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Pullrequest/wedo2 #198

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merged 4 commits into from
Jan 15, 2024
Merged

Pullrequest/wedo2 #198

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aef3576
Created SimpleMediumLinearMotor
Jan 14, 2024
6aab246
Added explanation
Jan 14, 2024
5a582b5
Added last reference needed for new motor type
Jan 15, 2024
3578d16
Update README.md
mennolodder Jan 15, 2024
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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -338,6 +338,7 @@ DI Container Elements
- [X] Technic Large Angular Motor (Grey)
- [X] Technic Color Sensor
- [X] Technic Distance Sensor
- [X] Motor WeDo 2.0 Medium (21980)
- .. other devices depend on availability of hardware / contributions
- Protocol
- [X] Message Encoding (98% [spec coverage](docs/specification/coverage.md))
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2 changes: 2 additions & 0 deletions src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs
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Expand Up @@ -30,6 +30,7 @@ public IPoweredUpDevice CreateConnected(DeviceType deviceType, ILegoWirelessProt
public Type GetTypeFromDeviceType(DeviceType deviceType)
=> deviceType switch
{
DeviceType.Motor => typeof(SimpleMediumLinearMotor),
DeviceType.Voltage => typeof(Voltage),
DeviceType.Current => typeof(Current),
DeviceType.RgbLight => typeof(RgbLight),
Expand Down Expand Up @@ -65,6 +66,7 @@ public Type GetTypeFromDeviceType(DeviceType deviceType)
public static DeviceType GetDeviceTypeFromType(Type type)
=> type.Name switch // fuzzy but will work
{
nameof(SimpleMediumLinearMotor) => DeviceType.Motor,
nameof(Voltage) => DeviceType.Voltage,
nameof(Current) => DeviceType.Current,
nameof(RgbLight) => DeviceType.RgbLight,
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34 changes: 34 additions & 0 deletions src/SharpBrick.PoweredUp/Devices/SimpleMediumLinearMotor.cs
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@@ -0,0 +1,34 @@
using System;
using System.Collections.Generic;
using System.Linq;
using SharpBrick.PoweredUp.Protocol;
using SharpBrick.PoweredUp.Utils;

namespace SharpBrick.PoweredUp;

/// <summary>
/// SimpleMediumLinearMotor, advertised as Motor, only supports power mode, this works for the WoDo 2.0 Medium (LPF2-MMOTOR)
/// </summary>
public class SimpleMediumLinearMotor : BasicMotor, IPoweredUpDevice
{
public SimpleMediumLinearMotor()
: base()
{ }
public SimpleMediumLinearMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
: base(protocol, hubId, portId)
{ }

public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
// Dump taken from LEGO 6290182 - 21980 - Electric, Motor WeDo 2.0 Medium which reports as 'LPF2-MMOTOR'.
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IMHO, the motor is not reporting that but your MediumTechnicHub describes the motor. The Lego Wireless Protocol is a Bluetooth protocol, not a wire protocol between the hub and the motor. It could though, but I am not aware of any details there.

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I am not sure, but of course we communicate with the Hub, but I think the data essentially comes from the motor and is translated and passed on by the hub, don't all motors work with all hubs? All hubs would have to know all device types then.

=> @"
0B-00-43-02-01-01-01-00-00-01-00
05-00-43-02-02
11-00-44-02-00-00-4C-50-46-32-2D-4D-4D-4F-54-4F-52
0E-00-44-02-00-01-00-00-C8-C2-00-00-C8-42
0E-00-44-02-00-02-00-00-C8-C2-00-00-C8-42
0E-00-44-02-00-03-00-00-C8-C2-00-00-C8-42
0A-00-44-02-00-04-00-00-00-00
08-00-44-02-00-05-00-10
0A-00-44-02-00-80-01-00-04-00
".Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
}
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