public static IServiceCollection AddControlLayer(this IServiceCollection services)
{
// Configure the Differencial Drive Controller
services.AddHostedService <DifferentialDriveVelocityController>(s =>
{
// Create the motor Hat, and the drivers for left and right motors
var motorHat = new MotorHat();
var leftMotorDriver = new DCMotorDriver(motorHat.CreateDCMotor(1), s.GetService <ILogger <DCMotorDriver> >());
var rightMotorDriver = new DCMotorDriver(motorHat.CreateDCMotor(3), s.GetService <ILogger <DCMotorDriver> >());
// Create the SpeedController that controls left and right motors
return(new DifferentialDriveVelocityController(
leftMotorDriver,
rightMotorDriver,
s.GetService <IMessageBroker>(),
s.GetService <ILogger <DifferentialDriveVelocityController> >()));
});
services.Configure <RemoteControlOptions>(options =>
{
options.GamepadKeyThrottle = 1;
options.GamepadKeyYaw = 0;
});
// Configure the Remote Control Controller
services.AddHostedService <RemoteControlController>(s =>
{
var gamepadDriver = new GamepadDriver(s.GetService <ILogger <GamepadDriver> >());
return(new RemoteControlController(
gamepadDriver,
s.GetService <IMessageBroker>(),
s.GetService <IOptions <RemoteControlOptions> >(),
s.GetService <ILogger <RemoteControlController> >()));
});
return(services);
}
static void Main(string[] args)
{
const double Period = 10.0;
Stopwatch sw = Stopwatch.StartNew();
// Use the following code to generate an I2C address different from the default
//var busId = 1;
//var selectedI2cAddress = 0b000000; // A5 A4 A3 A2 A1 A0
//var deviceAddress = MotorHat.I2cAddressBase + selectedI2cAddress;
//var settings = new I2cConnectionSettings(busId, deviceAddress);
using (var motorHat = new MotorHat())
{
var motor = motorHat.CreateDCMotor(1);
bool done = false;
Console.CancelKeyPress += (o, e) =>
{
done = true;
e.Cancel = true;
};
string lastSpeedDisp = null;
while (!done)
{
double time = sw.ElapsedMilliseconds / 1000.0;
// Note: range is from -1 .. 1 (for 1 pin setup 0 .. 1)
motor.Speed = Math.Sin(2.0 * Math.PI * time / Period);
string disp = $"Speed = {motor.Speed:0.00}";
if (disp != lastSpeedDisp)
{
lastSpeedDisp = disp;
Console.WriteLine(disp);
}
Thread.Sleep(1);
}
}
}
