private void Initialize()
{
var spiSocket = GT.Socket.GetSocket(10, true, null, null);
var pwmSocket = GT.Socket.GetSocket(11, true, null, null);
var analogSocket = GT.Socket.GetSocket(12, true, null, null);
this.forwardLEDs = new GTI.SPI(spiSocket, new GTI.SPI.Configuration(false, 0, 0, false, true, 2000), GTI.SPI.Sharing.Shared, spiSocket, GT.Socket.Pin.Six, null);
this.leftIRLED = new GTI.DigitalOutput(spiSocket, GT.Socket.Pin.Three, true, null);
this.rightIRLED = new GTI.DigitalOutput(spiSocket, GT.Socket.Pin.Four, true, null);
this.leftMotorDirection = new GTI.DigitalOutput(pwmSocket, GT.Socket.Pin.Three, false, null);
this.rightMotorDirection = new GTI.DigitalOutput(pwmSocket, GT.Socket.Pin.Four, false, null);
this.leftMotor = new GTI.PWMOutput(pwmSocket, GT.Socket.Pin.Seven, false, null);
this.rightMotor = new GTI.PWMOutput(pwmSocket, GT.Socket.Pin.Eight, false, null);
this.servo = new GTI.PWMOutput(pwmSocket, GT.Socket.Pin.Nine, false, null);
this.buzzer = new GTI.PWMOutput(analogSocket, GT.Socket.Pin.Seven, false, null);
this.enableFaderPin = new GTI.PWMOutput(analogSocket, GT.Socket.Pin.Eight, true, null);
this.leftSensor = new GTI.AnalogInput(analogSocket, GT.Socket.Pin.Three, null);
this.rightSensor = new GTI.AnalogInput(analogSocket, GT.Socket.Pin.Four, null);
this.leftMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.rightMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.enableFaderPin.Set(2000, 1.0);
this.leftMotorInverted = false;
this.rightMotorInverted = false;
this.servoConfigured = false;
this.SetLedBitmask(0x00);
}
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public Tunes(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('P', this);
tunePWM = new GTI.PWMOutput(socket, Socket.Pin.Nine, false, this);
playList = new Melody();
}
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public MotorDriverL298(int socketNumber)
{
this.Frequency = 25000;
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported(new char[] { 'P' }, this);
m_Pwm1 = new GTI.PWMOutput(socket, Socket.Pin.Seven, false, this);
m_Pwm2 = new GTI.PWMOutput(socket, Socket.Pin.Eight, false, this);
m_Direction1 = new GTI.DigitalOutput(socket, Socket.Pin.Nine, false, this);
m_Direction2 = new GTI.DigitalOutput(socket, Socket.Pin.Six, false, this);
m_Pwm1.Set(Frequency, 0);
m_Pwm2.Set(Frequency, 0);
}
private void SetSpeed(GTI.PWMOutput motor, GTI.DigitalOutput direction, int speed, bool isLeft)
{
if (speed == 0)
{
direction.Write(false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0.01);
}
else if (speed < 0)
{
direction.Write(isLeft ? true : false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / -100.0);
}
else
{
direction.Write(isLeft ? false : true);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / 100.0);
}
}
// Initialises the tunes module to be on the given socket.
public TunesModule(int socketNumber, DomainModel.Model model)
{
socket = GT.Socket.GetSocket(socketNumber, true, null, null);
pwm = new GTI.PWMOutput(socket, GT.Socket.Pin.Nine, false, null);
}