/// <summary>
/// Initializes a new instance of the <see cref="MultiplexedHBridge" /> class.
/// </summary>
/// <param name="speedControl">The PWM channel that will control the output power (5KHz max).</param>
/// <param name="outputShiftRegister">The output shift register that controls the L293D H-Bridge.</param>
/// <param name="directionA">The bit number in the shift register output that controls IN1 on the L293D.</param>
/// <param name="directionB">The bit number in the shift register output that controls IN2 on the L293D.</param>
public MultiplexedHBridge(PWM speedControl,
SerialShiftRegister outputShiftRegister,
ushort directionA,
ushort directionB)
{
this.speedControl = speedControl;
this.outputShiftRegister = outputShiftRegister;
this.directionA = directionA;
this.directionB = directionB;
// For efficiency, initialise some direction transactions ready for use later.
forwardTransaction = new[]
{
new ShiftRegisterOperation(directionA, true),
new ShiftRegisterOperation(directionB, false)
};
reverseTransaction = new[]
{
new ShiftRegisterOperation(directionA, false),
new ShiftRegisterOperation(directionB, true)
};
brakeTransaction = new[]
{
new ShiftRegisterOperation(directionA, true),
new ShiftRegisterOperation(directionB, true)
};
releaseTransaction = new[]
{
new ShiftRegisterOperation(directionA, false),
new ShiftRegisterOperation(directionB, false)
};
InitializeOutputs(); // Ensure the outputs are in a sane, safe state.
}
/// <summary>
/// During development, Main() acts as the ConsoleBootLoader, making it easy to debug the game.
/// When game development is complete, comment out the content Main() to remove the overhead
/// </summary>
public static void Main() {
#if dev
var joystickLeft = new AnalogJoystick(xAxisPin: Pins.GPIO_PIN_A0, yAxisPin: Pins.GPIO_PIN_A1);
var joystickRight = new AnalogJoystick(xAxisPin: Pins.GPIO_PIN_A2, yAxisPin: Pins.GPIO_PIN_A3);
var matrix = new Max72197221(chipSelect: Pins.GPIO_PIN_D8);
var speaker = new PWM(Pins.GPIO_PIN_D5);
var resourceLoader = new SDResourceLoader();
var buttonLeft = new PushButton(Pins.GPIO_PIN_D0, Port.InterruptMode.InterruptEdgeLevelLow, null, Port.ResistorMode.PullUp);
var buttonRight = new PushButton(Pins.GPIO_PIN_D1, Port.InterruptMode.InterruptEdgeLevelLow, null, Port.ResistorMode.PullUp);
var args = new object[(int)CartridgeVersionInfo.LoaderArgumentsVersion100.Size];
var index = 0;
args[index++] = CartridgeVersionInfo.CurrentVersion;
args[index++] = joystickLeft;
args[index++] = joystickRight;
args[index++] = matrix;
args[index++] = speaker;
args[index++] = resourceLoader;
args[index++] = buttonLeft;
args[index] = buttonRight;
matrix.Shutdown(Max72197221.ShutdownRegister.NormalOperation);
matrix.SetDecodeMode(Max72197221.DecodeModeRegister.NoDecodeMode);
matrix.SetDigitScanLimit(7);
matrix.SetIntensity(8);
Run(args);
#endif
}
public static void Main()
{
const uint period = 20000; //20ms in us
const uint minDuration = 530; //0.53ms in us
const uint maxDuration = 2350; //2.35ms in us
var servo = new PWM(Cpu.PWMChannel.PWM_0, period, minDuration,
PWM.ScaleFactor.Microseconds, false);
servo.Start();
uint step = 30;
for (uint angle = 0;; angle += step)
{
if (angle > 180)
{
step = (uint)-step;
continue;
}
servo.Duration = Map(angle, 0, 180, minDuration, maxDuration);
Thread.Sleep(2000);
}
}
public PanTilter(Cpu.Pin panPin, int panMin, int panMax, Cpu.Pin tiltPin, int tiltMin, int tiltMax)
{
this.tilter = new PWM(tiltPin);
this.tiltMin = tiltMin;
this.tiltMax = tiltMax;
this.tilter.SetDutyCycle(0);
}
public static void Main()
{
AnalogInput capt = new AnalogInput((Cpu.AnalogChannel)Cpu.AnalogChannel.ANALOG_0);
OutputPort dir = new OutputPort(FEZSpider.Socket8.Pin9, true);
InputPort microswitch = new InputPort(FEZSpider.Socket4.Pin3, false, Port.ResistorMode.PullDown);
double frequence = 38000; // Période en microseconde
double rapportCyclique = 0.5; // Période en microseconde
PWM motorDriver = new PWM(FEZSpider.Socket8.Pwm7, frequence, rapportCyclique, false);
motorDriver.Stop();
while (true)
{
if (microswitch.Read())
{
motorDriver.Stop();
}
Debug.Print("Distance : " + capt.Read().ToString());
Debug.Print(microswitch.Read().ToString());
Thread.Sleep(50);
}
}
public static void Main()
{
PWM redLed = new PWM(PWMChannels.PWM_PIN_D11, 100, 0, false);
PWM greenLed = new PWM(PWMChannels.PWM_PIN_D10, 100, 0, false);
PWM blueLed = new PWM(PWMChannels.PWM_PIN_D9, 100, 0, false);
double dutyCycleMax = .3; // RGB Led doesn't seem to get much brighter than at 30%
while (true)
{
redLed.Start();
greenLed.Start();
blueLed.Start();
double r, g, b;
for (int i = 0; i < 360; i++)
{
