private async Task MotorControlSmokeTest()
{
ZumoMotorShieldConfig config = new ZumoMotorShieldConfig();
config.LeftMotorDirPin = 4;
config.RightMotorDirPin = 5;
config.LeftPwmChannel = 0;
config.RightPwmChannel = 1;
config.PwmDriverSlaveAddress = 0x40;
config.BuzzerPwmChannel = 2;
using (ZumoMotorShield motorDriver = new ZumoMotorShield(config))
{
await motorDriver.Init();
bool flipDir = false;
ZumoMotorDirection dirA = ZumoMotorDirection.Forward;
ZumoMotorDirection dirB = ZumoMotorDirection.Backward;
for (int i = 20; i <= 100; i += 20)
{
Debug.WriteLine("Motor Control Ticking");
if (!flipDir)
{
motorDriver.SetLeftMotorPower(dirA, (float)i / 100.0f);
motorDriver.SetRightMotorPower(dirB, (float)i / 100.0f);
}
else
{
motorDriver.SetLeftMotorPower(dirB, (float)i / 100.0f);
motorDriver.SetRightMotorPower(dirA, (float)i / 100.0f);
}
flipDir = !flipDir;
await Task.Delay(1500);
}
motorDriver.LeftMotorStop();
motorDriver.RightMotorStop();
await Task.Delay(1000);
motorDriver.SetLeftMotorPower(ZumoMotorDirection.Forward, 0.5f);
await Task.Delay(2000);
motorDriver.LeftMotorStop();
await Task.Delay(500);
motorDriver.SetRightMotorPower(ZumoMotorDirection.Forward, 0.5f);
await Task.Delay(2000);
motorDriver.RightMotorStop();
}
}
public MainPage()
{
this.InitializeComponent();
Loaded += MainPage_Loaded;
Config = new ZumoMotorShieldConfig();
Config.LeftMotorDirPin = 5;
Config.RightMotorDirPin = 4;
Config.LeftPwmChannel = 1;
Config.RightPwmChannel = 0;
Config.BuzzerPwmChannel = 2;
Config.PwmDriverSlaveAddress = 0x40;
}
public ObjectTrackingController()
{
ZumoMotorShieldConfig config;
config = new ZumoMotorShieldConfig();
config.LeftMotorDirPin = 5;
config.RightMotorDirPin = 4;
config.LeftPwmChannel = 1;
config.RightPwmChannel = 0;
config.BuzzerPwmChannel = 2;
config.PwmDriverSlaveAddress = 0x40;
watch = new Stopwatch();
motorDriver = new ZumoMotorShield(config);
pixyCam = new PixyCam();
panLoop = new ServoLoop(200, 200);
tiltLoop = new ServoLoop(150, 200);
}
public ZumoMotorShield(ZumoMotorShieldConfig config)
{
Config = config;
}
public ZumoMotorShield(ZumoMotorShieldConfig config)
{
Config = config;
}
public ObjectTrackingController()
{
ZumoMotorShieldConfig config;
config = new ZumoMotorShieldConfig();
config.LeftMotorDirPin = 5;
config.RightMotorDirPin = 4;
config.LeftPwmChannel = 1;
config.RightPwmChannel = 0;
config.BuzzerPwmChannel = 2;
config.PwmDriverSlaveAddress = 0x40;
watch = new Stopwatch();
motorDriver = new ZumoMotorShield(config);
pixyCam = new PixyCam();
panLoop = new ServoLoop(200, 200);
tiltLoop = new ServoLoop(150, 200);
stateMachine = new Dictionary<ControllerStateID, ControllerState>();
stateMachine.Add(ControllerStateID.Scan, new ScanState(this));
stateMachine.Add(ControllerStateID.Track, new TrackState(this));
stateMachine.Add(ControllerStateID.Follow, new FollowState(this));
currentState = ControllerStateID.Scan;
}
