public static void Main()
{
Debug.WriteLine("Hello from nanoFramework!");
// var accelStepper = new AccelStepper(AccelStepper.MotorInterfaceType.FULL4WIRE, IN1, IN3, IN2, IN4, false);
var accelStepper = new AccelStepper(AccelStepper.MotorInterfaceType.FULL4WIRE, IN1, IN3, IN2, IN4, false, new GetMicroSecondsHandler(GetMicroSeconds));
accelStepper.SetMaxSpeed(400.0f);
accelStepper.SetAcceleration(100.0f);
accelStepper.MoveTo(-4069);
accelStepper.EnableOutputs();
while (true)
{
// Change direction at the limits
if (accelStepper.DistanceToGo() == 0)
{
accelStepper.MoveTo(-accelStepper.CurrentPosition());
}
accelStepper.Run();
}
}
private void initializeMotors()
{
/* Initialize motor pins */
MotorStepPin_X = controller.OpenPin(MOTOR_STEP_PIN_X);
MotorDirPin_X = controller.OpenPin(MOTOR_DIR_PIN_X);
MotorStepPin_Y = controller.OpenPin(MOTOR_STEP_PIN_Y);
MotorDirPin_Y = controller.OpenPin(MOTOR_DIR_PIN_Y);
MotorStepPin_X.Write(GpioPinValue.High);
MotorDirPin_X.Write(GpioPinValue.High);
MotorStepPin_Y.Write(GpioPinValue.High);
MotorDirPin_Y.Write(GpioPinValue.High);
MotorStepPin_X.SetDriveMode(GpioPinDriveMode.Output);
MotorDirPin_X.SetDriveMode(GpioPinDriveMode.Output);
MotorStepPin_Y.SetDriveMode(GpioPinDriveMode.Output);
MotorDirPin_Y.SetDriveMode(GpioPinDriveMode.Output);
StepperX = new AccelStepper(MotorStepPin_X, MotorDirPin_X, GpioPinValue.Low);
StepperY = new AccelStepper(MotorStepPin_Y, MotorDirPin_Y, GpioPinValue.High);
}
