ExampleTwoHubsMotorControl.cs

using System;
using System.Threading.Tasks;
using Microsoft.Extensions.Logging;
using SharpBrick.PoweredUp;

namespace Example;

public class ExampleTwoHubsMotorControl : BaseExample
{
    //change the Hub-adresses (use the ulong or the "MAC"-address of ypor know Hubs)
    //public ulong BluetoothAddressHub1 = BlueGigaBLEHelper.ByteArrayToUlong(new byte[] { 0xc6, 0x43, 0x4D, 0x2b, 0x84, 0x90 });
    public ulong BluetoothAddressHub1 = 158897336566726;
    //public ulong BluetoothAddressHub2 = BlueGigaBLEHelper.ByteArrayToUlong(new byte[] { 0xf0, 0xff, 0x4c, 0x2b, 0x84, 0x90 });
    public ulong BluetoothAddressHub2 = 158897333284471;

    public TechnicMediumHub DirectlyConnectedHub1 { get; private set; }
    public TwoPortHub DirectlyConnectedHub2 { get; private set; }

    // devices need to be switched on!
    public override async Task DiscoverAsync(bool enableTrace)
    {
        var hub1 = await Host.CreateByStateAsync<TechnicMediumHub>(BluetoothAddressHub1);
        var hub2 = await Host.CreateByStateAsync<TwoPortHub>(BluetoothAddressHub2);
        Log.LogInformation($"Press button on first Hub with address {BluetoothAddressHub1}");
        await hub1.ConnectAsync();
        Log.LogInformation($"Press button on second Hub with address {BluetoothAddressHub2}");
        await hub2.ConnectAsync();
        SelectedHub = DirectlyConnectedHub1 = hub1;
        DirectlyConnectedHub2 = hub2;
    }

    public override async Task ExecuteAsync()
    {
        using TechnicMediumHub technicMediumHub1 = DirectlyConnectedHub1;
        using TwoPortHub technicMediumHub2 = DirectlyConnectedHub2;

        await technicMediumHub1.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
            .AddHub<TechnicMediumHub>(hubBuilder => hubBuilder
                .AddDevice<TechnicXLargeLinearMotor>(technicMediumHub1.A)
            )
        );
        await technicMediumHub2.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
            .AddHub<TwoPortHub>(hubBuilder => hubBuilder
                .AddDevice<TechnicXLargeLinearMotor>(technicMediumHub2.A)
            )
        );

        var motor1 = technicMediumHub1.A.GetDevice<TechnicXLargeLinearMotor>();
        var motor2 = technicMediumHub2.A.GetDevice<TechnicXLargeLinearMotor>();

        await motor1.SetAccelerationTimeAsync(3000);
        await motor1.SetDecelerationTimeAsync(1000);
        await motor2.SetAccelerationTimeAsync(3000);
        await motor2.SetDecelerationTimeAsync(1000);

        await motor1.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
        await motor2.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);

        await Task.Delay(5_000);

        await motor1.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
        await motor2.StartSpeedForDegreesAsync(180, -10, 100, SpecialSpeed.Brake, SpeedProfiles.None);

        await Task.Delay(5_000);

        await motor1.StartSpeedAsync(100, 90, SpeedProfiles.None);
        await motor2.StartSpeedAsync(100, 90, SpeedProfiles.None);

        await Task.Delay(5_000);

        await motor1.StartSpeedAsync(-100, 90, SpeedProfiles.None);
        await motor2.StartSpeedAsync(-100, 90, SpeedProfiles.None);

        await Task.Delay(5_000);

        await motor1.StartSpeedAsync(0, 90, SpeedProfiles.None);
        await motor2.StartSpeedAsync(0, 90, SpeedProfiles.None);

        await Task.Delay(5_000);

        await motor1.GotoPositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
        await motor2.GotoPositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);

        await Task.Delay(5_000);

        await motor1.GotoPositionAsync(-45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
        await motor2.GotoPositionAsync(-45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);

        await technicMediumHub1.SwitchOffAsync();
        await technicMediumHub2.SwitchOffAsync();
    }
}