/// <summary>
/// Initializes a new instance of the <see cref="InfraredEmitter"/> class.
/// </summary>
/// <param name="outputPin">The output pin.</param>
public InfraredEmitter(GpioPin outputPin)
{
if (outputPin == null || outputPin.HasCapability(PinCapability.PWM) == false)
{
throw new ArgumentException("Pin does not support PWM", nameof(outputPin));
}
OutputPin = outputPin;
OutputPin.PinMode = GpioPinDriveMode.PwmOutput;
OutputPin.PwmMode = PwmMode.MarkSign;
// Parameters taken from:
// https://mariodivece.com/blog/2018/03/21/rpi-pwm-demystified
OutputPin.PwmClockDivisor = 5;
OutputPin.PwmRange = 101;
OutputPin.PwmRegister = 0;
}
/// <summary>
/// Initializes a new instance of the <see cref="HardwareServo"/> class.
/// </summary>
/// <param name="outputPin">The output pin.</param>
/// <exception cref="ArgumentException">Pin does not support PWM - outputPin.</exception>
public HardwareServo(GpioPin outputPin)
{
if (outputPin == null || outputPin.HasCapability(PinCapability.PWM) == false)
{
throw new ArgumentException("Pin does not support PWM", nameof(outputPin));
}
OutputPin = outputPin;
OutputPin.PinMode = GpioPinDriveMode.PwmOutput;
OutputPin.PwmMode = PwmMode.MarkSign;
// Parameters taken from:
// https://mariodivece.com/blog/2018/03/21/rpi-pwm-demystified
OutputPin.PwmClockDivisor = 96;
OutputPin.PwmRange = 4000;
OutputPin.PwmRegister = 0;
Frequency = (double)((GpioController)Pi.Gpio).PwmBaseFrequency / OutputPin.PwmClockDivisor / OutputPin.PwmRange;
PeriodMs = 1d / Frequency * 1000;
MaxPulseLengthMs = PeriodMs * 1024d / OutputPin.PwmRange;
PulseLengthMs = 1.0d; // default is 1ms pulses
}