HsvToRgb(i, 1, 1, out r, out g, out b);
redLed.DutyCycle = (r * dutyCycleMax);
greenLed.DutyCycle = (g * dutyCycleMax);
blueLed.DutyCycle = (b * dutyCycleMax);
// for a fun, fast rotation through the hue spectrum:
//Thread.Sleep (1);
// for a gentle walk through the forest of colors;
Thread.Sleep(18);
}
}
}
/// <summary>
/// Piezo speaker driver and notes and playback manager
/// </summary>
/// <param name="pin">From the SecretLabs.NETMF.Hardware.NetduinoPlus.PWMChannels namespace</param>
/// <param name="name">Unique identifying name for command and control</param>
public Piezo(Cpu.PWMChannel pin, string name)
: base(name, "piezo")
{
//_piezo = new PWM(pin, 2048, 0, PWM.ScaleFactor.Milliseconds, false);
_piezo = new PWM(pin, 2048, 0, false);
_piezo.Start();
}
/// <summary>
/// This method visits an expressionterm node
/// First it checks the type on the lefthand side of the expression is either Apin or Dpin
/// If also checks if an input is attempted to be uses as an output
/// The input for Apin or Dpin is then accepted and written to the file
/// Lastly the lefthand side of the expression is accepted
/// </summary>
/// <param name="expressionTermNode">The name of the node</param>
/// <returns>It returns the left side of an expression</returns>
public override object Visit(ExpressionTerm expressionTermNode)
{
string exp = "";
if (expressionTermNode.LeftHand.IsType(typeof(APinNode)) || expressionTermNode.LeftHand.IsType(typeof(DPinNode)))
{
string pin = ((PinNode)expressionTermNode.LeftHand).Value;
if (PinDefs.Any(def => def.Contains(pin) && def.Contains("OUTPUT")))
{
new InvalidCodeException($"Pin {pin} was defined as OUTPUT but is also used as INPUT at {expressionTermNode.Line}:{expressionTermNode.Offset}");
}
if (expressionTermNode.LeftHand.Type == TokenType.APIN)
{
PinDefs.Add($"pinMode({pin}, INPUT);");
exp += $"analogRead({pin})";
}
else
{
PinDefs.Add($"pinMode({pin}, INPUT);");
if (PWM.Contains(pin))
{
exp += $"analogRead({pin})";
}
else
{
exp += $"digitalRead({pin})";
}
}
return(exp);
}
exp += expressionTermNode.LeftHand.Accept(this);
return(exp);
}
public static void Main()
{
var serial = new SerialPort("COM1", 9800, Parity.None, 8, StopBits.One);
var power = new PWM(Pins.GPIO_PIN_D9);
var motorIn8 = new OutputPort(Pins.GPIO_PIN_D8, false);
serial.DataReceived += Serial_DataReceived;
motorIn8.Write(true);
while (true)
{
try
{
var value = MotorPower;
if (!serial.IsOpen)
{
serial.Open();
}
power.SetPulse(20000, value);
Thread.Sleep(1000);
}
catch (Exception ex)
{
var mes = ex.Message;
}
}
}
public PwmSpeaker(PWM pwm)
{
_pwm = pwm;
_pwm.Frequency = 50;
_pwm.DutyCycle = 0;
_pwm.Start();
}
public void TestCreateLimitsLower()
{
Assert.Throws <ArgumentOutOfRangeException>(() =>
{
var pwm = new PWM(-1);
});
}
/// <summary>
/// Use higher period, means faster response, not supported by all ESC
/// </summary>
/// <param name="pin">PWM pin</param>
/// <param name="period">Period</param>
public BrushlessMotor(PWM.Pin pin, Period period)
{
_precalc = (Max - Min) / _scale;
Period = (uint)period;
this._pwmPin = new PWM(pin);
this._pwmPin.SetPulse(Period, Min);
}
public static void Rick()
{
PWM myPWM = new PWM(FEZSpiderII.Socket11.Pwm9, frequence, 0.5, false);
myPWM.Start();
myPWM.Frequency = Fa;
Thread.Sleep(750);
myPWM.Frequency = Sol;
Thread.Sleep(750);
myPWM.Frequency = Do;
Thread.Sleep(500);
myPWM.Frequency = Sol;
Thread.Sleep(750);
myPWM.Frequency = La;
Thread.Sleep(750);
myPWM.Frequency = Do1;
Thread.Sleep(180);
myPWM.Frequency = Sib;
Thread.Sleep(180);
myPWM.Frequency = La;
Thread.Sleep(300);
myPWM.Frequency = Fa;
Thread.Sleep(750);
myPWM.Frequency = Sol;
Thread.Sleep(750);
myPWM.Frequency = Do;
Thread.Sleep(1000);
myPWM.Stop();
}
public void TestCreateLimitsLower()
{
Assert.Throws<ArgumentOutOfRangeException>(() =>
{
var pwm = new PWM(-1);
});
}
/// <summary>
/// Costruttore
/// </summary>
/// <param name="frequency"></param>
/// <param name="destination"></param>
public SoftPWM(int frequency, Cpu.Pin destination)
{
if (_allocatedCount >= RealPWMCount)
{
throw new ArgumentOutOfRangeException("Impossibile allocare un nuovo canale PWM");
}
_index = _allocatedCount;
Destinations[_index] = new OutputPort((Cpu.Pin)destination, false);
Sources[_index] = new PWM(RealPWM[_index], frequency, 0.0, false);
int port = (int)Sources[_index].Pin / 16; // porta A(0), B(1) o C(2)
int bit = (int)Sources[_index].Pin % 16; // bit nel range [0,15]
SourcePorts[_index] = port;
SourceBits[_index] = (uint)(1 << bit);
port = (int)destination / 16; // porta A(0), B(1) o C(2)
bit = (int)destination % 16; // bit nel range [0,15]
DestinationPorts[_index] = port;
