<MoveHub>())
+            {
+                await moveHub.RgbLight.SetRgbColorsAsync(0x00, 0xff, 0x00);
+
+                await Task.Delay(2000);
+
+                await moveHub.RgbLight.SetRgbColorsAsync(0xff, 0x00, 0x00);
+
+                await Task.Delay(2000);
+
+                await moveHub.SwitchOffAsync();
+            }
+        }
+    }
+}
diff --git a/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubExternalMediumLinearMotorControl.cs b/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubExternalMediumLinearMotorControl.cs
@@ -0,0 +1,25 @@
+using System.Threading.Tasks;
+using SharpBrick.PoweredUp;
+
+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>();
+
+                await externalMotor.SetAccelerationTimeAsync(3000);
+                await externalMotor.SetDecelerationTimeAsync(1000);
+                await externalMotor.StartSpeedForTimeAsync(2000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
+
+                await Task.Delay(50000);
+
+                await moveHub.SwitchOffAsync();
+            }
+        }
+    }
+}
diff --git a/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubInternalTachoMotorControl.cs b/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubInternalTachoMotorControl.cs
@@ -0,0 +1,35 @@
+using System.Threading.Tasks;
+using SharpBrick.PoweredUp;
+
+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);
+
+                await Task.Delay(3000);
+                await internalMotor.StopByBrakeAsync();
+
+                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);
+
+                await Task.Delay(2000);
+
+                await leftMotor.StopByBrakeAsync();
+                await rightMotor.StopByBrakeAsync();
+
+                await moveHub.SwitchOffAsync();
+            }
+        }
+    }
+}
diff --git a/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubTiltSensor.cs b/examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubTiltSensor.cs
@@ -0,0 +1,55 @@
+using System;
+using System.Threading.Tasks;
+using Microsoft.Extensions.Logging;
+using SharpBrick.PoweredUp;
+
+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);
+
+                // Note that you can only have 1 notification running at a time
+
+                await device.SetupNotificationAsync(device.ModeIndexTwoAxisFull, true, 1);
+                using var twoAxisFullSubscription = device.TwoAxisFullObservable.Subscribe(x => Log.LogWarning($"Two Axis Values - Roll: {x.roll}, Pitch: {x.pitch}"));
+
+                Console.WriteLine("Press any key to continue");
+                Console.ReadKey();
+
+                await device.SetupNotificationAsync(device.ModeIndexTwoAxisState, true, 1);
+                using var twoAxisStateSubscription = device.TwoAxisStateObservable.Subscribe(x => Log.LogWarning($"Two Axis State: {x}"));
+
+                Console.WriteLine("Press any key to continue");
+                Console.ReadKey();
+
+                await device.SetupNotificationAsync(device.ModeIndexThreeAxisState, true, 1);
+                using var threeAxisStateSubscription = device.ThreeAxisStateObservable.Subscribe(x => Log.LogWarning($"Three Axis State: {x}"));
+
+                Console.WriteLine("Press any key to continue");
+                Console.ReadKey();
+
+                await device.SetupNotificationAsync(device.ModeIndexThreeAxisFull, true, 1);
+                using var threeAxisFullSubscription = device.ThreeAxisFullObservable.Subscribe(x => Log.LogWarning($"Three Axis Values - Roll: {x.roll}, Pitch: {x.pitch}, Yaw: {x.yaw}"));
+
+                Console.WriteLine("Press any key to continue");
+                Console.ReadKey();
+
+                // 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}"));
+
+                Console.WriteLine("Press any key to continue");
+                Console.ReadKey();
+
+                await moveHub.SwitchOffAsync();
+            }
+        }
+    }
+}
diff --git a/examples/SharpBrick.PoweredUp.Examples/Program.cs b/examples/SharpBrick.PoweredUp.Examples/Program.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Threading.Tasks;
+using Example;
 
 namespace SharpBrick.PoweredUp.Examples
 {
@@ -43,7 +44,12 @@ static async Task Main(string[] args)
             //example = new Example.ExampleMarioAccelerometer();
             //example = new Example.ExampleDuploTrainBase();
             //example = new Example.ExampleTechnicColorSensor();
-            example = new Example.ExampleTechnicDistanceSensor();
+            //example = new Example.ExampleTechnicDistanceSensor();
+            //example = new Example.ExampleTechnicMediumHubGestSensor();
+            //example = new Example.ExampleMoveHubInternalTachoMotorControl();
+            //example = new Example.ExampleMoveHubExternalMediumLinearMotorControl();
+            //example = new Example.ExampleMoveHubColors();
+            example = new Example.ExampleMoveHubTiltSensor();
 
