public static void Main(string[] args)
{
Console.WriteLine("Initialize Pi");
Pi.Init <BootstrapWiringPi>();
Console.WriteLine("Glueing Dependencies");
// Setup the testbot glue
if (args.Any(a => a.Contains("--TestBot")))
{
Glue.TestBot();
}
else if (args.Any(a => a.Contains("--SoftBot")))
{
Glue.Simulate();
}
else
{
Glue.YomoBot();
}
if (args.Any(a => a.Contains("--WheelTest")))
{
WheelTest();
}
CreateWebHostBuilder(args).Build().Run();
}
private static void WheelTest()
{
Console.WriteLine("Creating test wheels");
var lf = Glue.CreateWheel(BcmPin.Gpio00, BcmPin.Gpio01, BcmPin.Gpio02, WheelId.RightRear);
var rf = Glue.CreateWheel(BcmPin.Gpio00, BcmPin.Gpio01, BcmPin.Gpio02, WheelId.RightFront);
Go(lf, rf, 2048, 2048, 2000);
Go(lf, rf, 2048, -2048, 1000);
Go(lf, rf, 2048, 2048, 2000);
Go(lf, rf, 1800, 3120, 3000);
Go(lf, rf, 0, 0, 0);
}
public static void Main(string[] args)
{
CreateWebHostBuilder(args).Build().Run();
// Setup the testbot glue
if (args.Any(a => a.Contains("--TestBot")))
{
Glue.TestBot();
}
else if (args.Any(a => a.Contains("--SoftBot")))
{
Glue.Simulate();
}
else
{
Glue.YomoBot();
}
}