public DcMotor(MotorHeaders header)
{
switch (header)
{
case MotorHeaders.M3:
_motorBitA = (int)MotorBits.Motor3A;
_motorBitB = (int)MotorBits.Motor3B;
_pwm = new PWM(MotorShield.Pwm_0B);
break;
case MotorHeaders.M4:
_motorBitA = (int)MotorBits.Motor4A;
_motorBitB = (int)MotorBits.Motor4B;
_pwm = new PWM(MotorShield.Pwm_0A);
break;
default:
throw new InvalidOperationException("Invalid motor header specified.");
}
MotorShield.Instance.LatchState &= (byte)(~(1 << _motorBitA) & ~(1 << _motorBitB));
MotorShield.Instance.LatchTx();
_pwm.SetPulse(100, 0);
}
public DcMotor(MotorHeaders header)
{
switch (header)
{
case MotorHeaders.M3:
_motorBitA = (int)MotorBits.Motor3A;
_motorBitB = (int)MotorBits.Motor3B;
_pwm = new PWM(MotorShield.Pwm_0B);
break;
case MotorHeaders.M4:
_motorBitA = (int)MotorBits.Motor4A;
_motorBitB = (int)MotorBits.Motor4B;
_pwm = new PWM(MotorShield.Pwm_0A);
break;
default:
throw new InvalidOperationException("Invalid motor header specified.");
}
MotorShield.Instance.LatchState &= (byte)(~(1 << _motorBitA) & ~(1 << _motorBitB));
MotorShield.Instance.LatchTx();
_pwm.SetPulse(100, 0);
}
/// <summary>
/// A DC Motor controller
/// </summary>
/// <param name="header">The header to which the motor is connected</param>
/// <param name="frequency">The PWM frequency (in Hz) at which to drive the motor. Defaults to 10kHz.</param>
public DCMotor(MotorHeaders header, uint frequency = 10000)
{
switch (header)
{
/*
* case MotorHeaders.M1:
* motorBitA = (int)MotorBits.Motor1_A;
* motorBitB = (int)MotorBits.Motor1_B;
* pwm = new PWM(PwmPins.pwm2A);
* break;
* case MotorHeaders.M2:
* motorBitA = (int)MotorBits.Motor2_A;
* motorBitB = (int)MotorBits.Motor2_B;
* pwm = new PWM(PwmPins.pwm2B);
* break;
*/
case MotorHeaders.M3:
motorBitA = (int)MotorBits.Motor3_A;
motorBitB = (int)MotorBits.Motor3_B;
pwm = new PWM(PwmPins.pwm0B);
break;
case MotorHeaders.M4:
motorBitA = (int)MotorBits.Motor4_A;
motorBitB = (int)MotorBits.Motor4_B;
pwm = new PWM(PwmPins.pwm0A);
break;
default:
throw new InvalidOperationException("Invalid motor header specified");
}
latchState &= (byte)(~(1 << motorBitA) & ~(1 << motorBitB));
latch_tx(latchState); // Set both motor pins low
pwm.SetPulse(1000000 / frequency, 0); // Set PWM frequency, but 0% duty cycle
}