DestinationBits[_index] = (uint)(1 << bit);
_allocatedCount++;
}
/// <summary>
/// Main Method of the UAV Control Logic
/// Will be called when the System is fully loaded and running
/// If this Mehthod is completed the Program will exit :-(
/// </summary>
public override void run()
{
initialised = true; // Wir sind fertig mit dem Laden und Starten unser eigentliches Programm daher erlauben wir auch den Empfang von Daten der Bodenstation
servo1.ConnectHardware();
//// public ParameterPID (UAVParameter pG, UAVParameter iG, UAVParameter dG, UAVParameter pv, UAVParameter diff, UAVParameter output,UAVParameter sp)
//PID_Höhe = new PID(kp_Höhe, ki_Höhe, kd_Höhe, lagesensor["theta"], lagesensor ["gyroalphastrich"],PID_Out_Höhe, sp_Höhe);
//PID_Quer = new PID(kp_Quer, ki_Quer, kd_Quer, lagesensor["phi"], lagesensor ["gyrogammastrich"],PID_Out_Quer, sp_Quer);
////starte 100Hz Schleife //keine Ahnung wie das geht
// lagesensor.DataRecieved+=new UAVCommons.UAVStructure.ValueChangedHandler(Ausgaberoutine);
// servo1.DoubleValue = -100;
counter = 0;
do // läuft immer durch damit run nicht beendet und somit das Programm beendet wird
{
Thread.Sleep(10);
// Console.WriteLine("Counter: " + servo1.DoubleValue);
counter++;
// servo1.DoubleValue++;
servo1.DoubleValue = counter;
servo2.DoubleValue = counter;
servo3.DoubleValue = counter;
servo4.DoubleValue = counter;
servo5.DoubleValue = counter;
PWM.UpdateServos();
Console.WriteLine("throttle" + this.kd_Höhe.MaxDoubleValue);
// servo1.DoubleValue = counter;
// servo1.DoubleValue = counter;
if (counter == 99)
{
counter = 0;
}
} while (running == true);
}
public static void SendMessage(PWM infraredOut, string message)
{
foreach (char c in message)
{
SendBit(infraredOut, c);
}
}
/* Constructor */
protected Stepper(ConnectorPin protection, ConnectorPin direction, ConnectorPin impulse, ConnectorPin reset, ConnectorPin enable)
{
_logger = new Logger(nameof(Stepper));
/* Config pins */
_protectionPin = new GPIOInstance(protection, PinDirection.Input);
_directionPin = new GPIOInstance(direction, PinDirection.Output);
_impulsePin = new GPIOInstance(impulse, PinDirection.Output);
_resetPin = new GPIOInstance(reset, PinDirection.Output);
_enablePin = new GPIOInstance(enable, PinDirection.Output);
/* Disable motor by default to prevent heating */
Enable(false);
/* Set direction as FORWARD by default */
SetDirection(Direction.Forward);
/* Reset pin */
_resetPin.Write(true);
/* Launch PWM */
_gpio_pwm = 23;
System.Diagnostics.Process.Start("/usr/sbin/pi-blaster", "--gpio 23").WaitForExit();
_pwm = new PWM(_gpio_pwm);
_pwm.SetDuty(0);
}
public MainWindow()
{
InitializeComponent();
_rpi = new RPi();
_startKnap = new Key(_rpi, Key.ID.P1);
_pwm = new PWM(_rpi);
_pulseReader = new PulseReader(_rpi, _pwm);
_sevenSeg = new SevenSeg(_rpi);
_hundredeDisplay = new Led(_rpi, Led.ID.LD1);
standartFontSize = 18;
enabledColor = new SolidColorBrush(Color.FromArgb(255, 211, 47, 47));
annuller_BT = new Button();
cStyle = new Style(typeof(Border));
// Definerer "Annuller"-knappens udseende
annuller_BT.Click += annullerBT_Click;
annuller_BT.Width = 185;
annuller_BT.Height = 55;
annuller_BT.Content = "ANNULLER";
annuller_BT.FontFamily = new FontFamily("Yu Gothic");
annuller_BT.FontSize = standartFontSize;
annuller_BT.Name = "ANNULLER";
annuller_BT.HorizontalAlignment = HorizontalAlignment.Left;
annuller_BT.VerticalAlignment = VerticalAlignment.Top;
annuller_BT.Margin = new Thickness(40, 170, 0, 0);
cStyle.Setters.Add(new Setter(Border.CornerRadiusProperty, new CornerRadius(50.0)));
annuller_BT.Resources.Add(typeof(Border), cStyle);
_sevenSeg.Init_SevenSeg();
_pwm.InitPWM();
}
/// <summary>
/// Common RGB-led
/// </summary>
/// <param name="RedPin">The PWM-pin connected to Red</param>
/// <param name="GreenPin">The PWM-pin connected to Green</param>
/// <param name="BluePin">The PWM-pin connected to Blue</param>
/// <param name="CommonAnode">Specifies if the led is common anode</param>
public RGBLed(Cpu.Pin RedPin, Cpu.Pin GreenPin, Cpu.Pin BluePin, bool CommonAnode = true)
{
this._Red = new PWM(RedPin);
this._Green = new PWM(GreenPin);
this._Blue = new PWM(BluePin);
this._CommonAnode = CommonAnode;
}
/// <summary>
/// 更新硬件
/// </summary>
public void UpdateHardware()
{
if (Scope?.IsConnect != true)
{
Scope?.Connect();
}
if (Power?.IsConnect != true)
{
Power?.Connect();
}
if (PLC?.IsConnect != true)
{
PLC?.Connect();
}
if (PWM?.IsConnect != true)
{
PWM?.Connect();
}
NotifyOfPropertyChange(() => IsHardwareValid);
NotifyOfPropertyChange(() => CanMeasure);
}
/// <summary>
/// During development, Main() acts as the ConsoleBootLoader, making it easy to debug the game.
