public Task Buzz(float frequency, uint durationMs)
{
return(ThreadPool.RunAsync(async(s) =>
{
PwmDriver.SetChannelDutyCycle(Config.BuzzerPwmChannel, 0.5f);
await Task.Delay((int)durationMs);
PwmDriver.SetChannelDutyCycle(Config.BuzzerPwmChannel, 0.0f);
}).AsTask());
}
public void SetRightMotorPower(ZumoMotorDirection dir, float power)
{
Debug.WriteLine("RightMotor: {0} {1}", dir, power * 100.0f);
if (dir == ZumoMotorDirection.Forward)
{
RightMotorDir.Write(GpioPinValue.Low);
}
else
{
RightMotorDir.Write(GpioPinValue.High);
}
PwmDriver.SetChannelDutyCycle(Config.RightPwmChannel, power);
rightMotorPower = power;
rightDir = dir;
}