             // NOTE: Examples are programmed object oriented style. Base class implements methods Configure, DiscoverAsync and ExecuteAsync to be overwriten on demand.
             await example.InitHostAndDiscoverAsync(enableTrace);

diff --git a/src/SharpBrick.PoweredUp/Devices/Current.cs b/src/SharpBrick.PoweredUp/Devices/Current.cs
@@ -72,6 +72,24 @@ public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Ve
 0B-00-44-3B-01-04-6D-41-00-00-00
 08-00-44-3B-01-05-10-00
 0A-00-44-3B-01-80-01-01-04-00
+",
+                (_, _, SystemType.LegoSystem_MoveHub) => @"
+0B-00-43-3B-01-02-02-03-00-00-00
+05-00-43-3B-02
+11-00-44-3B-00-00-43-55-52-20-4C-00-00-00-00-00-00
+0E-00-44-3B-00-01-00-00-00-00-00-F0-7F-45
+0E-00-44-3B-00-02-00-00-00-00-00-00-C8-42
+0E-00-44-3B-00-03-00-00-00-00-00-C0-18-45
+0A-00-44-3B-00-04-6D-41-00-00
+08-00-44-3B-00-05-10-00
+0A-00-44-3B-00-80-01-01-04-00
+11-00-44-3B-01-00-43-55-52-20-53-00-00-00-00-00-00
+0E-00-44-3B-01-01-00-00-00-00-00-F0-7F-45
+0E-00-44-3B-01-02-00-00-00-00-00-00-C8-42
+0E-00-44-3B-01-03-00-00-00-00-00-C0-18-45
+0A-00-44-3B-01-04-6D-41-00-00
+08-00-44-3B-01-05-10-00
+0A-00-44-3B-01-80-01-01-04-00
 ",
                 _ => throw new NotSupportedException(),
             }).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));

diff --git a/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs b/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs
@@ -56,6 +56,8 @@ public Type GetTypeFromDeviceType(DeviceType deviceType)
                 DeviceType.DuploTrainBaseSpeaker => typeof(DuploTrainBaseSpeaker),
                 DeviceType.DuploTrainBaseColorSensor => typeof(DuploTrainBaseColorSensor),
                 DeviceType.DuploTrainBaseSpeedometer => typeof(DuploTrainBaseSpeedometer),
+                DeviceType.MoveHubInternalMotor => typeof(MoveHubInternalMotor),
+                DeviceType.MoveHubTiltSensor => typeof(MoveHubTiltSensor),
                 _ => null,
             };
 
@@ -88,6 +90,8 @@ public static DeviceType GetDeviceTypeFromType(Type type)
                 nameof(DuploTrainBaseSpeaker) => DeviceType.DuploTrainBaseSpeaker,
                 nameof(DuploTrainBaseColorSensor) => DeviceType.DuploTrainBaseColorSensor,
                 nameof(DuploTrainBaseSpeedometer) => DeviceType.DuploTrainBaseSpeedometer,
+                nameof(MoveHubInternalMotor) => DeviceType.MoveHubInternalMotor,
+                nameof(MoveHubTiltSensor) => DeviceType.MoveHubTiltSensor,
                 _ => DeviceType.Unknown,
             };
     }

diff --git a/src/SharpBrick.PoweredUp/Devices/MoveHubInternalMotor.cs b/src/SharpBrick.PoweredUp/Devices/MoveHubInternalMotor.cs
@@ -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 MoveHubInternalMotor : TachoMotor, IPoweredUpDevice
+    {
+        public MoveHubInternalMotor()
+            : base()
+        { }
+        public MoveHubInternalMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
+            : base(protocol, hubId, portId)
+        { }
+
+        public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
+            => @"
+0B-00-43-00-01-0F-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));
+    }
+}