internal static void TestDigI() { BBBPinManager.AddMappingGPIO(BBBPin.P9_12, false, Scarlet.IO.ResistorState.PULL_DOWN); //if (ApplyDevTree) { BBBPinManager.ApplyPinSettings(); } IDigitalIn Input = new DigitalInBBB(BBBPin.P9_12); for (int i = 0; i < 50; i++) { Log.Output(Log.Severity.DEBUG, Log.Source.HARDWAREIO, "Input is " + Input.GetInput()); Thread.Sleep(250); } }
/// <summary> /// Prepares the rail for use by moving the motor all the way up to the top to find the zero position. /// </summary> public void Initialize() { // TODO: What happens when it is already at the top? This likely won't toggle the switch... this.Initializing = true; IPWMOutput MotorPWM = PWMBBB.PWMDevice2.OutputB; IDigitalIn LimitSw = new DigitalInBBB(BBBPin.P8_08); this.MotorCtrl = new TalonMC(MotorPWM, MOTOR_MAX_SPEED); this.Limit = new LimitSwitch(LimitSw, false); //this.Encoder = new Encoder(2, 3, 80); this.Limit.SwitchToggle += this.EventTriggered; //this.Encoder.Turned += this.EventTriggered; Timer TimeoutTrigger = new Timer() { Interval = INIT_TIMEOUT, AutoReset = false }; TimeoutTrigger.Elapsed += this.EventTriggered; TimeoutTrigger.Enabled = true; this.GotoTop(); }
public void Initialize() { this.Initializing = true; IPWMOutput MotorOut = PWMBBB.PWMDevice1.OutputA; IDigitalIn LimitSw = new DigitalInBBB(BBBPin.P8_12); this.MotorCtrl = new TalonMC(MotorOut, MOTOR_MAX_SPEED); this.Limit = new LimitSwitch(LimitSw, false); //this.Encoder = new Encoder(6, 7, 420); this.Limit.SwitchToggle += this.EventTriggered; //this.Encoder.Turned += this.EventTriggered; Timer TimeoutTrigger = new Timer() { Interval = INIT_TIMEOUT, AutoReset = false }; TimeoutTrigger.Elapsed += this.EventTriggered; TimeoutTrigger.Enabled = true; // Do init stuff. this.TargetAngle = 360; }
public static void Start(string[] args) { if (args.Length < 3) { TestMain.ErrorExit("io bbb command requires functionality to test."); } BeagleBone.Initialize(SystemMode.DEFAULT, true); switch (args[2].ToLower()) { case "digin": { if (args.Length < 4) { TestMain.ErrorExit("io bbb digin command requires pin to test."); } BBBPin InputPin = StringToPin(args[3]); Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing digital input on BBB pin " + InputPin.ToString()); BBBPinManager.AddMappingGPIO(InputPin, false, ResistorState.PULL_DOWN); BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS); IDigitalIn Input = new DigitalInBBB(InputPin); while (true) { Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Current pin state: " + (Input.GetInput() ? "HIGH" : "LOW")); Thread.Sleep(250); } } case "digout": { if (args.Length < 4) { TestMain.ErrorExit("io bbb digout command requires pin to test."); } BBBPin OutputPin = StringToPin(args[3]); if (args.Length < 5) { TestMain.ErrorExit("io bbb digout command requires output mode (high/low/blink)."); } if (args[4] != "high" && args[4] != "low" && args[4] != "blink") { TestMain.ErrorExit("Invalid digout test mode supplied."); } Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing digital output on BBB pin " + OutputPin.ToString()); BBBPinManager.AddMappingGPIO(OutputPin, true, ResistorState.PULL_DOWN); BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS); IDigitalOut Output = new DigitalOutBBB(OutputPin); if (args[4] == "high") { Output.SetOutput(true); } else if (args[4] == "low") { Output.SetOutput(false); } else { bool Out = false; while (true) { Output.SetOutput(Out); Out = !Out; Thread.Sleep(250); } } break; } case "pwm": { if (args.Length < 4) { TestMain.ErrorExit("io bbb pwm command requires pin to test."); } BBBPin OutputPin = StringToPin(args[3]); if (args.Length < 5) { TestMain.ErrorExit("io bbb pwm command requires frequency."); } int Frequency = int.Parse(args[4]); if (args.Length < 6) { TestMain.ErrorExit("io bbb pwm command requires output mode."); } if (args[5] != "per" && args[5] != "sine") { TestMain.ErrorExit("io bbb pwm command invalid (per/sine)."); } if (args[5] == "per" && args.Length < 7) { TestMain.ErrorExit("io bbb pwm per must be provided duty cycle."); } BBBPinManager.AddMappingPWM(OutputPin); BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS); IPWMOutput Output = PWMBBB.GetFromPin(OutputPin); Output.SetFrequency(Frequency); Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing PWM output on BBB pin " + OutputPin.ToString() + " at " + Frequency + "Hz."); if (args[5] == "per") { Output.SetOutput(int.Parse(args[6]) / 100F); Output.SetEnabled(true); Thread.Sleep(15000); // Not sure if it stops outputting when the program exits. } else { int Cycle = 0; while (true) { float Val = (float)((Math.Sin(Cycle * Math.PI / 180.000D) + 1) / 2); Output.SetOutput(Val); Thread.Sleep(50); Cycle += 20; } } break; } case "adc": { if (args.Length < 4) { TestMain.ErrorExit("io bbb adc command requires