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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 <cornelius.munz@gmx.de
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‎examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubColors.cs‎

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using System;
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using System.Threading.Tasks;
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using SharpBrick.PoweredUp;
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namespace Example
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{
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public class ExampleMoveHubColors : BaseExample
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{
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public override async Task ExecuteAsync()
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{
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using (var moveHub = Host.FindByType<MoveHub>())
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{
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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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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubExternalMediumLinearMotorControl.cs‎

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using System.Threading.Tasks;
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using SharpBrick.PoweredUp;
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namespace Example
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{
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public class ExampleMoveHubExternalMediumLinearMotorControl : BaseExample
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{
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public override async Task ExecuteAsync()
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{
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using (var moveHub = Host.FindByType<MoveHub>())
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{
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// This is if you have a linear motor plugged into port D (ie. R2D2)
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var externalMotor = moveHub.D.GetDevice<MediumLinearMotor>();
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await externalMotor.SetAccelerationTimeAsync(3000);
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await externalMotor.SetDecelerationTimeAsync(1000);
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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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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubInternalTachoMotorControl.cs‎

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using System.Threading.Tasks;
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using SharpBrick.PoweredUp;
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namespace Example
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{
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public class ExampleMoveHubInternalTachoMotorControl : BaseExample
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{
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public override async Task ExecuteAsync()
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{
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using (var moveHub = Host.FindByType<MoveHub>())
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{
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var internalMotor = moveHub.MotorAtAB;
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await internalMotor.StartSpeedAsync(50, 100);
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await internalMotor.StartSpeedForTimeAsync(2000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
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await Task.Delay(3000);
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await internalMotor.StopByBrakeAsync();
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var leftMotor = moveHub.LeftMotorAtB;
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var rightMotor = moveHub.RightMotorAtA;
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await leftMotor.StartSpeedAsync(10, 100);
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await leftMotor.StartSpeedForTimeAsync(1000, 10, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
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await rightMotor.StartSpeedAsync(90, 100);
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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();
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await rightMotor.StopByBrakeAsync();
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await moveHub.SwitchOffAsync();
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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/ExampleMoveHubTiltSensor.cs‎

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using System;
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using System.Threading.Tasks;
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using Microsoft.Extensions.Logging;
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using SharpBrick.PoweredUp;
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namespace Example
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{
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public class ExampleMoveHubTiltSensor : BaseExample
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{
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public override async Task ExecuteAsync()
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{
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using (var moveHub = Host.FindByType<MoveHub>())
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{
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var device = moveHub.TiltSensor;
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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);
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using var twoAxisFullSubscription = device.TwoAxisFullObservable.Subscribe(x => Log.LogWarning($"Two Axis Values - Roll: {x.roll}, Pitch: {x.pitch}"));
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Console.WriteLine("Press any key to continue");
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Console.ReadKey();
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await device.SetupNotificationAsync(device.ModeIndexTwoAxisState, true, 1);
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using var twoAxisStateSubscription = device.TwoAxisStateObservable.Subscribe(x => Log.LogWarning($"Two Axis State: {x}"));
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Console.WriteLine("Press any key to continue");
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Console.ReadKey();
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await device.SetupNotificationAsync(device.ModeIndexThreeAxisState, true, 1);
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using var threeAxisStateSubscription = device.ThreeAxisStateObservable.Subscribe(x => Log.LogWarning($"Three Axis State: {x}"));
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Console.WriteLine("Press any key to continue");
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Console.ReadKey();
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await device.SetupNotificationAsync(device.ModeIndexThreeAxisFull, true, 1);
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using var threeAxisFullSubscription = device.ThreeAxisFullObservable.Subscribe(x => Log.LogWarning($"Three Axis Values - Roll: {x.roll}, Pitch: {x.pitch}, Yaw: {x.yaw}"));
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Console.WriteLine("Press any key to continue");
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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
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await device.TiltConfigImpactAsync(10, 1270);
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await device.SetupNotificationAsync(device.ModeIndexImpacts, true, deltaInterval: 1);
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using var impactSubscription = device.ImpactsObservable.Subscribe(x => Log.LogWarning($"Impact Count: {x.SI}"));
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Console.WriteLine("Press any key to continue");
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Console.ReadKey();
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await moveHub.SwitchOffAsync();
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}
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}
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}
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}