/// When game development is complete, comment out the content Main() to remove the overhead
/// </summary>
public static void Main()
{
#if dev
var joystickLeft = new AnalogJoystick(xAxisPin: Pins.GPIO_PIN_A0, yAxisPin: Pins.GPIO_PIN_A1);
var joystickRight = new AnalogJoystick(xAxisPin: Pins.GPIO_PIN_A2, yAxisPin: Pins.GPIO_PIN_A3);
var matrix = new Max72197221(chipSelect: Pins.GPIO_PIN_D8);
var speaker = new PWM(Pins.GPIO_PIN_D5);
var resourceLoader = new SDResourceLoader();
var buttonLeft = new PushButton(Pins.GPIO_PIN_D0, Port.InterruptMode.InterruptEdgeLevelLow, null, Port.ResistorMode.PullUp);
var buttonRight = new PushButton(Pins.GPIO_PIN_D1, Port.InterruptMode.InterruptEdgeLevelLow, null, Port.ResistorMode.PullUp);
var args = new object[(int)CartridgeVersionInfo.LoaderArgumentsVersion100.Size];
var index = 0;
args[index++] = CartridgeVersionInfo.CurrentVersion;
args[index++] = joystickLeft;
args[index++] = joystickRight;
args[index++] = matrix;
args[index++] = speaker;
args[index++] = resourceLoader;
args[index++] = buttonLeft;
args[index] = buttonRight;
matrix.Shutdown(Max72197221.ShutdownRegister.NormalOperation);
matrix.SetDecodeMode(Max72197221.DecodeModeRegister.NoDecodeMode);
matrix.SetDigitScanLimit(7);
matrix.SetIntensity(8);
Run(args);
#endif
}
public Nokia_5110(bool useBacklight, Cpu.Pin latch, Cpu.Pin backlight,
Cpu.Pin reset, Cpu.Pin dataCommand)
{
if (useBacklight)
{
this.backlight = new PWM(backlight);
}
SPI.Configuration spiConfiguration = new SPI.Configuration(
latch, // chip select port
false, // IC is accessed when chip select is low
0, // setup time 1 ms
0, // hold chip select 1 ms after transfer
false, // clock line is low if device is not selected
true, // data is sampled at leading edge of clock
4000, // clockrate is 15 MHz
SPI.SPI_module.SPI1 // use first SPI bus
);
spi = new SPI(spiConfiguration);
this.reset = new OutputPort(reset, true);
this.dataMode = new OutputPort(dataCommand, true);
Initialize();
}
private void SetSpeed(PWM motor, OutputPort direction, int speed, bool isLeft)
{
motor.Stop();
motor.Frequency = MOTOR_BASE_FREQUENCY;
if (speed == 0)
{
direction.Write(false);
motor.DutyCycle = 0.01;
}
else if (speed < 0)
{
direction.Write(isLeft ? true : false);
motor.DutyCycle = speed / -100.0;
motor.Start();
}
else
{
direction.Write(isLeft ? false : true);
motor.DutyCycle = speed / 100.0;
motor.Start();
}
}
public static void Main()
{
SLH.AnalogInput pot = new SLH.AnalogInput(Pins.GPIO_PIN_A1);
PWM redLed = new PWM(PWMChannels.PWM_PIN_D11, 100, 0, false);
PWM greenLed = new PWM(PWMChannels.PWM_PIN_D10, 100, 0, false);
PWM blueLed = new PWM(PWMChannels.PWM_PIN_D9, 100, 0, false);
double dutyCycleMax = .3; // RGB Led doesn't seem to get much brighter than at 30%
int hue = 0;
// set our range to be the range of possible hues
pot.SetRange(0, 360);
redLed.Start();
greenLed.Start();
blueLed.Start();
while (true)
{
double r, g, b;
hue = pot.Read();
Debug.Print("Hue: " + hue.ToString());
HsvToRgb(hue, 1, 1, out r, out g, out b);
redLed.DutyCycle = (r * dutyCycleMax);
greenLed.DutyCycle = (g * dutyCycleMax);
blueLed.DutyCycle = (b * dutyCycleMax);
}
}
public void TestCreateLimitsUpper()
{
Assert.Throws <ArgumentOutOfRangeException>(() =>
{
var pwm = new PWM(PwmChannels);
});
}
//This loop polls the aio value set by the trimpot to determine the duty cycle which
// determines the amplitude on the sin curve of a given itteration.
