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);
}
}
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);
}
}
public void setPin(int pin, int value)
{
if ((pin < 0) || (pin > 12))
{
Console.WriteLine("PWM pin must be between 0 and 12 inclusive");
return;
}
if ((value != 0) && (value != 1))
{
Console.WriteLine("Pin value must be 0 or 1!");
}
if (value == 0)
{
_pwm.SetPwm(pin, 0, 4096);
}
if (value == 1)
{
_pwm.SetPwm(pin, 4096, 0);
}
}
