public static void Main()
{
SDCard sdCard = new SDCard();
//todo: need sdCard mode detection
ILogger logger = new PersistenceWriter(new FileStream(@"\SD\telemetry.bin", FileMode.CreateNew), new TelemetryFormatter());
//ILogger logger = new DebugLogger(); // use for debugging
//ILogger logger = new NullLogger(); // use for release
//Assumes one type of speed controller on quad
//ISpeedControllerSettings speedControllerSettings = new HobbyKingSs2530Settings();
//IPWM pwmFront = new SecretLabsPWM(Pins.GPIO_PIN_D9);
//SpeedController electricSpeedControllerFront = new SpeedController(speedControllerSettings, pwmFront);
//IPWM pwmRear = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerRear = new SpeedController(speedControllerSettings, pwmRear);
//IPWM pwmRight = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerRight = new SpeedController(speedControllerSettings, pwmRight);
//IPWM pwmLeft = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerLeft = new SpeedController(speedControllerSettings, pwmLeft);
MotorMixer mixer = null;
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
Gyro gyro = new TestGyro();
Accelerometer accelerometer = new TestAccelerometer();
Radio radio = new DefaultRadio(null,null);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, accelerometer, radio, loopSettings, GetMotorSettings(), logger);
}
public static void Main()
{
Motor testMotor = new TestMotor();
MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor);
ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter());
Gyro gyro = new TestGyro();
Radio radio = new TestRadio();
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(), logger);
}
public static void Main()
{
Motor testMotor = new TestMotor();
MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor);
ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter());
Gyro gyro = new TestGyro();
Radio radio = new TestRadio();
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(), logger);
}
public ThreadingProgram()
{
Gyro gyro = new TestGyro();
Sensors sensors = new Sensors(gyro);
Motor testMotor = new TestMotor();
MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor);
ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter());
Radio radio = new TestRadio();
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
_loopSettings = GetLoopSettings();
Timer sensorTimer = new Timer(tester, sensors,new TimeSpan(0),new TimeSpan((long)_loopSettings.SensorLoopFrequency) );
}
public ThreadingProgram()
{
Gyro gyro = new TestGyro();
Sensors sensors = new Sensors(gyro);
Motor testMotor = new TestMotor();
MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor);
ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter());
Radio radio = new TestRadio();
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
_loopSettings = GetLoopSettings();
Timer sensorTimer = new Timer(tester, sensors, new TimeSpan(0), new TimeSpan((long)_loopSettings.SensorLoopFrequency));
}
