public async void StepperMotorExample()
{
MotorHat2348 mh = null;
PwmStepperMotor stepper = null;
PwmPin pwm = null;
if (mh == null)
{
// Create a driver object for the HAT at address 0x60
mh = new MotorHat2348(0x60);
// Create a stepper motor object at the specified ports and steps per rev
stepper = mh.CreateStepperMotor(1, 2, 200);
// Create a PwmPin object at one of the auxiliary PWMs on the HAT
pwm = mh.CreatePwm(1);
}
// step 200 full steps in the forward direction using half stepping (so 400 steps total) at 30 rpm
stepper.SetSpeed(30);
await stepper.StepAsync(200, Direction.Forward, SteppingStyle.Half);
// Activate the pin and set it to 50% duty cycle
pwm.Start();
pwm.SetActiveDutyCyclePercentage(0.5);
// for demonstration purposes we will wait 10 seconds to observe the PWM and motor operation.
await Task.Delay(10000);
// Stop the auxiliary PWM pin
pwm.Stop();
// Dispose of the MotorHat and free all its resources
mh.Dispose();
}
/// <summary>
/// Creates a <see cref="PwmStepperMotor"/> object for the specified channels and adds it to the list of Motors.
/// </summary>
/// <param name="driverChannelA">A motor driver channel from 1 to 4.</param>
/// <param name="driverChannelB">A motor driver channel from 1 to 4.</param>
/// <param name="steps">The number of full steps per revolution that this motor has.</param>
/// <returns>The created <see cref="PwmStepperMotor"/> object.</returns>
/// <remarks>
/// The driverChannelA and driverChannelB parameters must be different and must be channels not already assigned to other
/// <see cref="PwmDCMotor"/> or <see cref="PwmStepperMotor"/> objects for this <see cref="MotorHat2348"/>.
/// </remarks>
public PwmStepperMotor CreateStepperMotor(byte driverChannelA, byte driverChannelB, byte steps)
{
PwmStepperMotor value;
if ((driverChannelA < 1) || (driverChannelA > 4))
{
throw new ArgumentOutOfRangeException("driverChannelA");
}
if ((driverChannelB < 1) || (driverChannelB > 4))
{
throw new ArgumentOutOfRangeException("driverChannelB");
}
if (driverChannelA == driverChannelB)
{
throw new ArgumentOutOfRangeException("driverChannelB", "Parameters driverChannelA and driverChannelB must be different.");
}
if (motorChannelsUsed[driverChannelA - 1] == true)
{
throw new MotorHatException(string.Format("Channel {0} is already assigned.", driverChannelA));
}
if (motorChannelsUsed[driverChannelB - 1] == true)
{
throw new MotorHatException(string.Format("Channel {0} is already assigned.", driverChannelB));
}
EnsureInitialized();
value = new PwmStepperMotor(this._pwm, driverChannelA, driverChannelB, steps);
motorChannelsUsed[driverChannelA - 1] = true;
motorChannelsUsed[driverChannelB - 1] = true;
motors.Add(value);
return(value);
}