‎examples/SharpBrick.PoweredUp.Examples/Program.cs‎

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using System;
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using System.Threading.Tasks;
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using Example;
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namespace SharpBrick.PoweredUp.Examples
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{
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//example = new Example.ExampleMarioAccelerometer();
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//example = new Example.ExampleDuploTrainBase();
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//example = new Example.ExampleTechnicColorSensor();
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example = new Example.ExampleTechnicDistanceSensor();
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//example = new Example.ExampleTechnicDistanceSensor();
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//example = new Example.ExampleTechnicMediumHubGestSensor();
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//example = new Example.ExampleMoveHubInternalTachoMotorControl();
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//example = new Example.ExampleMoveHubExternalMediumLinearMotorControl();
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//example = new Example.ExampleMoveHubColors();
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example = new Example.ExampleMoveHubTiltSensor();
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// NOTE: Examples are programmed object oriented style. Base class implements methods Configure, DiscoverAsync and ExecuteAsync to be overwriten on demand.
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await example.InitHostAndDiscoverAsync(enableTrace);

‎src/SharpBrick.PoweredUp/Devices/Current.cs‎

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0B-00-44-3B-01-04-6D-41-00-00-00
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08-00-44-3B-01-05-10-00
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0A-00-44-3B-01-80-01-01-04-00
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",
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(_, _, SystemType.LegoSystem_MoveHub) => @"
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0B-00-43-3B-01-02-02-03-00-00-00
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05-00-43-3B-02
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11-00-44-3B-00-00-43-55-52-20-4C-00-00-00-00-00-00
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0E-00-44-3B-00-01-00-00-00-00-00-F0-7F-45
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0E-00-44-3B-00-02-00-00-00-00-00-00-C8-42
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0E-00-44-3B-00-03-00-00-00-00-00-C0-18-45
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0A-00-44-3B-00-04-6D-41-00-00
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08-00-44-3B-00-05-10-00
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0A-00-44-3B-00-80-01-01-04-00
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11-00-44-3B-01-00-43-55-52-20-53-00-00-00-00-00-00
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0E-00-44-3B-01-01-00-00-00-00-00-F0-7F-45
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0E-00-44-3B-01-02-00-00-00-00-00-00-C8-42
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0E-00-44-3B-01-03-00-00-00-00-00-C0-18-45
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08-00-44-3B-01-05-10-00
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0A-00-44-3B-01-80-01-01-04-00
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",
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_ => throw new NotSupportedException(),
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}).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));

‎src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs‎

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DeviceType.DuploTrainBaseSpeaker => typeof(DuploTrainBaseSpeaker),
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DeviceType.DuploTrainBaseColorSensor => typeof(DuploTrainBaseColorSensor),
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DeviceType.DuploTrainBaseSpeedometer => typeof(DuploTrainBaseSpeedometer),
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DeviceType.MoveHubInternalMotor => typeof(MoveHubInternalMotor),
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DeviceType.MoveHubTiltSensor => typeof(MoveHubTiltSensor),
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_ => null,
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};
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nameof(DuploTrainBaseSpeaker) => DeviceType.DuploTrainBaseSpeaker,
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nameof(DuploTrainBaseColorSensor) => DeviceType.DuploTrainBaseColorSensor,
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nameof(DuploTrainBaseSpeedometer) => DeviceType.DuploTrainBaseSpeedometer,
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nameof(MoveHubInternalMotor) => DeviceType.MoveHubInternalMotor,
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nameof(MoveHubTiltSensor) => DeviceType.MoveHubTiltSensor,
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_ => DeviceType.Unknown,
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};
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}

‎src/SharpBrick.PoweredUp/Devices/MoveHubInternalMotor.cs‎

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using System;
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using System.Collections.Generic;
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using System.Linq;
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using SharpBrick.PoweredUp.Protocol;
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using SharpBrick.PoweredUp.Utils;
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namespace SharpBrick.PoweredUp
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{
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public class MoveHubInternalMotor : TachoMotor, IPoweredUpDevice
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{
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public MoveHubInternalMotor()
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: base()
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{ }
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public MoveHubInternalMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
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: base(protocol, hubId, portId)
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{ }
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public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
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=> @"
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0B-00-43-00-01-0F-03-06-00-07-00
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07-00-43-00-02-06-00
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11-00-44-00-00-00-50-4F-57-45-52-00-00-00-00-00-00
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0E-00-44-00-00-01-00-00-C8-C2-00-00-C8-42
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0E-00-44-00-00-02-00-00-C8-C2-00-00-C8-42
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0E-00-44-00-00-03-00-00-C8-C2-00-00-C8-42
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0A-00-44-00-00-04-50-43-54-00
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0E-00-44-00-02-01-00-00-B4-C3-00-00-B4-43
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0E-00-44-00-02-02-00-00-C8-C2-00-00-C8-42
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0E-00-44-00-02-03-00-00-B4-C3-00-00-B4-43
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0A-00-44-00-02-04-44-45-47-00
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08-00-44-00-02-05-08-08
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0A-00-44-00-02-80-01-02-04-00
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".Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
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}
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}

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