static void Main(string[] args)
{
var options = ParseOptions(args);
if (options == null)
{
return;
}
IServiceCollection serviceCollection = new ServiceCollection();
serviceCollection.AddLogging();
var sp = serviceCollection.BuildServiceProvider();
sp.GetRequiredService <LoggerFactory>().AddConsole().AddDebug();
log = sp.GetRequiredService <ILogger <Program> >();
log.LogInformation("-=Pca9685 Sample=-");
log.LogInformation("Running {0}", System.Runtime.InteropServices.RuntimeInformation.OSDescription);
log.LogInformation("Options:" + Environment.NewLine + options);
var pulse = CalculatePulse(options.PwmFrequency, 50);
log.LogInformation("Pulse={0}", pulse);
if (!System.Runtime.InteropServices.RuntimeInformation.IsOSPlatform(System.Runtime.InteropServices.OSPlatform.Linux))
{
log.LogWarning("Windows detected. Exiting");
return;
}
log.LogInformation("Connecting...");
try
{
using (var driver = new I2cDriver(options.SdaPin.ToProcessor(), options.SclPin.ToProcessor()))
{
log.LogInformation("Creating device...");
var device = new Pca9685Connection(sp, driver.Connect(options.DeviceAddress));
log.LogInformation("Setting frequency...");
device.SetPwmUpdateRate(options.PwmFrequency);
while (!Console.KeyAvailable)
{
log.LogInformation("Set channel={0} to {1}", options.Channel, options.PwmOn);
device.SetPwm(options.Channel, 0, options.PwmOn);
Thread.Sleep(1000);
log.LogInformation("Set channel={0} to {1}", options.Channel, options.PwmOff);
device.SetPwm(options.Channel, 0, options.PwmOff);
Thread.Sleep(1000);
}
log.LogInformation("Key pressed. Exiting.");
}
}
catch (InvalidOperationException e)
{
log.LogError(new EventId(0), e, "Failed to connect? Do you have a Pca9685 IC attached to the i2c line and powered on?");
}
}
private void RunLed(Pca9685Connection device, PwmChannel channel, int sleepMs, CancellationToken cancelToken)
{
// PMW ticks range from 0 to 4095
int increment = 100;
int startCycleTick = 0;
device.SetPwm(channel, 0, 0);
while (!cancelToken.IsCancellationRequested)
{
// up we go
for (int endCycleTick = 100; endCycleTick < 4100; endCycleTick += increment)
{
device.SetPwm(channel, startCycleTick, endCycleTick);
Thread.Sleep(sleepMs);
}
// after we've gone up, show kindness and see if we're done
if (cancelToken.IsCancellationRequested)
{
break;
}
// and down we go
for (int endCycleTick = 4095; endCycleTick > 0; endCycleTick -= increment)
{
device.SetPwm(channel, startCycleTick, endCycleTick);
Thread.Sleep(sleepMs);
}
}
}
private void Run(string[] args)
{
using (var driver = new I2cDriver(ProcessorPin.Pin2, ProcessorPin.Pin3))
{
// which pwm channel; allow override from args[0] as 0..n
int c = 0;
if (args.Length > 0)
{
Int32.TryParse(args[0], out c);
}
PwmChannel channel = (PwmChannel)c;
Console.WriteLine($"Using PCA9685 channel {channel.ToString()}");
// allow override of min/max cycle
if (args.Length > 1)
{
Int32.TryParse(args[1], out _servoMin);
}
if (args.Length > 2)
{
Int32.TryParse(args[2], out _servoMax);
}
int i2cAddress = 0x40;
Console.WriteLine($"Using i2C address 0x{i2cAddress:x}");
// device support and prep channel
var device = new Pca9685Connection(driver.Connect(i2cAddress));
device.SetPwm(channel, 0, 0);
int freq = 60;
Console.WriteLine($"Setting PWM frequency to {freq}");
var pwmFrequency = Frequency.FromHertz(freq);
device.SetPwmUpdateRate(pwmFrequency);
Console.WriteLine("* * * When entering values, prefix the input with \"!\" to specify a raw pulse value rather than a degree value (e.g. !680). * * *");
Console.WriteLine("\nPress any key to exit...\n");
// loop until ENTER
string input;
do
{
Console.Write("Enter rotation 0 to 180 or RETURN to exit? ");
input = Console.ReadLine().Trim();
int cycle;
if (TryParse(input, out cycle))
{
Console.WriteLine($"Setting PWM channel {channel.ToString()} to {cycle}");
device.SetPwm(channel, 0, cycle);
}
} while (input != string.Empty);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Motor_Hat"/> class.
