LEGO Example

Example.cs

using (var connectionManager = new BluetoothLEConnectionManager())
{
    var connectionA = await connectionManager.FindConnectionById("BluetoothLE#BluetoothLEb8:31:b5:93:3c:8c-90:84:2b:4d:d2:62");
    var connectionB = await connectionManager.FindConnectionById("BluetoothLE#BluetoothLEb8:31:b5:93:3c:8c-90:84:2b:4e:1b:dd");

    var hubA = new TechnicSmartHub(connectionA);
    var hubB = new TechnicSmartHub(connectionB);

    // wait until connected
    await hubA.Connect();
    await hubB.Connect();

    // wait until all 3 motors are connected to Hub A
    var leftTrack = await hubA.PortA<TechnicMotorXL>();
    var rightTrack = await hubA.PortB<TechnicMotorXL>();
    var turntable = await hubA.PortD<TechnicMotorL>();

    // wait until all 4 motors are connected to Hub B
    var primaryBoom = await hubB.PortA<TechnicMotorXL>();
    var secondaryBoom = await hubB.PortB<TechnicMotorL>();
    var tertiaryBoom = await hubB.PortC<TechnicMotorL>();
    var bucket = await hubB.PortD<TechnicMotorL>();

    // sequentially calibrate each linear actuator using a torque based range calibration routine
    await primaryBoom.RunRoutine(new RangeCalibrationRoutine(50));
    await secondaryBoom.RunRoutine(new RangeCalibrationRoutine(50));
    await tertiaryBoom.RunRoutine(new RangeCalibrationRoutine(40));
    await bucket.RunRoutine(new RangeCalibrationRoutine(35));
    
    // move forwards for 5 seconds
    leftTrack.SetSpeedForDuration(50, 100, RotateDirection.Clockwise, 5000);
    rightTrack.SetSpeedForDuration(50, 100, RotateDirection.CounterClockwise, 5000);
    await Task.Delay(5000);

    // rotate boom for 3 seconds
    turntable.SetSpeedForDuration(100, 100, RotateDirection.CounterClockwise, 3000);
    await Task.Delay(3000);

    // reposition boom
    primaryBoom.SetSpeedForDuration(100, 100, RotateDirection.Clockwise, 3000);
    secondaryBoom.SetSpeedForDuration(75, 100, RotateDirection.CounterClockwise, 3000);
    tertiaryBoom.SetSpeedForDuration(100, 100, RotateDirection.CounterClockwise, 2000);

    await Task.Delay(3000);

    // lift bucket
    bucket.SetSpeedForDuration(50, 100, RotateDirection.Clockwise, 2000);
}