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tthierytthiery
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Add defaults to profile and endState (#88)
#87 (non-breaking)
1 parent 1f6198a commit 2ea4db1

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+22
-22
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2 files changed

+22
-22
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‎src/SharpBrick.PoweredUp/Devices/AbsoluteMotor.cs‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -38,10 +38,10 @@ protected AbsoluteMotor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
3838
/// <param name="absolutePosition">Absolute Position (0 is the position at the start of the motor)</param>
3939
/// <param name="speed">The speed used to move to the absolute position.</param>
4040
/// <param name="maxPower">Maximum Power level used.</param>
41-
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
42-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
41+
/// <param name="endState">After time has expired, either Float, Hold or Brake.. Defaults to Brake.</param>
42+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
4343
/// <returns></returns>
44-
public async Task<PortFeedback> GotoPositionAsync(int absolutePosition, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
44+
public async Task<PortFeedback> GotoPositionAsync(int absolutePosition, sbyte speed, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
4545
{
4646
AssertValidSpeed(speed, nameof(speed));
4747
AssertValidMaxPower(maxPower, nameof(maxPower));
@@ -75,10 +75,10 @@ public async Task<PortFeedback> GotoPositionAsync(int absolutePosition, sbyte sp
7575
/// <param name="absolutePosition2">Absolute Position of motor 2 (0 is the position at the start of the motor)</param>
7676
/// <param name="speed">The speed used to move to the absolute position.</param>
7777
/// <param name="maxPower">Maximum Power level used.</param>
78-
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
79-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
78+
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
79+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
8080
/// <returns></returns>
81-
public async Task<PortFeedback> GotoPositionAsync(int absolutePosition1, int absolutePosition2, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
81+
public async Task<PortFeedback> GotoPositionAsync(int absolutePosition1, int absolutePosition2, sbyte speed, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
8282
{
8383
AssertValidSpeed(speed, nameof(speed));
8484
AssertValidMaxPower(maxPower, nameof(maxPower));

‎src/SharpBrick.PoweredUp/Devices/TachoMotor.cs‎

Lines changed: 16 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -106,9 +106,9 @@ public async Task<PortFeedback> SetDecelerationTimeAsync(ushort timeInMs, SpeedP
106106
/// - Stop Motor (hold position): 0 (use StartPower for floating and braking)
107107
/// </param>
108108
/// <param name="maxPower">Maximum Power level used.</param>
109-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
109+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
110110
/// <returns></returns>
111-
public async Task<PortFeedback> StartSpeedAsync(sbyte speed, byte maxPower, SpeedProfiles profile)
111+
public async Task<PortFeedback> StartSpeedAsync(sbyte speed, byte maxPower, SpeedProfiles profile = SpeedProfiles.None)
112112
{
113113
AssertValidSpeed(speed, nameof(speed));
114114
AssertValidMaxPower(maxPower, nameof(maxPower));
@@ -140,9 +140,9 @@ public async Task<PortFeedback> StartSpeedAsync(sbyte speed, byte maxPower, Spee
140140
/// - Stop Motor (hold position): 0 (use StartPower for floating and braking)
141141
/// </param>
142142
/// <param name="maxPower">Maximum Power level used.</param>
143-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
143+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
144144
/// <returns></returns>
145-
public async Task<PortFeedback> StartSpeedAsync(sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpeedProfiles profile)
145+
public async Task<PortFeedback> StartSpeedAsync(sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpeedProfiles profile = SpeedProfiles.None)
146146
{
147147
AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));
148148
AssertValidSpeed(speedOnMotor2, nameof(speedOnMotor2));
@@ -174,10 +174,10 @@ public async Task<PortFeedback> StartSpeedAsync(sbyte speedOnMotor1, sbyte speed
174174
/// - Stop Motor (hold position): 0 (use StartPower for floating and braking)
175175
/// </param>
176176
/// <param name="maxPower">Maximum Power level used.</param>
177-
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
178-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
177+
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
178+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
179179
/// <returns></returns>
180-
public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
180+
public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speed, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
181181
{
182182
AssertValidSpeed(speed, nameof(speed));
183183
AssertValidMaxPower(maxPower, nameof(maxPower));
@@ -212,10 +212,10 @@ public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte sp
212212
/// - Stop Motor (hold position): 0 (use StartPower for floating and braking)
213213
/// </param>
214214
/// <param name="maxPower">Maximum Power level used.</param>
215-
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
216-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
215+
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
216+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
217217
/// <returns></returns>
218-
public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
218+
public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
219219
{
220220
AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));
221221
AssertValidSpeed(speedOnMotor2, nameof(speedOnMotor2));
@@ -251,10 +251,10 @@ public async Task<PortFeedback> StartSpeedForTimeAsync(ushort timeInMs, sbyte sp
251251
/// <param name="degrees"></param>
252252
/// <param name="speed"></param>
253253
/// <param name="maxPower">Maximum Power level used.</param>
254-
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
255-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
254+
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
255+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
256256
/// <returns></returns>
257-
public async Task<PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speed, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
257+
public async Task<PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speed, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
258258
{
259259
AssertValidDegrees(degrees, nameof(degrees));
260260
AssertValidSpeed(speed, nameof(speed));
@@ -289,10 +289,10 @@ public async Task<PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte sp
289289
/// <param name="speedOnMotor1"></param>
290290
/// <param name="speedOnMotor2"></param>
291291
/// <param name="maxPower">Maximum Power level used.</param>
292-
/// <param name="endState">After time has expired, either Float, Hold or Brake.</param>
293-
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration</param>
292+
/// <param name="endState">After time has expired, either Float, Hold or Brake. Defaults to Brake.</param>
293+
/// <param name="profile">The speed profiles used (as flags) for acceleration and deceleration. Defaults to None.</param>
294294
/// <returns></returns>
295-
public async Task<PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState, SpeedProfiles profile)
295+
public async Task<PortFeedback> StartSpeedForDegreesAsync(uint degrees, sbyte speedOnMotor1, sbyte speedOnMotor2, byte maxPower, SpecialSpeed endState = SpecialSpeed.Brake, SpeedProfiles profile = SpeedProfiles.None)
296296
{
297297
AssertValidDegrees(degrees, nameof(degrees));
298298
AssertValidSpeed(speedOnMotor1, nameof(speedOnMotor1));

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