/// <summary>
/// Construct a new analog feedback servo from an analog pin and a speed controller
/// </summary>
/// <param name="analogIn">The analog in pin to use for position feedback</param>
/// <param name="Controller">The speed controller to use to control the motor</param>
public AnalogFeedbackServo(Pin analogIn, MotorSpeedController Controller)
{
this.analogIn = analogIn;
this.controller = Controller;
analogIn.Mode = PinMode.AnalogInput;
isRunning = true;
controlLoopTask = new Task(async() =>
{
while (isRunning)
{
var oldPosition = ActualPosition;
var newPosition = analogIn.AnalogValue;
ActualPosition = newPosition;
var error = GoalPosition - ActualPosition;
if (Math.Abs(error) > ErrorThreshold)
controller.Speed = Utilities.Constrain(K * error, -1.0, 1.0);
else
{
controller.Speed = 0;
//Debug.WriteLine("goal achieved");
}
await Task.Delay(10);
}
});
controlLoopTask.Start();
}
/// <summary>
/// Construct a new analog feedback servo from an analog pin and a speed controller
/// </summary>
/// <param name="analogIn">The analog in pin to use for position feedback</param>
/// <param name="Controller">The speed controller to use to control the motor</param>
public AnalogFeedbackServo(Pin analogIn, MotorSpeedController Controller)
{
this.analogIn = analogIn;
controller = Controller;
analogIn.Mode = PinMode.AnalogInput;
isRunning = true;
controlLoopTask = new Task(async() =>
{
while (isRunning)
{
var oldPosition = ActualPosition;
var newPosition = analogIn.AnalogValue;
ActualPosition = newPosition;
var error = GoalPosition - ActualPosition;
if (Math.Abs(error) > ErrorThreshold)
{
controller.Speed = (K * error).Constrain(-1.0, 1.0);
}
else
{
controller.Speed = 0;
}
await Task.Delay(10).ConfigureAwait(false);
}
});
controlLoopTask.Start();
}
/// <summary>
/// Construct a motorized fader from an analog-in pin and a speed controller
/// </summary>
/// <param name="analogIn">The pin to use for analog-in</param>
/// <param name="Controller">The controller to use to drive the fader</param>
public MotorizedFader(Pin analogIn, MotorSpeedController Controller) : base(analogIn, Controller)
{
}
/// <summary>
/// Construct a motorized fader from an analog-in pin and a speed controller
/// </summary>
/// <param name="analogIn">The pin to use for analog-in</param>
/// <param name="Controller">The controller to use to drive the fader</param>
public MotorizedFader(Pin analogIn, MotorSpeedController Controller) : base(analogIn, Controller)
{
}
