/// <summary>
/// Creates a new instance of the FEZ HAT.
/// </summary>
/// <returns>The new instance.</returns>
public static FEZHAT Create()
{
//var gpioController = GpioController.GetDefault();
//var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector(FEZHAT.I2cDeviceName)))[0];
var hat = new FEZHAT();
if (i2cBus == null)
{
i2cBus = new Mono.Linux.I2C.I2CBus(0x01);
}
//I2CDevice i2c_accelerometer = Pi.I2C.AddDevice(MMA8453.GetAddress(false));
var i2c_accelerometer = new Mono.Linux.I2C.I2CDevice(i2cBus, MMA8453.GetAddress(false));
hat.accelerometer = new MMA8453(i2c_accelerometer);
//I2CDevice i2c_analog = Pi.I2C.AddDevice(ADS7830.GetAddress(false, false));
var i2c_analog = new Mono.Linux.I2C.I2CDevice(i2cBus, ADS7830.GetAddress(false, false));
hat.analog = new ADS7830(i2c_analog);
//I2CDevice i2c_pwm = Pi.I2C.AddDevice(PCA9685.GetAddress(true, true, true, true, true, true));
var i2c_pwm = new Mono.Linux.I2C.I2CDevice(i2cBus, PCA9685.GetAddress(true, true, true, true, true, true));
hat.pwm = new PCA9685(i2c_pwm, Pi.Gpio.Pin23);//Pi.Gpio.Pin13);x
hat.pwm.OutputEnabled = true;
hat.pwm.Frequency = 1500;
//mapping wiring pi vs gpio win iot
hat.dio16 = Pi.Gpio.Pin27; //Pi.Gpio.Pin16;x
hat.dio26 = Pi.Gpio.Pin25; //Pi.Gpio.Pin26;x
hat.dio24 = Pi.Gpio.Pin05; //Pi.Gpio.Pin24;x
hat.dio18 = Pi.Gpio.Pin01; //Pi.Gpio.Pin18;x
hat.dio22 = Pi.Gpio.Pin03; //Pi.Gpio.Pin22;x
hat.dio16.PinMode = GpioPinDriveMode.Input;
hat.dio26.PinMode = GpioPinDriveMode.Input;
hat.dio24.PinMode = GpioPinDriveMode.Output;
hat.dio18.PinMode = GpioPinDriveMode.Input;
hat.dio22.PinMode = GpioPinDriveMode.Input;
hat.motorEnable = Pi.Gpio.Pin26;//Pi.Gpio.Pin12;x
hat.motorEnable.PinMode = GpioPinDriveMode.Output;
hat.motorEnable.Write(GpioPinValue.High);
hat.MotorA = new Motor(hat.pwm, 14, Pi.Gpio.Pin02, Pi.Gpio.Pin04); //Pi.Gpio.Pin27, Pi.Gpio.Pin23);x
hat.MotorB = new Motor(hat.pwm, 13, Pi.Gpio.Pin22, Pi.Gpio.Pin21); //Pi.Gpio.Pin06, Pi.Gpio.Pin05);x
hat.D2 = new RgbLed(hat.pwm, 1, 0, 2);
hat.D3 = new RgbLed(hat.pwm, 4, 3, 15);
hat.S1 = new Servo(hat.pwm, 9);
hat.S2 = new Servo(hat.pwm, 10);
return(hat);
}
/// <summary>
/// Creates a new instance of the FEZ HAT.
/// </summary>
/// <returns>The new instance.</returns>
public static async Task <FEZHAT> CreateAsync()
{
var gpioController = GpioController.GetDefault();
var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector(FEZHAT.I2cDeviceName)))[0];
var hat = new FEZHAT();
hat.accelerometer = new MMA8453(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(MMA8453.GetAddress(false))));
hat.analog = new ADS7830(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
hat.pwm = new PCA9685(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))), gpioController.OpenPin(13));
hat.pwm.OutputEnabled = true;
hat.pwm.Frequency = 1500;
hat.dio16 = gpioController.OpenPin(16);
hat.dio26 = gpioController.OpenPin(26);
hat.dio24 = gpioController.OpenPin(24);
hat.dio18 = gpioController.OpenPin(18);
hat.dio22 = gpioController.OpenPin(22);
hat.dio16.SetDriveMode(GpioPinDriveMode.Input);
hat.dio26.SetDriveMode(GpioPinDriveMode.Input);
hat.dio24.SetDriveMode(GpioPinDriveMode.Output);
hat.dio18.SetDriveMode(GpioPinDriveMode.Input);
hat.dio22.SetDriveMode(GpioPinDriveMode.Input);
hat.motorEnable = gpioController.OpenPin(12);
hat.motorEnable.SetDriveMode(GpioPinDriveMode.Output);
hat.motorEnable.Write(GpioPinValue.High);
hat.MotorA = new Motor(hat.pwm, 14, 27, 23);
hat.MotorB = new Motor(hat.pwm, 13, 6, 5);
hat.D2 = new RgbLed(hat.pwm, 1, 0, 2);
hat.D3 = new RgbLed(hat.pwm, 4, 3, 15);
hat.S1 = new Servo(hat.pwm, 9);
hat.S2 = new Servo(hat.pwm, 10);
return(hat);
}
