ExampleMotorControl.cs

using System.Threading.Tasks;
using SharpBrick.PoweredUp;

namespace Example;

public class ExampleMotorControl : BaseExample
{
    public override async Task ExecuteAsync()
    {
        using var technicMediumHub = Host.FindByType<TechnicMediumHub>();

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

        var motor = technicMediumHub.A.GetDevice<TechnicXLargeLinearMotor>();

        await motor.SetAccelerationTimeAsync(3000);
        await motor.SetDecelerationTimeAsync(1000);
        await motor.StartSpeedForTimeAsync(6000, 90, 100, SpecialSpeed.Hold, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);

        await Task.Delay(10_000);

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

        await Task.Delay(10_000);

        await motor.StartSpeedAsync(100, 90, SpeedProfiles.None);
        await Task.Delay(2000);
        await motor.StartSpeedAsync(-100, 90, SpeedProfiles.None);
        await Task.Delay(2000);
        await motor.StartSpeedAsync(0, 90, SpeedProfiles.None);

        await Task.Delay(10_000);

        await motor.GotoPositionAsync(45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);
        await Task.Delay(2000);
        await motor.GotoPositionAsync(-45, 10, 100, SpecialSpeed.Brake, SpeedProfiles.None);

        await technicMediumHub.SwitchOffAsync();
    }
}