private void SinLEDLoop(AnalogInput pot, PWM led, OutputPort relay, LCD_Display display)
{
double startValue = 0;
bool laststate = false;
double potValue = 0.0;
TimeSpan lastPeak = Utility.GetMachineTime();
while (true)
{
potValue = pot.Read();
startValue += .5 * potValue;
if (startValue > 2 * System.Math.PI)
{
startValue = 0;
laststate = !laststate;
//relay.Write(laststate);
if (display != null)
{
display.writeValue("Frequency: " + getFreq(lastPeak) + " Hz");
}
lastPeak = Utility.GetMachineTime();
}
Thread.Sleep(5);
led.DutyCycle = System.Math.Max(0, System.Math.Sin(startValue));
}
}
// Opretter cunstructoren. Denne tager 2 parametre, som er RPI'en og den givne pulsbreddemodulation
public PulseReader(RPi rpi, PWM pwm)
{
_pwm = pwm;
_rpi = rpi;
puls = new Puls(rpi);
// antalPuls = puls.ReadPuls();
}
public void TestCreateLimitsUpper()
{
Assert.Throws<ArgumentOutOfRangeException>(() =>
{
var pwm = new PWM(PwmChannels);
});
}
/// <summary>
/// Sets the frequency and duty cycle of the <see cref="PWMOutput"/> interface and starts the PWM signal.
/// </summary>
/// <param name="frequency">Required frequency in Hertz.</param>
/// <param name="dutyCycle">Duty cycle from 0-1.</param>
public void Set(int frequency, double dutyCycle)
{
if (frequency < 0)
{
throw new ArgumentException("frequency");
}
if (dutyCycle < 0 || dutyCycle > 1)
{
throw new ArgumentException("dutyCycle");
}
if (pwm == null)
{
pwm = new PWM(pwmChannel, frequency, dutyCycle, invert);
pwm.Start();
started = true;
}
else
{
if (started)
{
pwm.Stop();
}
pwm.Frequency = frequency;
pwm.DutyCycle = dutyCycle;
pwm.Start();
started = true;
}
}
public override void Set(double frequency, double dutyCycle)
{
if (frequency < 0.0)
{
throw new ArgumentException("frequency");
}
if ((dutyCycle < 0.0) || (dutyCycle > 1.0))
{
throw new ArgumentException("dutyCycle");
}
if (this._port == null)
{
this._port = new PWM(this._channel, frequency, dutyCycle, this._invert);
this._port.Start();
this._started = true;
}
else
{
if (this._started)
{
this._port.Stop();
}
this._port.Frequency = frequency;
this._port.DutyCycle = dutyCycle;
this._port.Start();
this._started = true;
}
}
/** Creates RGB LEDStripController for Port 3 of HERO) */
public LEDStripController(CTRE.HERO.Port3Definition port3)
{
/* Duration of pulse */
uint duration = 0;
//Gadgeteer Drive Module
//PIN J2 isPWM
//3 P1
//4 P2 Y
//5 P3
//6 P4 Y Red
//7 P5 Y Green
//8 P6 Y Blue
//9 --- Y
/* PWM Pin 6 from Hero port 3 to P4 of Driver Module */
_pwms[0] = new PWM(port3.PWM_Pin6, period, duration, PWM.ScaleFactor.Microseconds, false);
/* PWM Pin 7 from Hero port 3 to P5 of Driver Module */
_pwms[1] = new PWM(port3.PWM_Pin7, period, duration, PWM.ScaleFactor.Microseconds, false);
/* PWM Pin 8 from Hero port 3 to P6 of Driver Module */
_pwms[2] = new PWM(port3.PWM_Pin8, period, duration, PWM.ScaleFactor.Microseconds, false);
/* Start all PWM Pins */
foreach (PWM pwm in _pwms)
{
pwm.Start();
}
}
public static void Main()
{
var lcd = new FEZ_Components.LCD2x16(
FEZ_Pin.Digital.Di3, FEZ_Pin.Digital.Di2, FEZ_Pin.Digital.Di1, FEZ_Pin.Digital.Di0, FEZ_Pin.Digital.Di7, FEZ_Pin.Digital.Di6);
lcd.Clear();
using (var servo0 = new FEZ_Components.ServoMotor(FEZ_Pin.Digital.Di13))
{
servo0.SetPosition(0);
Thread.Sleep(1000);
}
for (int ii = 10; ii >= 0; ii--)
{
lcd.CursorHome();
lcd.Print("Downcount: " + ii + " ");
Thread.Sleep(1000);
}
var piezo = new PWM((PWM.Pin) FEZ_Pin.PWM.Di10);
using (var servo0 = new FEZ_Components.ServoMotor(FEZ_Pin.Digital.Di13))
{
servo0.SetPosition(180);
Thread.Sleep(1000);
}
piezo.Set(5000, 50);
Thread.Sleep(500);
piezo.Set(1000, 50);
Thread.Sleep(500);
piezo.Set(500, 50);
Thread.Sleep(500);
piezo.Set(50, 50);
Thread.Sleep(500);
piezo.Set(0, 0);
using (var servo0 = new FEZ_Components.ServoMotor(FEZ_Pin.Digital.Di13))
{
servo0.SetPosition(0);
Thread.Sleep(1000);
}
lcd.Clear();
// Blink board LED
//bool ledState = false;
//OutputPort led = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.LED, ledState);
//while (true)
//{
// // Sleep for 500 milliseconds
// Thread.Sleep(500);
// // toggle LED state
// ledState = !ledState;
// led.Write(ledState);
//}
}
