private void checkBoxServo1_CheckedChanged(object sender, EventArgs e)
{
if (checkBoxServo1.Checked)
{
pigpiodIf.set_servo_pulsewidth(SERVO_1, (UInt32)trackBarServo1.Value);
}
else
{
pigpiodIf.set_servo_pulsewidth(SERVO_1, 0);
}
}
public void t3(PigpiodIf pigpiodIf, CancellationToken ct)
{
PigpiodIf.Callback callback = null;
try
{
int[] pw = new int[] { 500, 1500, 2500 };
int[] dc = new int[] { 20, 40, 60, 80 };
int f, rr, v;
float on, off;
int t;
Console.WriteLine("\r\nPWM/Servo pulse accuracy tests.");
int t3_reset = 1;
int t3_count = 0;
UInt32 t3_tick = 0;
float t3_on = 0.0f;
float t3_off = 0.0f;
callback = pigpiodIf.callback(GPIO, PigpiodIf.EITHER_EDGE, (gpio, level, tick, user) =>
{
UInt32 td;
//Console.WriteLine("pi={0} g{1} l={2} t={3}", pi, gpio, level, tick);
if (t3_reset != 0)
{
t3_count = 0;
t3_on = 0.0f;
t3_off = 0.0f;
t3_reset = 0;
}
else
{
td = tick - t3_tick;
if (level == 0)
{
t3_on += td;
}
else
{
t3_off += td;
}
}
t3_count++;
t3_tick = tick;
});
for (t = 0; t < 3; t++)
{
pigpiodIf.set_servo_pulsewidth(GPIO, (UInt32)pw[t]);
v = pigpiodIf.get_servo_pulsewidth(GPIO);
CHECK(3, t + t + 1, v, pw[t], 0, "get servo pulsewidth", ct);
pigpiodIf.time_sleep(1);
t3_reset = 1;
pigpiodIf.time_sleep(4);
on = t3_on;
off = t3_off;
CHECK(3, t + t + 2, (int)((1000.0 * (on + off)) / on), (int)(20000000.0 / pw[t]), 1,
"set servo pulsewidth", ct);
}
pigpiodIf.set_servo_pulsewidth(GPIO, 0);
pigpiodIf.set_PWM_frequency(GPIO, 1000);
f = pigpiodIf.get_PWM_frequency(GPIO);
CHECK(3, 7, f, 1000, 0, "set/get PWM frequency", ct);
rr = pigpiodIf.set_PWM_range(GPIO, 100);
CHECK(3, 8, rr, 200, 0, "set PWM range", ct);
for (t = 0; t < 4; t++)
{
pigpiodIf.set_PWM_dutycycle(GPIO, (UInt32)dc[t]);
v = pigpiodIf.get_PWM_dutycycle(GPIO);
CHECK(3, t + t + 9, v, dc[t], 0, "get PWM dutycycle", ct);
pigpiodIf.time_sleep(1);
t3_reset = 1;
pigpiodIf.time_sleep(2);
on = t3_on;
off = t3_off;
CHECK(3, t + t + 10, (int)((1000.0 * on) / (on + off)), (int)(10.0 * dc[t]), 1,
"set PWM dutycycle", ct);
}
}
finally
{
pigpiodIf.set_PWM_dutycycle(GPIO, 0);
pigpiodIf.callback_cancel(callback);
}
}