/// <summary>
/// changes the frequency but not the duty cycle
/// changes frequency as long as passed in frequency is differnt than spec frequency
/// </summary>
/// <param name="spec"></param>
/// <param name="freqHz"></param>
public PwmOutputUpdateCommand(PwmOutputSpec spec, int freqHz)
{
this.PwmDef = spec;
this.DutyCycle = float.NaN;
this.PulseWidthUSec = float.NaN;
this.RequestedFrequency = freqHz;
}
/// <summary>
/// change frequency ans duty cycle
/// </summary>
/// <param name="spec"></param>
/// <param name="freqHz"></param>
/// <param name="dutyCycle"></param>
public PwmOutputUpdateDutyCycleCommand(PwmOutputSpec spec, int freqHz, float dutyCycle)
{
if (freqHz <= 0)
{
throw new ArgumentException("Frequency must be > 0 when frequency specified" + freqHz);
}
this.PwmDef = spec;
this.DutyCycle = dutyCycle;
this.RequestedFrequency = freqHz;
this.PulseWidthUSec = float.NaN;
}
/// <summary>
/// changes the duty cycle but not the frequency
/// </summary>
/// <param name="spec"></param>
/// <param name="dutyCycle"></param>
public PwmOutputUpdateDutyCycleCommand(PwmOutputSpec spec, float dutyCycle)
{
if (spec.Frequency <= 0)
{
throw new ArgumentException("Spec Frequency must be > 0 when frequency not specified" + spec.Frequency);
}
this.PwmDef = spec;
this.DutyCycle = dutyCycle;
this.PulseWidthUSec = float.NaN;
this.RequestedFrequency = spec.Frequency;
}
private void ConfigurePwm(IOIOMessageCommandFactory commandFactory)
{
DigitalOutputSpec pwmPinSpec = new DigitalOutputSpec(SERVO_PIN, DigitalOutputSpecMode.NORMAL);
IPwmOutputConfigureCommand createPwm = commandFactory.CreatePwmOutputConfigure(pwmPinSpec, 100);
OurImpl_.PostMessage(createPwm);
// message post fills in pin def so pick that up. runs in a thread so wait until command completes
// have to capture the PwmDef to get the frequencey
while (createPwm.PwmDef.Frequency < 0)
{
System.Threading.Thread.Sleep(10);
}
this.ServoPinDef_ = createPwm.PwmDef;
// value should match minimum of the slider
IPwmOutputUpdatePulseWidthCommand command =
new IOIOMessageCommandFactory().CreatePwmPulseWithOutputUpdate(this.ServoPinDef_, 600.0f);
OurImpl_.PostMessage(command);
}
public IPwmOutputCloseCommand CreatePwmOutputClose(PwmOutputSpec spec)
{
return(new PwmOutputCloseCommand(spec));
}
public IPwmOutputUpdatePulseWidthCommand CreatePwmPulseWithOutputUpdate(PwmOutputSpec spec, float pulseWithUSec)
{
return(new PwmOutputUpdatePulseWidthCommand(spec, pulseWithUSec));
}
public IPwmOutputUpdateDutyCycleCommand CreatePwmDutyCycleOutputUpdate(PwmOutputSpec spec, float dutyCycle)
{
return(new PwmOutputUpdateDutyCycleCommand(spec, dutyCycle));
}
public IPwmOutputUpdateCommand CreatePwmOutputUpdate(PwmOutputSpec spec, int freqHz)
{
return(new PwmOutputUpdateCommand(spec, freqHz));
}
public PwmOutputCloseCommand(PwmOutputSpec spec)
{
this.PwmDef = spec;
}
