update motor code

src/Client/RobotController/Motor.cs

@@ -1,69 +1,63 @@
 using System;
-using System.Threading.Tasks;
 using System.Diagnostics;
 using System.Text;
 
 namespace RobotController
 {
-  class Motor
+  class Motor(int stepOne, int dirOne, int stepTwo, int dirTwo)
   {
     StringBuilder outputBuilder;
     ProcessStartInfo processStartInfo;
     Process process;
 
-    public int STEP_PIN1 { get; set; }
-    public int DIR_PIN1 { get; set; }
+    public int STEP_PIN1 { get; set; } = stepOne;
+    public int DIR_PIN1 { get; set; } = dirOne;
+    public int STEP_PIN2 { get; set; } = stepTwo;
+    public int DIR_PIN2 { get; set; } = dirTwo;
 
-    public int STEP_PIN2 { get; set; }
-    public int DIR_PIN2 { get; set; }
-
-    public Motor(sTEP_PIN1, dIR_PIN1, sTEP_PIN2, dIR_PIN2)
+    public void Drive(bool direction, int steps)
     {
-      this.STEP_PIN1 = sTEP_PIN1;
-      this.DIR_PIN1 = dIR_PIN1;
+      outputBuilder = new StringBuilder();
+      processStartInfo = new ProcessStartInfo
+      {
+        CreateNoWindow = true,
+        RedirectStandardOutput = true,
+        RedirectStandardInput = true,
+        UseShellExecute = false,
+        Arguments = "../stepper.py drive",
+        FileName = "/usr/bin/python3"
+      };
 
-      this.STEP_PIN2 = sTEP_PIN2;
-      this.DIR_PIN2 = dIR_PIN2;
+      process = new Process
+      {
+        StartInfo = processStartInfo,
+        // enable raising events because Process does not raise events by default
+        EnableRaisingEvents = true
+      };
+
+      // attach the event handler for OutputDataReceived before starting the process
+      process.OutputDataReceived += new DataReceivedEventHandler
+      (
+        delegate (object sender, DataReceivedEventArgs e)
+        {
+          // append the new data to the data already read-in
+          outputBuilder.Append(e.Data);
+        }
+       );
+      // start the process
+      // then begin asynchronously reading the output
+      // then wait for the process to exit
+      // then cancel asynchronously reading the output
+      process.Start();
+      process.BeginOutputReadLine();
+      process.WaitForExit();
+      process.CancelOutputRead();
+
+      // use the output
+      string output = outputBuilder.ToString();
+
+      Console.WriteLine(output);
 
     }
-
-   public Drive(bool direction, int steps)
-   {
-outputBuilder = new StringBuilder();
-
-processStartInfo = new ProcessStartInfo();
-processStartInfo.CreateNoWindow = true;
-processStartInfo.RedirectStandardOutput = true;
-processStartInfo.RedirectStandardInput = true;
-processStartInfo.UseShellExecute = false;
-processStartInfo.Arguments = "/home/wouter/roommapper/src/Client/RobotController/stepper.py drive";
-processStartInfo.FileName = "/usr/bin/python3";
-
-process = new Process();
-process.StartInfo = processStartInfo;
-// enable raising events because Process does not raise events by default
-process.EnableRaisingEvents = true;
-// attach the event handler for OutputDataReceived before starting the process
-process.OutputDataReceived += new DataReceivedEventHandler
-(
-    delegate(object sender, DataReceivedEventArgs e)
-    {
-        // append the new data to the data already read-in
-        outputBuilder.Append(e.Data);
-    }
-);
-// start the process
-// then begin asynchronously reading the output
-// then wait for the process to exit
-// then cancel asynchronously reading the output
-process.Start();
-process.BeginOutputReadLine();
-process.WaitForExit();
-process.CancelOutputRead();
-
-// use the output
-string output = outputBuilder.ToString();
-
-Console.WriteLine(output);
-
-   }
+  }
+}