public App()
{
// instantiate all of our peripherals
_doorServo = new ContinuousRotationServo(N.PWMChannels.PWM_PIN_D6, NamedServoConfigs.IdealContinuousRotationServo);
_button = new PushButton((H.Cpu.Pin) 0x15, CircuitTerminationType.Floating);
_openEndStopSwitch = new PushButton(N.Pins.GPIO_PIN_D2, CircuitTerminationType.CommonGround);
_closeEndStopSwitch = new PushButton(N.Pins.GPIO_PIN_D3, CircuitTerminationType.CommonGround);
// set our end stop trigger events
_openEndStopSwitch.PressStarted += (s, e) => {
_openEndStopTriggered = true; _doorState = DoorState.Open;
Debug.Print("open end stop triggered");
};
_openEndStopSwitch.PressEnded += (s, e) => { _openEndStopTriggered = false; };
_closeEndStopSwitch.PressStarted += (s, e) => {
_closeEndStopTriggered = true; _doorState = DoorState.Closed;
Debug.Print("close end stop triggered");
};
_closeEndStopSwitch.PressEnded += (s, e) => { _closeEndStopTriggered = false; };
// wire up our button click for door open/close
_button.Clicked += (object sender, EventArgs e) => {
Debug.Print("Button Clicked");
ToggleDoor();
};
}
public static void Main()
{
_servo = new ContinuousRotationServo(N.PWMChannels.PWM_PIN_D9, NamedServoConfigs.IdealContinuousRotationServo);
_button = new PushButton((H.Cpu.Pin) 0x15, CircuitTerminationType.Floating);
_button.Clicked += (object sender, Microsoft.SPOT.EventArgs e) =>
{
Debug.Print("Button Clicked");
ToggleServo();
};
Thread.Sleep(Timeout.Infinite);
}
protected void InitializePeripherals()
{
// display
//_display = new Lcd2004(new MCP23008());
_display = new Lcd2004(N.Pins.GPIO_PIN_D8, N.Pins.GPIO_PIN_D9, N.Pins.GPIO_PIN_D10, N.Pins.GPIO_PIN_D11, N.Pins.GPIO_PIN_D12, N.Pins.GPIO_PIN_D13);
_display.Clear();
_display.WriteLine("Display up!", 0);
// rotary encoder
_encoder = new RotaryEncoderWithButton(N.Pins.GPIO_PIN_D4, N.Pins.GPIO_PIN_D5, N.Pins.GPIO_PIN_D7, CircuitTerminationType.CommonGround);
// door stuff
_doorServo = new ContinuousRotationServo(N.PWMChannels.PWM_PIN_D6, NamedServoConfigs.IdealContinuousRotationServo);
_openEndStopSwitch = new PushButton(N.Pins.GPIO_PIN_D2, CircuitTerminationType.CommonGround);
_closeEndStopSwitch = new PushButton(N.Pins.GPIO_PIN_D3, CircuitTerminationType.CommonGround);
_display.WriteLine("Door stuff up!", 1);
// temp stuff
_heatLampRelay = new SoftPwm(N.Pins.GPIO_PIN_D0, 0, 1f / 60f);
_tempSensor = new AnalogTemperature(N.AnalogChannels.ANALOG_PIN_A0, AnalogTemperature.KnownSensorType.LM35, updateInterval: 5000, temperatureChangeNotificationThreshold: 1.0f);
_display.WriteLine("Temp stuff up!", 2);
//==== now wire up all the peripheral events
// Analog Temp Sensor. Setup to notify at half a degree changes
_tempSensor.TemperatureChanged += (object sender, SensorFloatEventArgs e) => {
_currentTemp = e.CurrentValue;
Debug.Print("Current Temp: " + _currentTemp.ToString("N1"));
UpdateInfoScreen();
};
_encoder.Clicked += (s, e) =>
{
// if the menu isn't displayed, display it. otherwise
// encoder click events are handled by menu
if (!_inMenu)
{
this.DisplayMenu();
}
};
Debug.Print("Peripherals initialized.");
}
public DoorController(IContinuousRotationServo doorServo, PushButton openEndStopSwitch, PushButton closeEndStopSwitch)
{
// instantiate all of our peripherals
_doorServo = doorServo;
_openEndStopSwitch = openEndStopSwitch;
_closeEndStopSwitch = closeEndStopSwitch;
// set our end stop trigger events
_openEndStopSwitch.PressStarted += (s, e) => {
_openEndStopTriggered = true; _doorState = DoorStateType.Open;
Debug.Print("open end stop triggered");
};
_openEndStopSwitch.PressEnded += (s, e) => { _openEndStopTriggered = false; };
_closeEndStopSwitch.PressStarted += (s, e) => {
_closeEndStopTriggered = true; _doorState = DoorStateType.Closed;
Debug.Print("close end stop triggered");
};
_closeEndStopSwitch.PressEnded += (s, e) => { _closeEndStopTriggered = false; };
// load our initial state from the physical state
this._doorState = PhysicalState;
}