pin to test."); } BBBPin InputPin = StringToPin(args[3]); BBBPinManager.AddMappingADC(InputPin); BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS); IAnalogueIn Input = new AnalogueInBBB(InputPin); Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing analogue input on BBB pin " + InputPin.ToString()); while (true) { Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "ADC Input: " + Input.GetInput() + " (Raw: " + Input.GetRawInput() + ")"); Thread.Sleep(250); } } case "int": { if (args.Length < 4) { TestMain.ErrorExit("io bbb int command requires pin to test."); } BBBPin InputPin = StringToPin(args[3]); if (args.Length < 5) { TestMain.ErrorExit("io bbb int command requires interrupt mode (rise/fall/both)."); } if (args[4] != "rise" && args[4] != "fall" && args[4] != "both") { TestMain.ErrorExit("Invalid interrupt mode supplied."); } BBBPinManager.AddMappingGPIO(InputPin, true, ResistorState.PULL_DOWN); BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS); IDigitalIn Input = new DigitalInBBB(InputPin); Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing interrupts on BBB pin " + InputPin.ToString()); switch (args[4]) { case "rise": ((IInterruptSource)Input).RegisterInterruptHandler(GetInterrupt, InterruptType.RISING_EDGE); break; case "fall": ((IInterruptSource)Input).RegisterInterruptHandler(GetInterrupt, InterruptType.FALLING_EDGE); break; case "both": ((IInterruptSource)Input).RegisterInterruptHandler(GetInterrupt, InterruptType.ANY_EDGE); break; } while (true) { Thread.Sleep(50); } // Program needs to be running to receive. } case "mtk3339": { BBBPinManager.AddMappingUART(BBBPin.P9_24); BBBPinManager.AddMappingUART(BBBPin.P9_26); BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS); IUARTBus UART = UARTBBB.UARTBus1; Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Press any key to stop."); while (Console.KeyAvailable) { Console.ReadKey(); } byte[] Buffer = new byte[32]; while (true) { Thread.Sleep(10); if (UART.BytesAvailable() > 0) { int Count = UART.Read(32, Buffer); Console.Write(System.Text.Encoding.ASCII.GetString(UtilMain.SubArray(Buffer, 0, Count))); } if (Console.KeyAvailable) { break; } } break; } } }
public static void Start(string[] args) { if (args.Length < 2) { TestMain.ErrorExit("Device testing needs device to test."); } switch (args[1].ToLower()) { case "hx711": { if (args.Length < 5) { TestMain.ErrorExit("Insufficient info to run HX711 test. See help."); } IDigitalIn DataPin = null; IDigitalOut ClockPin = null; if (args[2].Equals("pi", StringComparison.InvariantCultureIgnoreCase)) { RaspberryPi.Initialize(); DataPin = new DigitalInPi(int.Parse(args[3])); ClockPin = new DigitalOutPi(int.Parse(args[4])); } else if (args[2].Equals("bbb", StringComparison.InvariantCultureIgnoreCase)) { BeagleBone.Initialize(SystemMode.DEFAULT, true); BBBPin DataBBBPin = IOBBB.StringToPin(args[3]); BBBPin ClockBBBPin = IOBBB.StringToPin(args[4]); BBBPinManager.AddMappingGPIO(DataBBBPin, false, ResistorState.NONE); BBBPinManager.AddMappingGPIO(ClockBBBPin, true, ResistorState.NONE); BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE); DataPin = new DigitalInBBB(DataBBBPin); ClockPin = new DigitalOutBBB(ClockBBBPin); } else { TestMain.ErrorExit("HX711 test: Unknown platform. See help."); } HX711 DUT = new HX711(ClockPin, DataPin); while (Console.KeyAvailable) { Console.ReadKey(); } Log.Output(Log.Severity.INFO, Log.Source.GUI, "[w] to increase gain, [s] to decrease. [z] to zero."); Log.Output(Log.Severity.INFO, Log.Source.GUI, "Press any other key to exit."); HX711.Gain Gain = HX711.Gain.GAIN_128x; bool Continue = true; while (Continue) { if (Console.KeyAvailable) { char Key = Console.ReadKey().KeyChar; switch (Key) { case 'w': { if (Gain == HX711.Gain.GAIN_32x) { Gain = HX711.Gain.GAIN_64x; } else if (Gain == HX711.Gain.GAIN_64x) { Gain = HX711.Gain.GAIN_128x; } else { Log.Output(Log.Severity.ERROR, Log.Source.SENSORS, "Gain at maximum already."); } DUT.SetGain(Gain); Log.Output(Log.Severity.INFO, Log.Source.SENSORS, "Gain now at " + Gain); break; } case 's': { if (Gain == HX711.Gain.GAIN_128x) { Gain = HX711.Gain.GAIN_64x; } else if (Gain == HX711.Gain.GAIN_64x) { Gain = HX711.Gain.GAIN_32x; } else { Log.Output(Log.Severity.ERROR, Log.Source.SENSORS, "Gain at minimum already."); } DUT.SetGain(Gain); Log.Output(Log.Severity.INFO, Log.Source.SENSORS, "Gain now at " + Gain); break; } case 'z': { DUT.Tare(); Log.Output(Log.Severity.INFO, Log.Source.SENSORS, "Tared."); break; } default: { Continue = false; break; } } } DUT.UpdateState(); Log.Output(Log.Severity.INFO, Log.Source.SENSORS, "HX711 readings: Raw: " + DUT.GetRawReading() + ", Adjusted: " + DUT.GetAdjustedReading()); Thread.Sleep(250); } break; } default: { TestMain.ErrorExit("Unknown device."); break; } } }