public void TestSetPeriodMultiplier(PeriodMultiplier setting, int expected)
{
using (PWM pwm = NewPWM())
{
pwm.PeriodMultiplier = setting;
//Assert.AreEqual(expected, PWMData().PeriodScale);
}
}
public void TestGetRaw()
{
using (PWM pwm = NewPWM())
{
//PWMData().RawValue = 1234;
//Assert.AreEqual(pwm.GetRaw(), 1234);
}
}
public void TestConstructor () {
PWM pwm = new PWM( "test", alpha, 0.0 );
double[] w1 = { 1.0, 2.0, 3.0 };
double[] w2 = { 2.0, 4.0, 6.0 };
pwm.Add( 'a', w1 );
pwm.Add( 'c', w2 );
Assert.AreEqual( 3, pwm.WeightedVectorLength );
Assert.AreEqual( 2, pwm.SymbolNumber );
}
public void TestPWMCreate()
{
using (PWM pwm = new PWM(5))
{
Assert.AreEqual(pwm.Channel, 5);
Assert.IsFalse(pwm.DeadbandElimination);
//TODO: Test Reporting
}
}
public void Run()
{
var p = new PWM(PWM.Pin.PWM1);
var freq = 60;
byte duty = 12;
p.Set(freq, duty);
}
public void TestAllocateError()
{
using (PWM pwm = new PWM(5))
{
Assert.Throws<AllocationException>(() =>
{
var p2 = new PWM(5);
});
}
}
/** Tests the calc. of a PWM on base of a motif */
public void TestConstructorMotif () {
PWM pwm = new PWM( "PWM1", alpha, "A[TG]", 0.0 );
Assert.AreEqual( 100.0, pwm.Get( 'a', 0 ), 1e-3 );
Assert.AreEqual( 1.0, pwm.Get( 'c', 0 ), 1e-3 );
Assert.AreEqual( 1.0, pwm.Get( 't', 0 ), 1e-3 );
Assert.AreEqual( 1.0, pwm.Get( 'g', 0 ), 1e-3 );
Assert.AreEqual( 1.0, pwm.Get( 'a', 1 ), 1e-3 );
Assert.AreEqual( 1.0, pwm.Get( 'c', 1 ), 1e-3 );
Assert.AreEqual( 100.0, pwm.Get( 't', 1 ), 1e-3 );
Assert.AreEqual( 100.0, pwm.Get( 'g', 1 ), 1e-3 );
}
public void Start()
{
_pwmDutyCycle = 0;
_led = new PWM(Pins.GPIO_PIN_D5);
_pwmTimer = new Timer(
PwmTimerCallback,
null,
PwmPeriod,
PwmPeriod);
}
public static void Main()
{
var ledR = new PWM(Pins.GPIO_PIN_D9);
var ledG = new PWM(Pins.GPIO_PIN_D6);
var ledB = new PWM(Pins.GPIO_PIN_D5);
while (true)
{
for (double i = 0; i < 1; i += 0.003)
{
var c = ColorRGB.Hsl2Rgb(i, 1.0, 0.5);
ledR.SetPulse(255, c.R);
ledG.SetPulse(255, c.G);
ledB.SetPulse(255, c.B);
Thread.Sleep(25);
}
}
}
/** Tests the adding and getting of weights */
public void TestAddGet () {
PWM pwm = new PWM( "test", alpha, 0.0 );
double[] w1 = { 1.0, 2.0, 3.0 };
double[] w2 = { 2.0, 4.0, 6.0 };
pwm.Add( 'a', w1 );
pwm.Add( alpha['c'], w2 );
Assert.AreEqual( w1, pwm.Get( alpha['a'] ) );
Assert.AreEqual( null, pwm.Get( alpha['z'] ) );
Assert.AreEqual( w2, pwm.Get( 'c' ) );
Assert.AreEqual( 3, pwm.WeightedVectorLength );
Assert.AreEqual( 2, pwm.SymbolNumber );
Assert.AreEqual( 1.0, pwm.Get( 'a', 0 ), 1e-3 );
Assert.AreEqual( 2.0, pwm.Get( 'a', 1 ), 1e-3 );
Assert.AreEqual( 3.0, pwm.Get( 'a', 2 ), 1e-3 );
Assert.AreEqual( 2.0, pwm.Get( 'c', 0 ), 1e-3 );
Assert.AreEqual( 4.0, pwm.Get( 'c', 1 ), 1e-3 );
Assert.AreEqual( 6.0, pwm.Get( 'c', 2 ), 1e-3 );
Assert.AreEqual( 1.0, pwm.Get( 't', 0 ), 1e-3 );
Assert.AreEqual( 2.0, pwm.Get( 't', 1 ), 1e-3 );
Assert.AreEqual( 3.0, pwm.Get( 't', 2 ), 1e-3 );
}
public static void Main()
{
var sensor = new HCSR04(Stm32F4Discovery.FreePins.PC2, Stm32F4Discovery.FreePins.PC1);
//crash detect: red led on or off
var crashLed = new OutputPort(Stm32F4Discovery.LedPins.Red, false);
var scanPeriod = new TimeSpan(0, 0, 0, 0, 100);//100ms
var detector = new CollisionDetector(sensor, scanPeriod) { Barier = 10 }; //10cm
detector.StateChanged += crashLed.Write;
//pwm frequency display (green led linear blink): far->lo freq, near->hi freq
var distancePwm = new PWM(Cpu.PWMChannel.PWM_0, 1, 0, false);
distancePwm.Start();
//print distance every 1s and change pwm freq
DateTime nextPrint = DateTime.Now;
for(;;)
{
TimeSpan pulse = sensor.Ping();
if (DateTime.Now > nextPrint)
{
float cm = HCSR04.ToCentimeters(pulse);
string cmStr = cm.Equals(Single.MaxValue) ? "?" : cm.ToString("F1");
float inch = HCSR04.ToInches(pulse);
string inStr = inch.Equals(Single.MaxValue) ? "?" : inch.ToString("F1");
Debug.Print("Distance: " + cmStr + " cm = " + inStr + " in");
nextPrint = DateTime.Now.AddSeconds(1);
}
distancePwm.Frequency = ToFrequency(pulse);
distancePwm.DutyCycle = 0.5;
Thread.Sleep(200);
}
}
/// <summary>
/// Plays a raw RTTL string by converting it into PWN tones
