/// <summary>
/// Initializes four pins for motor driver
/// </summary>
/// <param name="Pin_MotorLeft_A">Left motor's Pin A.</param>
/// <param name="Pin_MotorLeft_B">Left motor's Pin B.</param>
/// <param name="Pin_MotorRight_A">Right motor's Pin A.</param>
/// <param name="Pin_MotorRight_B">Right motor's Pin B.</param>
public static void InitializePins(AvailableGpioPin Pin_MotorLeft_A, AvailableGpioPin Pin_MotorLeft_B, AvailableGpioPin Pin_MotorRight_A, AvailableGpioPin Pin_MotorRight_B)
{
// Initialize Gpio Controller
GpioController MyGpioConroller = GpioController.GetDefault();
// If GpioPins are not null then make them first null to release old pins.
// Check only one pin against null and if it is not then null all.
if (MotorLeft_A != null)
{
MotorLeft_A = null;
MotorLeft_B = null;
MotorRight_A = null;
MotorRight_B = null;
}
// Initialize Pins
MotorLeft_A = MyGpioConroller.OpenPin((int)Pin_MotorLeft_A);
MotorLeft_B = MyGpioConroller.OpenPin((int)Pin_MotorLeft_B);
MotorRight_A = MyGpioConroller.OpenPin((int)Pin_MotorRight_A);
MotorRight_B = MyGpioConroller.OpenPin((int)Pin_MotorRight_B);
// Set Drive Mode
MotorLeft_A.SetDriveMode(GpioPinDriveMode.Output);
MotorLeft_B.SetDriveMode(GpioPinDriveMode.Output);
MotorRight_A.SetDriveMode(GpioPinDriveMode.Output);
MotorRight_B.SetDriveMode(GpioPinDriveMode.Output);
// Set Current State
_CurrentState = State.Stopped;
}
public static void Stop()
{
// Return if pins are not initialized
if (MotorLeft_A == null)
{
return;
}
// Left Motor
MotorLeft_A.Write(GpioPinValue.Low);
MotorLeft_B.Write(GpioPinValue.Low);
// Right Motor
MotorRight_A.Write(GpioPinValue.Low);
MotorRight_B.Write(GpioPinValue.Low);
// Set current state
_CurrentState = State.Stopped;
}
public static void MoveReverse()
{
// Return if pins are not initialized
if (MotorLeft_A == null)
{
return;
}
// Left Motor
MotorLeft_A.Write(GpioPinValue.High);
MotorLeft_B.Write(GpioPinValue.Low);
// Right Motor
MotorRight_A.Write(GpioPinValue.High);
MotorRight_B.Write(GpioPinValue.Low);
// Set current state
_CurrentState = State.MovingReverse;
}
