public async void StepperMotorExample()
{
MotorHat2348 mh = null;
PwmStepperMotor stepper = null;
PwmPin pwm = null;
if (mh == null)
{
// Create a driver object for the HAT at address 0x60
mh = new MotorHat2348(0x60);
// Create a stepper motor object at the specified ports and steps per rev
stepper = mh.CreateStepperMotor(1, 2, 200);
// Create a PwmPin object at one of the auxiliary PWMs on the HAT
pwm = mh.CreatePwm(1);
}
// step 200 full steps in the forward direction using half stepping (so 400 steps total) at 30 rpm
stepper.SetSpeed(30);
await stepper.StepAsync(200, Direction.Forward, SteppingStyle.Half);
// Activate the pin and set it to 50% duty cycle
pwm.Start();
pwm.SetActiveDutyCyclePercentage(0.5);
// for demonstration purposes we will wait 10 seconds to observe the PWM and motor operation.
await Task.Delay(10000);
// Stop the auxiliary PWM pin
pwm.Stop();
// Dispose of the MotorHat and free all its resources
mh.Dispose();
}
public MainPage()
{
this.InitializeComponent();
mh = new MotorHat2348(0x60);
stepper = mh.CreateStepperMotor(1, 2, 200);
stepper.SetSpeed(60);
stepper.PowerFactor = 0.25;
}
private void button1_Click(object sender, RoutedEventArgs e)
{
if (mh != null)
{
mh.Dispose();
mh = null;
}
Application.Current.Exit();
}
public Robot()
{
_controller = new MotorHat2348();
_leftMotor = _controller.CreateDCMotor(1);
_leftMotor.SetSpeed(60);
_rightMotor = _controller.CreateDCMotor(2);
_rightMotor.SetSpeed(60);
}
public async void DCMotorExample()
{
var mh = new MotorHat2348(0x60);
var motor = mh.CreateDCMotor(3);
int incrementDelay = 50; // milliseconds
double speedIncrement = 0.01;
while (true)
{
motor.Run(Direction.Forward);
Debug.WriteLine("Forward - Speed Up!");
for (double i = 0; i < 1; i += speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
Debug.WriteLine("Forward - Slow Down!");
for (double i = 1; i > 0; i -= speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
motor.Run(Direction.Backward);
Debug.WriteLine("Backward - Speed Up!");
for (double i = 0; i < 1; i += speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
Debug.WriteLine("Backward - Slow Down!");
for (double i = 1; i > 0; i -= speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
motor.Run(Direction.Release);
Debug.WriteLine("reapeat!");
}
}
public void Run(IBackgroundTaskInstance taskInstance)
{
deferral = taskInstance.GetDeferral();
var mh = new MotorHat2348(0x60); //this is I2C address?
var motor1 = mh.CreateDCMotor(1);
motor1.SetSpeed(30);
motor1.Run(Direction.Forward);
var motor2 = mh.CreateDCMotor(2);
motor2.SetSpeed(30);
motor2.Run(Direction.Forward);
//var motor3 = mh.CreateDCMotor(3);
//motor3.SetSpeed(30);
//motor3.Run(Direction.Forward);
//var motor4 = mh.CreateDCMotor(4);
//motor4.SetSpeed(30);
//motor4.Run(Direction.Forward);
var pwm = mh.CreatePwm(1);
pwm.Start();
var x = 9;
pwm.Stop();
//var wait = Task.Delay(5000);
//while (!wait.IsCompleted)
//{
//}
//motor1.SetSpeed(0);
//motor1.Dispose();
}