/// Derived from http://code.google.com/p/rogue-code/source/browse/Arduino/libraries/Tone/trunk/examples/RTTTL/RTTTL.pde
/// and Ian Lintner's port to C# https://github.com/ianlintner/Netduino-Ring-Tone-Player
/// </summary>
public void Play(PWM channel)
{
char[] charParserArray; //used for parsing the current section
const int defaultDuration = 4;
const int defaultOctave = 6;
var tone = new RttlTone();
foreach (var rttlNote in _rttlNotes) {
charParserArray = rttlNote.ToLower().ToCharArray();
// Parse each note... and play it!
for (var i = 0; i < rttlNote.Length; i++) {
var durationParseNumber = 0;
int currentScale;
var currentNote = 0;
const int octaveOffset = 0;
// first, get note duration, if available
while (i < charParserArray.Length && IsDigit(charParserArray[i])) {
//construct the duration
durationParseNumber = (durationParseNumber * 10) + (charParserArray[i++] - '0');
}
var currentDuration = durationParseNumber > 0 ? durationParseNumber : defaultDuration;
// c is first note i.e. c = 1
// b = 12
// pause or undefined = 0
if (i < charParserArray.Length) {
switch (charParserArray[i]) {
case 'c':
currentNote = 1;
break;
case 'd':
currentNote = 3;
break;
case 'e':
currentNote = 5;
break;
case 'f':
currentNote = 6;
break;
case 'g':
currentNote = 8;
break;
case 'a':
currentNote = 10;
break;
case 'b':
currentNote = 12;
break;
case 'p':
currentNote = 0;
break;
default:
currentNote = 0;
break;
}
}
i++;
// process whether the note is sharp
if (i < charParserArray.Length && charParserArray[i] == '#') {
currentNote++;
i++;
}
// is it dotted note, divide the duration in half
if (i < charParserArray.Length && charParserArray[i] == '.') {
currentDuration += currentDuration / 2;
i++;
}
// now, get octave
if (i < charParserArray.Length && IsDigit(charParserArray[i])) {
currentScale = charParserArray[i] - '0';
i++;
} else {
currentScale = defaultOctave;
}
//offset if necessary
currentScale += octaveOffset;
// Setup the tone by calculating the note's location in the RTTTL note array
tone.SetTone((uint)RttlNotes[(currentScale - 1) * 12 + currentNote], (uint)currentDuration);
// Play the tone
PlayTone(tone, channel);
}
}
}
/// <summary>
/// Play an single tone on a given channel
/// </summary>
/// <param name="tone">A RttlTone object</param>
/// <param name="channel">Any PWN pin</param>
public void PlayTone(RttlTone tone, PWM channel)
{
if (tone.Note != 0) {
channel.SetPulse(tone.Period, tone.Period / 2);
Thread.Sleep(tone.GetDelay(Tempo));
channel.SetDutyCycle(0);
} else {
channel.SetDutyCycle(0);
Thread.Sleep(tone.GetDelay(Tempo));
}
}
/// <summary>
/// Plays the song
/// </summary>
/// <param name="channel">The PWN pin connected to the speaker</param>
/// <param name="asynchronous">True: play the song on a separate thread and return immediately. False: play the song and return when done.</param>
/// <returns>If asynchronous == true, returns a reference to the thread playing the song or a null reference if asynchronous == false.</returns>
public Thread Play(PWM channel, bool asynchronous = false)
{
if (asynchronous) {
var thread = new Thread(() => Play(channel));
thread.Start();
return thread;
}
Play(channel);
return null;
}
public Motor(PWM.Pin pin, int frequency)
{
m_pin = new PWM(pin);
m_frequency = frequency;
}
/** Tests the adding of weights as strings */
public void TestAddString () {
PWM pwm = new PWM( "test", alpha, 0.0 );
pwm.Add( 'a', "1 2 3" );
pwm.Add( alpha['c'], "2 4 6" );
Assert.AreEqual( 3, pwm.WeightedVectorLength );
Assert.AreEqual( 2, pwm.SymbolNumber );
Assert.AreEqual( 1.0, pwm.Get( 'a', 0 ), 1e-3 );
Assert.AreEqual( 2.0, pwm.Get( 'a', 1 ), 1e-3 );
Assert.AreEqual( 3.0, pwm.Get( 'a', 2 ), 1e-3 );
Assert.AreEqual( 2.0, pwm.Get( 'c', 0 ), 1e-3 );
Assert.AreEqual( 4.0, pwm.Get( 'c', 1 ), 1e-3 );
Assert.AreEqual( 6.0, pwm.Get( 'c', 2 ), 1e-3 );
}
public void Stop(PWM[] ports)
{
}
public Servo(FEZ_Pin.PWM pin)
{
pwm = new PWM((PWM.Pin)pin);
}
private static void BoundPWM(PWM pwm)
{
#pragma warning disable 618
pwm.SetBounds(1500, 1050, 1000, 950, 500);
#pragma warning restore 618
}
/// <summary>
///
/// Reads a pattern from a starting specified node. This method
/// recursivly calls the reading methods of the different patterns.
