private static void Kompass()
{
int TasterPin = 26;
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
wiringPiLib.WiringPiSetupGpio();
wiringPiLib.PinMode(TasterPin, PinType.INPUT); //37 liest am Taster, um die Nadel manuell zu bewegen
ISchrittmotor schrittMotor = new Schrittmotor(wiringPiLib, 19, 13, 6, 5);
schrittMotor.Run(1);
KompassHMC6343 kompass = new KompassHMC6343(wiringPiLib);
KompassDisplay display = new KompassDisplay(schrittMotor);
while (true)
{
while (wiringPiLib.DigitalRead(TasterPin) == 1)
{
Console.WriteLine("Calibrate");
display.Calibrate();
}
double heading = kompass.ReadHeading();
Console.WriteLine("Heading: " + heading);
//display.ShowClassic (heading);
display.ShowNavigation(heading);
}
}
//Definition 1 ist Linie, 0 ist Boden
private long ReadSensors()
{
long result = 0;
for (int i = 0; i < Sensors.Length; i++)
{
if (WiringPiLib.DigitalRead(Sensors[i]) > 0)
{
result = result | ((long)1 << i);
}
}
if (InvertSensorInput)
{
result = result ^ 0xffffffff;
}
WriteResult(result);
return(result);
}
public void ReadWrite()
{
while (true)
{
for (int rowIndex = 0; rowIndex < Rows.Length; rowIndex++)
{
wiringPiLib.DigitalWrite(Rows [rowIndex], 1);
for (int colIndex = 0; colIndex < Cols.Length; colIndex++)
{
if (wiringPiLib.DigitalRead(Cols [colIndex]) == 1)
{
//Console.WriteLine ("Reihe " + rowIndex + "Spalte " + colIndex + " gerueckt.");
Console.WriteLine(Chars [rowIndex][colIndex]);
while (wiringPiLib.DigitalRead(Cols [colIndex]) == 1)
{
Thread.Sleep(10);
}
}
}
wiringPiLib.DigitalWrite(Rows [rowIndex], 0);
}
}
}
