public DigitalInputPin (Cpu.Pin pin, bool glitchFilter = false)
{
port = new InterruptPort (pin, glitchFilter, HWPort.ResistorMode.Disabled, HWPort.InterruptMode.InterruptEdgeBoth);
var initialValue = port.Read () ? 1 : 0;
Output = AddPort ("Output", Units.Digital, initialValue);
port.OnInterrupt += port_OnInterrupt;
}
public RotaryEncoder(Cpu.Pin aQuad, Cpu.Pin bQuad, Cpu.Pin momentaryPushbutton)
{
//Keyboard kb = Keyboard.Instance;
//kb.Clear();
Keyboard2.Clear();
_aQuad = new InterruptPort(aQuad, true, Port.ResistorMode.PullUp, Port.InterruptMode.InterruptEdgeBoth);
_bQuad = new InterruptPort(bQuad, true, Port.ResistorMode.PullUp, Port.InterruptMode.InterruptEdgeBoth);
_momentaryPushbutton = new InterruptPort(momentaryPushbutton, true, Port.ResistorMode.PullUp, Port.InterruptMode.InterruptEdgeBoth);
if (_momentaryPushbutton.Read() == false)
{
using (var rtc = new RTC())
{
rtc.ClearCalibration();
}
}
_distanceTraveled = 0;
_currentDirection = Direction.RotateLeft;
_sequencePos = 1;
_ready = true;
try
{
_momentaryPushbutton.OnInterrupt += MomentaryPushbuttonOnInterrupt;
//_momentaryPushbutton.EnableInterrupt();
_aQuad.OnInterrupt += AQuadOnInterrupt;
//_aQuad.EnableInterrupt();
_bQuad.OnInterrupt += BQuadOnInterrupt;
//_bQuad.EnableInterrupt();
}
catch
{
DebugHelper.Print("Button Interrupt Init Failed");
}
}
public Axis(string axisID, Cpu.Pin stepPin, Cpu.Pin directionPin, Cpu.Pin limitSwitchPin, bool invertDirectionPinOutput = false)
{
this.ID = axisID;
StepPort = new OutputPort(stepPin, false);
DirectionPort = new OutputPort(directionPin, false);
LimitReached = LimitSwitch.None;
if (limitSwitchPin != Cpu.Pin.GPIO_NONE)
{
LimitSwitchPort = new InterruptPort(limitSwitchPin, false, Port.ResistorMode.PullUp, Port.InterruptMode.InterruptEdgeLevelLow);
LimitSwitchPort.OnInterrupt += new NativeEventHandler(LimitSwitchPin_OnInterrupt);
// Since we're sharing a port for the Min/Max limit switches on each axis, we can only determine which switch is tripped
// while there is motion (based on direction). If we initialize the axis and find that the switch is tripped, then we don't
// know which end it is at and the user will need to move the axis off of the switch before the machine can be homed.
if (LimitSwitchPort.Read() == false) LimitReached = LimitSwitch.Unknown;
}
InvertDirectionPinOutput = invertDirectionPinOutput;
Location = 0;
LocationUnitsPerStep = 4; //Should be overwritten when machine sets the resolution
StepDirection = true;
}
public override bool Read()
{
return(_port.Read());
}