/// </summary>
/// <param name="node">Node of the pattern the reading starts with.</param>
/// <param name="definition">Pattern definition which pattern list will be extended
/// with the pattern and all its sub-patterns read.
/// </param>
/// <returns>The read pattern or null if there is no pattern to read.</returns>
/// <exception cref="System.SystemException">Thrown when unknown pattern was found</exception>
public static IPattern ReadPattern
(XmlNode node, Definition definition)
{
while (node != null
&& node.NodeType != XmlNodeType.Element)
node = node.NextSibling; //Iterate thru the list of nodes until it is an element
IPattern pattern = null;
String mode = XMLHelper.GetAttrValueString(node, "mode");
switch (node.Name)
{
case "Any":
pattern = new Any();
break;
case "Alignment":
pattern = new Alignment();
break;
case "Composition" :
pattern = new Composition();
break;
case "Constraint":
pattern = new Constraint();
break;
case "Iteration":
pattern = new Iteration();
break;
case "Logic":
pattern = new Logic();
break;
case "Motif":
pattern = new Motif();
break;
case "PWM":
pattern = new PWM();
break;
case "Regex":
pattern = new RegularExp();
break;
case "Prosite":
pattern = new Prosite();
break;
case "Block":
pattern = new Block();
break;
case "Gap":
pattern = new Gap();
break;
case "Repeat":
pattern = new Repeat();
break;
case "Series":
pattern = mode.Equals("ALL") ?
pattern = new SeriesAll() : pattern = new SeriesBest();
break;
case "Set":
pattern = mode.Equals("ALL") ?
pattern = new SetAll() : pattern = new SetBest();
break;
case "Void":
pattern = new VoidPattern();
break;
case "Use":
pattern = new Use();
break;
throw new SystemException
("Unknown pattern found: " + node.Name);
}
pattern.ReadNode(node, definition); // read the node data and initialize the pattern
definition.Patterns.Add
(0, pattern); //Always adding the element to last index
return pattern;
}
public Piezo(FEZ_Pin.PWM pin)
{
pwm = new PWM((PWM.Pin)pin);
}
/// <summary>
/// Creates an instance of the Piezo buzzer.
/// </summary>
/// <param name="pin">The PWM pin connected to the buzzer.</param>
public Piezo(PWM.Pin pin)
{
pwm = new PWM(pin);
}
private void SetPwm(byte port, byte pin, byte period, byte pulseWidth, PWM.PwmClockSource clock, byte clockDivider = 0)
{
//_parentModule.Write(port, pin, false); // Why was this here???
_parentModule.WriteRegister(0x18, port); // Select port
var b = _parentModule.ReadRegister(0x1a)[0];
b |= (byte)((1 << pin));
_parentModule.WriteRegister(0x1a, b); // select PWM for port output
b = _parentModule.ReadRegister(0x1C)[0];
b &= (byte)(~(1 << pin));
_parentModule.WriteRegister(0x1C, b); // Set pin for output.
_parentModule.WriteRegister(0x28, (byte)(0x08 + pin)); // Select the PWM pin to configure.
_parentModule.WriteRegister(0x29, (byte)clock); // Config PWM (select 32kHz clock source)
if (clockDivider > 0) _parentModule.WriteRegister(0x2c, clockDivider); // Set the clock divider (if using 367.6 Hz clock)
_parentModule.WriteRegister(0x2a, period); // set the period (0-256)
_parentModule.WriteRegister(0x2b, pulseWidth); // set the pulse width (0-(period-1))
//_parentModule.Write(port, pin, true);
}
public MotorizedWindow(PWM.Pin pwmPin)
{
_window = new Servomotor(pwmPin);
}
public static void Start(PWM[] ports)
{
}
public PWMMotor(PWM.PWM pwmOutput, MotorSettings settings)
{
_pwmOutput = pwmOutput;
_settings = settings;
SetSafe();
}
/// <summary>
/// Uses 50Hz
/// </summary>
/// <param name="pin">PWM Pin</param>
public BrushlessMotor(PWM.Pin pin)
: this(pin, Omnicopter.Period.P50Hz)
{
}
