private async void btnInitialize_Click(object sender, RoutedEventArgs e)
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
gpioController = await GpioController.GetDefaultAsync();
if (gpioController == null)
{
return;
}
pwmControllers = await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider());
if (pwmControllers == null)
{
return;
}
LeftMotor = new MotorControl(gpioController, pwmControllers[1]);
LeftMotor.Initialize(LEFTINA, LEFTINB, LEFTPWM);
RightMotor = new MotorControl(gpioController, pwmControllers[1]);
RightMotor.Initialize(RIGHTINA, RIGHTINB, RIGHTPWM);
}
public CameraViewModel(IMotorControl motorControl,IHornControl hornControl,IBrakeControl brakeControl)
{
_hornControl = hornControl;
_motorControl = motorControl;
_brakeControl = brakeControl;
SpeedFeedback.PropertyChanged += (s,e) => { RaisePropertyChanged("speed");};
DirectionFeedback.PropertyChanged += (s, e) => { RaisePropertyChanged("direction_angle"); };
motorKeys = new List<Key>() {Key.W,Key.A,Key.S,Key.D};
}
public CameraViewModel(IMotorControl motorControl, IHornControl hornControl, IBrakeControl brakeControl)
{
_hornControl = hornControl;
_motorControl = motorControl;
_brakeControl = brakeControl;
SpeedFeedback.PropertyChanged += (s, e) => { RaisePropertyChanged("speed"); };
DirectionFeedback.PropertyChanged += (s, e) => { RaisePropertyChanged("direction_angle"); };
motorKeys = new List <Key>()
{
Key.W, Key.A, Key.S, Key.D
};
}
public MotorDriveCommand(IMotorControl drivable)
{
_drivable = drivable;
}
public SpeechInterpretation(IMotorControl motorControl,IHeadlightControl headlightControl,IHornControl hornControl)
{
_motorControl = motorControl;
_headlightControl = headlightControl;
_hornControl = hornControl;
}
public SpeechInterpretation(IMotorControl motorControl, IHeadlightControl headlightControl, IHornControl hornControl)
{
_motorControl = motorControl;
_headlightControl = headlightControl;
_hornControl = hornControl;
}
void Start()
{
controller = MotorController.GetInstance();
}