private void SetGPIOWrite2(int in3, int in4)
{
if (in3 == 0 || in3 == -1)
{
IN3.Write(GpioPinValue.Low);
}
if (in3 == 1)
{
IN3.Write(GpioPinValue.High);
}
if (in3 == -1)
{
IN3.Dispose();
}
if (in4 == 0 || in4 == -1)
{
IN4.Write(GpioPinValue.Low);
}
if (in4 == 1)
{
IN4.Write(GpioPinValue.High);
}
if (in4 == -1)
{
IN4.Dispose();
}
}
/// <summary>
/// Create an instance of the ULN2003 driver (currently only supports 28BYJ step motor)
/// </summary>
public ULN2003(int IN1pin, int IN2pin, int IN3pin, int IN4pin, ULN2003Enums motorType = ULN2003Enums.STEP_28BYJ)
{
if (motorType == ULN2003Enums.Other)
{
IsSupported = false;
}
else
{
var gpio = GpioController.GetDefault();
if (gpio != null)
{
IN1 = gpio.OpenPin(IN1pin);
IN2 = gpio.OpenPin(IN2pin);
IN3 = gpio.OpenPin(IN3pin);
IN4 = gpio.OpenPin(IN4pin);
IN1.SetDriveMode(GpioPinDriveMode.Output);
IN2.SetDriveMode(GpioPinDriveMode.Output);
IN3.SetDriveMode(GpioPinDriveMode.Output);
IN4.SetDriveMode(GpioPinDriveMode.Output);
SetGPIOWrite(0, 0, 0, 0);
SetStepSequences(motorType);
SafeBreakMe = new SafeBreak();
SafeBreakMe.PropertyChanged += SafeBreakMe_PropertyChanged;
IsInitialized = true;
}
}
}
/// <summary>
/// Create an instance of the L298N driver (PCA9685 driver can be used as extension to have more
/// stable PWM outputs as Windows IOT is not a real time operating system)
/// </summary>
/// <param name="motor1">initialize the motor1 with available pins for the driver</param>
/// <param name="motor2">initialize the motor2 with available pins for the driver</param>
/// <param name="pwnDriver">pwm driver to control the speed of the motor (PCA9685 chip)</param>
public L298N(L298NMotors motor1, L298NMotors motor2, PCA9685 pwnDriver = null)
{
var gpio = GpioController.GetDefault();
if (gpio != null)
{
GetPCA9685 = pwnDriver;
if (GetPCA9685 != null)
{
GetPCA9685.SetDesiredFrequency(60);
}
if (motor1 != null)
{
IN1 = gpio.OpenPin(motor1.INAPin);
IN2 = gpio.OpenPin(motor1.INBPin);
IN1.SetDriveMode(GpioPinDriveMode.Output);
IN2.SetDriveMode(GpioPinDriveMode.Output);
ENA = motor1.ENPin;
SetGPIOWrite1(0, 0);
if (GetPCA9685 != null)
{
GetPCA9685.SetPulseParameters(ENA, 0);
}
Motor1Available = true;
}
if (motor2 != null)
{
IN3 = gpio.OpenPin(motor2.INAPin);
IN4 = gpio.OpenPin(motor2.INBPin);
IN3.SetDriveMode(GpioPinDriveMode.Output);
IN4.SetDriveMode(GpioPinDriveMode.Output);
ENB = motor2.ENPin;
SetGPIOWrite2(0, 0);
if (GetPCA9685 != null)
{
GetPCA9685.SetPulseParameters(ENB, 0);
}
Motor2Available = true;
}
if (Motor1Available || Motor2Available)
{
IsInitialized = true;
}
}
}