/// </summary>
/// <param name="addr">I2C address default is 0x60</param>
/// <param name="freq">Frequency</param>
public Motor_Hat(I2cDriver driver, int addr = 0x60, int freq = 1600)
{
for (int i = 0; i < 4; i++)
{
motors.Add(new DC_Motor(this, i)); // Creates 4 DC Motors and adds them to the list
}
steppers.Add(new Stepper_Motor(this, 1)); // Creates Stepper Motor 1
steppers.Add(new Stepper_Motor(this, 2)); // Creates Stepper Motor 2
connection = driver.Connect(addr);
_pwm = new Pca9685Connection(connection); // Connects to the Motor Hat
_pwm.SetPwmUpdateRate(freq); // Sets the frequency
}
static void Main(string[] args)
{
var options = ParseOptions(args);
if (options == null)
{
return;
}
log.Info("-=Pca9685 Sample=-");
log.Info(m => m("Running {0}", Environment.OSVersion));
log.Info("Options:" + Environment.NewLine + options);
var pulse = CalculatePulse(options.PwmFrequency, 50);
log.Info(m => m("Pulse={0}", pulse));
if (Environment.OSVersion.Platform != PlatformID.Unix)
{
log.Warn("Windows detected. Exiting");
return;
}
log.Info("Connecting...");
try
{
using (var driver = new I2cDriver(options.SdaPin.ToProcessor(), options.SclPin.ToProcessor()))
{
log.Info("Creating device...");
var device = new Pca9685Connection(driver.Connect(options.DeviceAddress));
log.Info("Setting frequency...");
device.SetPwmUpdateRate(options.PwmFrequency);
while (!Console.KeyAvailable)
{
log.Info(m => m("Set channel={0} to {1}", options.Channel, options.PwmOn));
device.SetPwm(options.Channel, 0, options.PwmOn);
Thread.Sleep(1000);
log.Info(m => m("Set channel={0} to {1}", options.Channel, options.PwmOff));
device.SetPwm(options.Channel, 0, options.PwmOff);
Thread.Sleep(1000);
}
log.Info("Key pressed. Exiting.");
}
}
catch (InvalidOperationException e)
{
log.Error("Failed to connect? Do you have a Pca9685 IC attached to the i2c line and powered on?", e);
}
}
private IPwmDevice GetRealDevice()
{
PwmFrequency = 60;
DeviceAddress = 0x40;
_i2cDriver = new I2cDriver(SdaPin.ToProcessor(), SclPin.ToProcessor());
Log.Info("Creating device...");
var device = Pca9685Connection.Create(_i2cDriver.Connect(DeviceAddress));
Log.Info("Setting frequency...");
device.SetPwmUpdateRate(PwmFrequency); // # Set frequency to 60 Hz
IsConnected = true;
return(device);
}
private void Run(string[] args)
{
Console.WriteLine("Press any key to exit...");
using (var driver = new I2cDriver(ProcessorPin.Pin2, ProcessorPin.Pin3))
{
// random object to add some spice to the output
Random rnd = new Random();
// device support
int i2cAddress = 0x40;
var device = new Pca9685Connection(driver.Connect(i2cAddress));
var pwmFrequency = Frequency.FromHertz(60);
device.SetPwmUpdateRate(pwmFrequency);
// task support
CancellationTokenSource cancelSource = new CancellationTokenSource();
List <Task> tasks = new List <Task>();
// create the channel(s) and start task(s)
PwmChannel[] pwmChannels = { PwmChannel.C0, }; // add more channels for more additional LEDs
foreach (var channel in pwmChannels.Distinct())
{
// pass random sleep ms to have LEDs at different fade speeds
Task task = Task.Run(() => RunLed(device, channel, rnd.Next(20, 41), cancelSource.Token));
}
// loop until key pressed
while (!Console.KeyAvailable)
{
Thread.Sleep(250);
}
// cancel task(s) and wait
cancelSource.Cancel();
Task.WaitAll(tasks.ToArray());
}
}
private IPwmDevice GetRealDevice()
{
PwmFrequency = new Frequency(60);
DeviceAddress = 0x40;
try
{
_i2cDriver = new I2cDriver(SdaPin.ToProcessor(), SclPin.ToProcessor());
}
catch (Exception e)
{
Log.Error("Failed to initialise i2c driver. Did you forget sudo?", e);
}
Log.Info("Creating device...");
var device = new Pca9685Connection(_i2cDriver.Connect(DeviceAddress));
Log.Info("Setting frequency...");
device.SetPwmUpdateRate(PwmFrequency); // # Set frequency to 60 Hz
IsConnected = true;
return(device);
}
public void Action(ActionBase baseAction, CancellationToken cancelToken, dynamic config)
{
ServoSimpleAction action = (ServoSimpleAction)baseAction;
SetState("validateSetup");
ValidateSetup(config, action);
ProcessorPin sda = config.i2cSdaBcmPin;
ProcessorPin scl = config.i2cSclBcmPin;
using (var driver = new I2cDriver(sda, scl))
{
SetState("setup");
PwmChannel[] channels = Newtonsoft.Json.JsonConvert.DeserializeObject <PwmChannel[]>(config.i2cChannel.ToString());
int i2cAddress = config.i2cAddress;
int pwmFrequency = config.pwmFrequency;
Frequency frequency = Frequency.FromHertz(pwmFrequency);
// device support and prep channel
SetState("connection");
var pcaConnection = new Pca9685Connection(driver.Connect(i2cAddress));
pcaConnection.SetPwmUpdateRate(frequency);
// pre delay
SetState("preDelay");
if (cancelToken.WaitHandle.WaitOne(action.PreDelayMs))
{
return; // looks like we're cancelling
}
// handle each rotation
//
// Note: there could be more configured channels (i.e. servos) in the configuration; the user doesn't
// have to use them all; we map the user's n array elements to first n configured channels in
// the server plugin config
List <Task> servoTasks = new List <Task>();
for (int i = 0; i < action.RotationDegrees.Length; ++i)
{
// if we're skipping this servo, loop to next
if (action.RotationDegrees.Length == 0)
{
continue;
}
SetState($"startRotate_{i}");
RotateServoConfiguration options = new RotateServoConfiguration
{
PcaConnection = pcaConnection,
PwmChannel = channels[i],
PwmMaximumPulse = _pwmMaxPulse[i],
PwmMinimumPulse = _pwmMinPulse[i],
RotationDegree = action.RotationDegrees[i],
RotationDelayMs = action.RotationDelayMs[i],
};
Task task = Task.Run(() => RotateServo(options, cancelToken));
servoTasks.Add(task);
}
// wait for all servos to complete; don't set state since tasks will be doing that
// as the servos rotate
Task.WaitAll(servoTasks.ToArray());
// post delay
SetState("postDelay");
if (cancelToken.WaitHandle.WaitOne(action.PostDelayMs))
{
return; // looks like we're cancelling
}
}
}
