public IMotor PwmMotor(int pin, float tweenFactor, float speedMultiplier, bool flipped)
{
string pinName = kPwmPinNameByExportNumber[pin];
beagleBoneGpioConfigurationManager.SetPinMode(pinName, PinMode.Pwm);
if (!Directory.Exists(BuildPinPath(pin)))
{
internalFileSystemProxy.WriteText(kPwmExportPath, pin.ToString());
}
internalFileSystemProxy.WriteText(
BuildPinPath(pin, kRunKey),
"0");
internalFileSystemProxy.WriteText(
BuildPinPath(pin, kPeriodNanosecondsKey),
kPwmCyclePeriod.ToString());
internalFileSystemProxy.WriteText(
BuildPinPath(pin, kRunKey),
"1");
var dutyValue = deviceValueFactory.FromFile <int>(
BuildPinPath(pin, kDutyNanosecondsKey),
DeviceValueAccess.ReadWrite);
dutyValue.Set(1500000);
Thread.Sleep(1000);
dutyValue.Set(0);
Thread.Sleep(1000);
dutyValue.Set(1500000);
return(new GpioMotorImpl(
$"PWM_Pin{pin}_{pinName}",
deviceValueFactory.TweeningAdapter(
deviceValueFactory.IntToFloatAdapter(
dutyValue,
-1500000,
(int)(399000 * (flipped ? -1 : 1) * speedMultiplier) // accounts for rounding error
), tweenFactor)));
}
public void Initialize()
{
if (initialized)
{
return;
}
initialized = true;
// ReSharper disable once StringLiteralTypo
const string kCapeManagerSlotsPath = "/sys/devices/bone_capemgr.*/slots";
var capeManagerPath = internalFileSystemProxy.ResolveAbsolutePath(kCapeManagerSlotsPath);
const string kExportAllPins = "cape-universaln";
try {
internalFileSystemProxy.WriteText(capeManagerPath, kExportAllPins);
} catch (IOException e) when(e.Message.Contains("File already exists") && Environment.OSVersion.Platform == PlatformID.Unix)
{
// Pins already exported.
}
}
public void Set(T value) => internalFileSystemProxy.WriteText(path, ValueSerializer <T> .Serialize(value, access));