public StepperMotor(ILogger logger, PwmDriverPCA9685 driver, int motorNr, int steps)
{
this.logger = logger;
this.driver = driver;
this.revsteps = steps;
this.currentstep = 0;
this.syncDelay = new SyncDelay();
syncDelay.Calibrate();
switch (motorNr)
{
case 1:
this.pwmA = 8;
this.ain2 = 9;
this.ain1 = 10;
this.pwmB = 13;
this.bin2 = 12;
this.bin1 = 11;
break;
case 2:
this.pwmA = 2;
this.ain2 = 3;
this.ain1 = 4;
this.pwmB = 7;
this.bin2 = 6;
this.bin1 = 5;
break;
default:
throw new ArgumentOutOfRangeException("MotorHAT Stepper motor-Nr. must be between 1 and 2 inclusive");
}
}
public StepperMotor(ILogger logger, PwmDriverPCA9685 driver, int motorNr, int steps)
{
this.logger = logger;
this.driver = driver;
this.revsteps = steps;
this.currentstep = 0;
this.syncDelay = new SyncDelay();
syncDelay.Calibrate();
switch (motorNr)
{
case 1:
this.pwmA = 8;
this.ain2 = 9;
this.ain1 = 10;
this.pwmB = 13;
this.bin2 = 12;
this.bin1 = 11;
break;
case 2:
this.pwmA = 2;
this.ain2 = 3;
this.ain1 = 4;
this.pwmB = 7;
this.bin2 = 6;
this.bin1 = 5;
break;
default:
throw new ArgumentOutOfRangeException("MotorHAT Stepper motor-Nr. must be between 1 and 2 inclusive");
}
}
public Plotter(ILogger logger)
{
this.logger = logger;
syncDelay.Calibrate();
this.motorDriver = new PwmDriverPCA9685(logger, 0x60, 1600);
this.servoDriver = new PwmDriverPCA9685(logger, 0x41, 50);
this.motorX = new StepperMotor(logger, motorDriver, 1, 40);
this.motorY = new StepperMotor(logger, motorDriver, 2, 40);
this.servo = new Servo(logger, servoDriver);
}
